| The Communications Maintenance and Optimization Problem in Robotic Multi-hop Networks: Assumptions, Models, and Algorithms |
Feb 2013 |
40 pages |
| Authors:
Cem Karan; ARMY RESEARCH LAB ADELPHI MD COMPUTATIONAL AND INFORMATION SCIENCES DIRECTORATE
|
 | An important problem in robotics is the Communications Maintenance and Optimization Problem (CMOP). In this problem, we have a set of robots that are communicating with one another across a multi-hop wireless network. The primary constraint is that the robots must maintain communications between all pairs of robots, ideally in an optimal manner, while performing their assigned tasks. In this report, I describe a set of constraints and metrics for ... |
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| Humanlike Articulate Robotic Headform to Replace Human Volunteers in Respirator Fit Testing |
Dec 2012 |
35 pages |
| Authors:
Joseph Wander; DAVID HANSON; Richard Margolin; HANSON ROBOTICS INC PLANO TX
|
| In this era of competent materials and fabrication for air filtration the factor dictating the protection factor (ratio of concentration outside to inside the respirator) is unfiltered inward leakage. Respirator testing using humans is constrained by the requirement for advance approval of the protocol by a human use committee, by the diversity and caprices of the subjects used in testing, by factors such as fatigue and illness, and by health ... |
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| Clearing a Pile of Unknown Objects using Interactive Perception |
Nov 2012 |
24 pages |
| Authors:
Dov Katz; Moslem Kazemi; J A Bagnell; Anthony Stentz; CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
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| We address the problem of clearing a pile of unknown objects using an autonomous interactive perception approach. Our robot hypothesizes the boundaries of objects in a pile of unknown objects (object segmentation) and verifies its hypotheses (object detection) using deliberate interactions. To guarantee the safety of the robot and the environment, we use compliant motion primitives for poking and grasping. Every verified segmentation hypothesis can be used to parameterize a ... |
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| Robot Battery Rundown Test Plan, PackBot Modernization Project |
05 Oct 2012 |
9 pages |
| Authors:
Ty Valascho; Daniel Ryan; ARMY TANK AUTOMOTIVE RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI GROUND VEHICLE ROBOTICS DIV
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| A test plan to measure the amount of time a small robot remains powered and functional using two standard Li-Ion batteries, under a variety of operating conditions. |
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| Ascending Stairway Modeling: A First Step Toward Autonomous Multi-Floor Exploration |
Oct 2012 |
4 pages |
| Authors:
Jeffrey A Delmerico; Jason J Corso; David Baran; Philip David; Julian Ryde; ARMY RESEARCH LAB ADELPHI MD
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| Many robotics platforms are capable of ascending stairways, but all existing approaches for autonomous stair climbing use stairway detection as a trigger for immediate traversal. In the broader context of autonomous exploration the ability to travel between floors of a building should be compatible with path planning, such that the robot can traverse a stairway at a time that is appropriate to its navigation goals. No system yet presented is ... |
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| Human Factors Issues for Interaction with Bio-Inspired Swarms |
Oct 2012 |
5 pages |
| Authors:
Michael Lewis; Michael Goodrich; Katia Sycara; Mark Steinberg; OFFICE OF NAVAL RESEARCH ARLINGTON VA
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| Robotic systems composed of a large number of entities, often called robot swarms, are envisioned to play an increasingly important role in applications such as search, rescue, surveillance, and reconnaissance operations. Nowadays, many mobile robots that are deployed for such applications are still tele-operated by a single or multiple operators. While these platforms are individually very capable, the development of cheaper hardware allows the consideration of swarm systems composed of ... |
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| The Decline of the Military Ethos and Profession of Arms: An Argument Against Autonomous Lethal Engagements |
Oct 2012 |
41 pages |
| Authors:
Michael R Contratto; AIR WAR COLL MAXWELL AFB AL
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| Throughout history many new weapon technologies have been introduced into combat prior to a full evaluation or understanding of the doctrinal, legal, and ethical implications of their use. Similarly, today's battlespace is witnessing the introduction of numerous robotic systems to conduct many military missions. Thus far these robots still operate with humans directly in the loop of the decision process, especially when that loop is part of an offensive kill ... |
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| Robot Drive Motor Characterization Test Plan. PackBot Modernization Project |
26 Sep 2012 |
8 pages |
| Authors:
Ty Valascho; ARMY TANK AUTOMOTIVE RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI GROUND VEHICLE ROBOTICS DIV
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| A test plan to measure voltage and current of active drive motors on a small robot under repeatable test conditions. Several positive and negative slope conditions are included. |
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| Intelligent Behavioral Action Aiding for Improved Autonomous Image Navigation |
13 Sep 2012 |
111 pages |
| Authors:
Kwee G Eng; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
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| In egomotion image navigation, errors are common especially when traversing areas with few landmarks. Since image navigation is often used as a passive navigation technique in Global Positioning System (GPS) denied environments; egomotion accuracy is important for precise navigation in these challenging environments. One of the causes of egomotion errors is inaccurate landmark distance measurements, e.g., sensor noise. This research determines a landmark location egomotion error model that quantifies the ... |
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| Spectral Approaches to Learning Predictive Representations |
Sep 2012 |
177 pages |
| Authors:
Byron Boots; CARNEGIE-MELLON UNIV PITTSBURGH PA SCHOOL OF COMPUTER SCIENCE
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| A central problem in artificial intelligence is to choose actions to maximize reward in a partially observable, uncertain environment. To do so, we must obtain an accurate environment model, and then plan to maximize reward. However, for complex domains, specifying a model by hand can be a time-consuming process. This motivates an alternative approach: learning a model directly from observations. Unfortunately, learning algorithms often recover a model that is too ... |
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| Sampling-Based Coverage Path Planning for Complex 3D Structures |
Sep 2012 |
245 pages |
| Authors:
Brendan J Englot; MASSACHUSETTS INST OF TECH CAMBRIDGE DEPT OF MECHANICAL ENGINEERING
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| Path planning is an essential capability for autonomous robots; many applications impose challenging constraints alongside the standard requirement of obstacle avoidance. Coverage planning is one such task, in which a single robot must sweep its end effector over the entirety of a known workspace. For two-dimensional environments, optimal algorithms are well-understood. For three-dimensional structures, however, few of the available heuristics succeed over occluded regions and low-clearance areas. This thesis makes ... |
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| High Performance Piezoelectric Actuators and Wings for Nano Air Vehicles |
26 Aug 2012 |
144 pages |
| Authors:
Christopher D Rahn; Srinivas A Tadigadapa; PENNSYLVANIA STATE UNIV STATE COLLEGE
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| Swarms of flying robotic insects could revolutionize hazardous environment exploration, search and rescue missions, and military applications. Reducing size to insect scale enables entrance into extremely narrow spaces with inherent stealth advantages. For mass production, these vehicles must have reliable and repeatable fabrication processes that define flapping wing mechanisms with microscale features and produce large flapping amplitudes at frequencies in the range of many insects. This report focuses on the ... |
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| Human-Robot Interaction: Intention Recognition and Mutual Entrainment |
18 Aug 2012 |
66 pages |
| Authors:
Kazuhiro Kosuge; TOHOKU UNIV SENDAI (JAPAN)
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| Waltz is a typical example of physical human-human interaction (pHHI) in a well-structured environment. Waltz involves two dancers. The goal is to reproduce the female dancer's abilities with a robot in pHRI. The project focused on the lower level interaction in pHRI, i.e., coupled dynamics, and proposed a framework which covers modeling, analysis, human state sensing and robot control in developing a cooperative female robot dancer. The two dancers' coupled ... |
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| Combat ID - Combat Identification System |
02 Aug 2012 |
39 pages |
| Authors:
Bernard Theisen; Jeffery Ramsey; Xun Zhou; SUPUN SAMARASEKERA; Zsolt Kira; Garbis Salgian; Raia Hadsell; Han-Pang Chiu; Bing-Bing Chai; ARMY TANK AUTOMOTIVE RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI
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| - Integrate, test and demonstrate a fully integrated hardware and software solution running on two robot systems and three additional blue force entities. - Reliably detect blue and red force entities within a 60m radius, 180 deg around each robot. - The proposed solution is designed to run through multiple classes of robot systems starting from Small UGV's through large vehicles such as trucks or tanks. |
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| Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability |
Aug 2012 |
22 pages |
| Authors:
Dan Negrut; Hammad Mazhar; Daniel Melanz; David Lamb; Paramsothy Jayakumar; Michael Letherwood; Abhinandan Jain; Marco Quadrelli; ARMY TANK AUTOMOTIVE RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI
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| This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects ... |
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| Large Platform Autonomy in Urban Environments |
Aug 2012 |
9 pages |
| Authors:
Chip DiBerardino; Edward Mottern; Tracy K van Lierop; Dariusz Mikulski; N J Kott; GENERAL DYNAMICS ROBOTIC SYSTEMS WESTMINSTER MD
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| This paper describes aspects of the Safe Operations of Unmanned Systems for Reconnaissance in Complex Environments (SOURCE) Army Technology Objective (ATO) that affect urban terrain autonomous mobility R&D programs. The SOURCE ATO provides essential large platform autonomous capabilities for executing unmanned reconnaissance missions, such as leader-follower, move-on-route, tele-operation, and remote situational awareness. The system includes multi-modal, high resolution, all-digital sensors which support nighttime and daytime operations. The SOURCE ATO development ... |
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| Integrated Micro-scale Power Conversion |
Aug 2012 |
39 pages |
| Authors:
Sarah Bedair; Brian Morgan; Christopher Meyer; Iain Kierzewski; Jeffrey Pulskamp; Ronald Polcawich; Xue Lin; Chris Dougherty; David Arnold; Rizwan Bashirullah; ARMY RESEARCH LAB ADELPHI MD SENSORS AND ELECTRON DEVICES DIRECTORATE
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| The In-Transit Vigilant Covering Tour Problem of Routing Unmanned Ground Vehicles |
Aug 2012 |
72 pages |
| Authors:
Huang Teng Tan; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING AND MANAGEMENT
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| The routing of unmanned ground vehicles for the surveillance and protection of key installations is modeled as a new variant of the Covering Tour Problem (CTP). The CTP structure provides both the routing and target sensing components of the installation protection problem. Our variant is called the in-transit Vigilant Covering Tour Problem (VCTP) and considers not only the vertex cover but also the additional edge coverage capability of the unmanned ... |
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| Power Considerations for Micro-Autonomous Systems |
30 Jul 2012 |
32 pages |
| Authors:
Brian C Morgan; ARMY RESEARCH LAB ADELPHI MD SENSORS AND ELECTRON DEVICES DIRECTORATE
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| Strategic Acquisition of Navy Unmanned Systems: Analysis and Options |
12 Jul 2012 |
78 pages |
| Authors:
Nicholas Dew; NAVAL POSTGRADUATE SCHOOL MONTEREY CA GRADUATE SCHOOL OF BUSINESS AND PUBLIC POLICY
|
| The U.S. Navy (USN) and U.S. Department of Defense (DoD) have many emerging robotics needs and potentialities. However, although the United States is strong in defense robotics -- in particular in Unmanned Aerial Systems (UAS) -- recent reports have identified fundamental weaknesses in the broader U.S. robotics innovation system in which defense robotics is embedded. Since the potential scale of commercial robotics is far greater than military robotics over the ... |
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| Robotics Systems Joint Project Office (RSJPO) Interoperability Profiles (IOPS) 101 |
Jul 2012 |
79 pages |
| Authors:
Mark Mazzara; Christopher Scott; ARMY TANK AUTOMOTIVE RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI
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| Defines hardware & software interface requirements for UGVs * Establishes the 1st baseline for UGV interoperability requirements * V0 only addresses capabilities that are already fielded (albeit not fielded in a modular, interoperable fashion) * Addresses point-to-point interoperability & modularity requirements: UGV platforms, UGV payloads (sensors, emitters, actuators), UGV radios, UGV controllers * Primarily based upon the Joint Architecture for Unmanned Systems (JAUS) (SAE AS-4) |
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| Safe Operations of Unmanned Systems for Reconnaissance in Complex Environments-Army Technology Objective (SOURCE ATO) Field Experimentation Observations and Soldier Feedback |
Jul 2012 |
20 pages |
| Authors:
III Evans A W; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
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| Experiments evaluating Soldier performance using robotic assets provide information about what improvements in mission capability can be expected with the new technologies. However, subjective data, such as formal and informal interviews and questionnaires, can equally provide helpful insight into which new capabilities will be most welcomed and understood as valuable to mission success for each Soldier. This report focuses on subjective data obtained from several Soldiers at the FY11 SOURCE ... |
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| Optimization Strategies for Cognition and Autonomy in Mixed Human-Robot Teams |
Jul 2012 |
8 pages |
| Authors:
Vaibhav Srivastava; Francesco Bullo; CALIFORNIA UNIV SANTA BARBARA CENTER FOR CONTROL, DYNAMICAL SYSTEMS AND COMPUTATION (CCDC)
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| Reconnaissance and Autonomy for Small Robots (RASR) |
29 Jun 2012 |
29 pages |
| Authors:
Alberto Lacaze; ROBOTIC RESEARCH LLC GAITHERSBURG MD
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| The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs) that can execute a variety of military relevant missions in dynamic urban environments. This entry to the MAGIC-2010 competition provides robust autonomous mobility for small UGVs as well as an innovative coordination strategy capable of dealing with communication losses. This effort involved the development of a system that ... |
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| Integrated Robot Task and Motion Planning in the Now |
29 Jun 2012 |
71 pages |
| Authors:
Leslie P Kaelbling; Tomas Lozano-Perez; MASSACHUSETTS INST OF TECH CAMBRIDGE COMPUTER SCIENCE AND ARTIFICIAL INTELLIGENCE LAB
|
| This paper provides an approach to integrating geometric motion planning with logical task planning for long-horizon tasks in domains with many objects. We propose a tight integration between the logical and geometric aspects of planning. We use a logical representation which includes entities that refer to poses, grasps, paths and regions, without the need for a priori discretization. Given this representation and some simple mechanisms for geometric inference,we characterize the ... |
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| Construction of a Hyper Redundant Robotic Tentacle Manipulator |
Jun 2012 |
36 pages |
| Authors:
Miles C Pekala; Derek Scherer; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD VEHICLE TECHNOLOGY DIRECTORATE
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| This report presents the design and development of a robotic tentacle manipulator research platform as a tool to explore new methods of enhancing the capabilities of remotely operated manipulators, autonomous manipulation, and autonomous search. We review the current state of dexterous manipulators and past milestones, choose manipulator morphology based on this review, and evaluate the morphology on the basis of design, control, and manufacturing constraints. A feasible architecture for a ... |
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| No One at the Controls: The Legal Implications of Fully Autonomous Targeting |
04 May 2012 |
29 pages |
| Authors:
Jeffrey S Thurnher; NAVAL WAR COLL NEWPORT RI JOINT MILITARY OPERATIONS DEPT
|
| The United States has increasingly relied on unmanned systems to help fight its wars, and these systems have steadily become more sophisticated. Science is now on the verge of many breakthroughs, particularly in artificial intelligence, which might well lead to the creation of fully autonomous unmanned systems. Autonomous systems could potentially attack enemies with lethal force without a human being in the loop. The possible deployment of lethal, autonomous robots ... |
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| Embedded Incremental Feature Selection for Reinforcement Learning |
May 2012 |
7 pages |
| Authors:
Robert Wright; Steven Loscalzo; Lei Yu; AIR FORCE RESEARCH LAB ROME NY INFORMATION DIRECTORATE
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| Classical reinforcement learning techniques become impractical in domains with large complex state spaces. The size of a domain's state space is dominated by the number of features used to describe the state. Fortunately, in many real-world environments learning an effective policy does not usually require all the provided features. In this paper we present a feature selection algorithm for reinforcement learning called Incremental Feature Selection Embedded in NEAT (IFSE-NEAT) that ... |
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| Robotic Manifold Tracking of Coherent Structures in Flows |
May 2012 |
7 pages |
| Authors:
M A Hsieh; Eric Forgoston; T W Mather; Ira B Schwartz; DREXEL UNIV PHILADELPHIA PA DEPT OF MECHANICAL ENGINEERING AND MECHANICS
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| Tracking Lagrangian coherent structures in dynamical systems is important for many applications such as oceanography and weather prediction. In this paper, we present a collaborative robotic control strategy designed to track stable and unstable manifolds. The technique does not require global information about the fluid dynamics, and is based on local sensing, prediction, and correction. The collaborative control strategy is implemented on a team of three robots to track coherent ... |
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| Enabling Soldiers with Robots |
17 Apr 2012 |
30 pages |
| Authors:
Mark S Kneram; ARMY WAR COLL CARLISLE BARRACKS PA
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| The question is no longer can we create robots to replace traditional human functions, but how do we incorporate robots that meet our moral, ethical, and legal requirements and can be accepted by our organizational culture and doctrine. The capability of robots is undeniable so we must create a vision on how we fight, man, and equip the force as technological advances continue to progress at an ever increasing rate. ... |
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| ROBODEXS; Multi-robot Deployment & Extraction System |
03 Apr 2012 |
13 pages |
| Authors:
Jeremy P Gray; James R Mason; Michael S Patterson; Matthew W Skalny; ARMY TANK AUTOMOTIVE RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI
|
| The importance of Unmanned Ground Vehicles (UGV's) in the Military's operations is continually increasing. All Military branches now rely on advanced robotic technologies to aid in their missions' operations. The integration of these technologies has not only enhanced capabilities, but has increased personnel safety by generating larger standoff distances. Currently most UGV's are deployed by an exposed dismounted Warfighter because the Military possess a limited capability to do so remotely ... |
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| Adaptive Electronic Camouflage Using Texture Synthesis |
Apr 2012 |
11 pages |
| Authors:
Narek Pezeshkian; Joseph D Neff; SPACE AND NAVAL WARFARE SYSTEMS COMMAND SAN DIEGO CA
|
| Camouflaged robots and leave-behind surveillance sensors are desirable in information, surveillance and reconnaissance operations to minimize the chances of detection by the enemy. Today's camouflaging techniques involve nets and painted patterns that are fixed in color and geometry, limiting their use to specific environments; a fact illustrated by numerous changes in military uniforms designed to fit the latest operating environment. Furthermore, nets are bulky and can interfere with the operation ... |
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| Mesh Networking Optimized for Robotic Teleoperation |
Apr 2012 |
8 pages |
| Authors:
Abraham Hart; Narek Pezeshkian; Hoa Nguyen; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA UNMANNED SYSTEMS BRANCH
|
| Mesh networks for robot teleoperation pose different challenges than those associated with traditional mesh networks. Unmanned ground vehicles (UGVs) are mobile and operate in constantly changing and uncontrollable environments. Building a mesh network to work well under these harsh conditions presents a unique challenge. The Manually Deployed Communication Relay (MDCR) mesh networking system extends the range of and provides non-line-of-sight (NLOS) communications for tactical and explosive ordnance disposal (EOD) robots ... |
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| Characteristics of a Maritime Interdiction Operations Unmanned Ground Vehicle |
Apr 2012 |
8 pages |
| Authors:
Hoa G Nguyen; Mendel Baker; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA UNMANNED SYSTEMS BRANCH
|
| The U.S. Navy conducts thousands of Maritime Interdiction Operations (MIOs) every year around the globe. Navy Visit, Board, Search, and Seizure (VBSS) teams regularly board suspect ships and perform search operations, often in hostile environments. There is a need for a small tactical robot that can be deployed ahead of the team to provide enhanced situational awareness in these boarding, breaching, and clearing operations. Space and Naval Warfare Systems Center ... |
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| Laboratory on Legs: An Architecture for Adjustable Morphology with Legged Robots |
Apr 2012 |
15 pages |
| Authors:
G C Haynes; Jason Pusey; Ryan Knopf; Aaron M Johnson; Daniel E Koditschek; CARNEGIE-MELLON UNIV PITTSBURGH PA NATIONAL ROBOTICS ENGINEERING CENTER (NREC)
|
| For mobile robots, the essential units of actuation, computation, and sensing must be designed to fit within the body of the robot. Additional capabilities will largely depend upon a given activity, and should be easily reconfigurable to maximize the diversity of applications and experiments. To address this issue, we introduce a modular architecture originally developed and tested in the design and implementation of the X-RHex hexapod that allows the robot ... |
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| Universal Plug-n-Play Sensor Integration for Advanced Navigation |
22 Mar 2012 |
159 pages |
| Authors:
Daniel L Elsner; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
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| This research investigates the potential for Plug-n-Play sensor integration for navigation and other applications. Specifically, the requirements of such a system are outlined and attempts are made to achieve them using two separate systems: one using Robot Operating System (ROS) as middleware and the other using more traditional software design patterns. The end result is not so much a deliverable in terms of software, but more of a feasibility analysis ... |
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| Robotic Navigation Emulating Human Performance |
10 Mar 2012 |
43 pages |
| Authors:
Zygmunt Pizlo; Longin J Latecki; PURDUE UNIV LAFAYETTE IN
|
| We formulated a set of computational tools (models) that allow a robot to see a natural 3D scene and to understand it in the sense that it can recover the 3D shapes, sizes and locations of the objects in the scene as well as the free spaces among them. The Figure-Ground Organization and 3D shape recovery tools built into our robot permits it to perform both of these complicated tasks ... |
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| Evaluation of the Thorax of Manduca sexta for Flapping Wing Micro Air Vehicle Applications |
Mar 2012 |
182 pages |
| Authors:
Alex C Hollenbeck; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
|
| The tobacco hornworm hawkmoth (Manduca sexta) provides an excellent model from which to garner knowledge pertaining to the development of a Flapping Wing Micro Air Vehicle (FWMAV). Insect-sized FWMAVs will be used by the future warfighter for reconnaissance, nuclear/chemical/biological hazard sensing, and targeting. One of the major challenges facing FWMAV developers is the energetically demanding nature of low Reynolds flapping flight. Investigating the Manduca sexta thorax/wing flapping mechanism as a ... |
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| Human-Animal Trust as an Analog for Human-Robot Trust: A Review of Current Evidence |
Mar 2012 |
36 pages |
| Authors:
Deborah R Billings; Kristin E Schaefer; Jessie Y Chen; Vivien Kocsis; Maria Barrera; Jacquelyn Cook; Michelle Ferrer; Peter A Hancock; UNIVERSITY OF CENTRAL FLORIDA ORLANDO
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| Trust is an essential element required for effective human-robot teaming. Yet, experimental research examining human-robot trust in team interactions is at its infancy stage. Conducting empirical studies using live robots can be extremely difficult in terms of money, time, equipment programmability, and system support. Information in the area of human-robot trust is limited, but parallels can be drawn with trust in other domains of human-entity interactions, such as human-animal trust. ... |
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| ROStoJAUSBridge Manual |
Mar 2012 |
54 pages |
| Authors:
Laurel Sadler; Chirag Rao; John Rogers; Hung Nguyen; ARMY RESEARCH LAB ADELPHI MD COMPUTATIONAL AND INFORMATION SCIENCES DIRECTORATE
|
| The ROStoJAUSBridge is a software program implemented at the U.S. Army Research Laboratory (ARL) to leverage the image processing and intelligent mobility behaviors capabilities from the robot operating system (ROS) to the small unmanned ground vehicle (SUG)V. This software program allows for interaction between programs running on ROS and the iRobot SUGV. It converts ROS messages to messages adhering to the Joint Architecture for Unmanned Systems (JAUS) architecture and vice ... |
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| Differentially Constrained Motion Planning with State Lattice Motion Primitives |
Feb 2012 |
170 pages |
| Authors:
Mihail N Pivtoraiko; CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST
|
| Robot motion planning with differential constraints has received a great deal of attention in the last few decades, yet it still remains a challenging problem. Among a number of reasons, three stand out. First, the differential constraints that most physical robots exhibit render the coupling between the control and state spaces quite complicated. Second, it is commonly accepted that robots must be able to operate in environments that are partially ... |
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| Robotic Telepresence: Perception, Performance, and User Experience |
Feb 2012 |
130 pages |
| Authors:
Linda R Elliott; Chris Jansen; Elizabeth S Redden; Rodger A Pettitt; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| Two experiments examined the effectiveness of telepresence features during indoor and outdoor beyond-line-of-sight robot reconnaissance missions. In the first experiment, Soldier participants controlled a reconnaissance robot with two controllers developed by TNO Human Factors: one with and one without telepresence capabilities. Telepresence capabilities included a stereo visual display and a head-mounted camera that was guided by operator head movements. Soldiers performed equivalent search and identification tasks with each controller interface. ... |
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| Tactical Ground Robotics Research and Development at SPAWAR Systems Center Pacific |
Feb 2012 |
15 pages |
| Authors:
Hoa G Nguyen; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA UNMANNED SYSTEMS BRANCH
|
| Projects of Interest at the SPAWAR Unmanned Systems Branch: Retro traverse/autonomy box, RoboZap, Tunnel mapping, Active camouflage, ISR robot, Communication relays, Maritime Interdiction Operations UGV. |
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| Robotics Research for Cybersecurity |
24 Jan 2012 |
4 pages |
| Authors:
Wei-Min Shen; UNIVERSITY OF SOUTHERN CALIFORNIA MARINA DEL REY
|
| The overall objective of this project is to conduct a comprehensive study of robotics research in the context of cybersecurity. The specific objectives are as follows: (1) Create a realistic cybersecurity test scenario that captures the unique and increasingly difficult robotics research challenges; (2) Survey the state-of-the-art in applicable research and technology; (3) Identify and analyze the salient research challenges with a primary focus on computational sciences; (4) Define multiple ... |
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| Simon Plays Simon Says: The Timing of Turn-Taking in an imitation Game |
Jan 2012 |
7 pages |
| Authors:
Crystal Chao; Jinhan Lee; Momotaz Begum; Andrea L Thomaz; GEORGIA INST OF TECH ATLANTA
|
| Turn-taking is fundamental to the way humans engage in information exchange, but robots currently lack the turn-taking skills required for natural communication. In order to bring effective turn-taking to robots, we must first understand the underlying processes in the context of what is possible to implement. We describe a data collection experiment with an interaction format inspired by Simon says, a turn-taking imitation game that engages the channels of gaze, ... |
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| Architectural Design and Support for Knowledge Sharing Across Heterogeneous MAST Systems |
Jan 2012 |
|
| Authors:
Ronald C Arkin; Sergio Garcia-Vergara; Sung G Lee; GEORGIA INST OF TECH ATLANTA MOBILE ROBOT LAB
|
| A novel approach for the sharing of knowledge between widely heterogeneous robotic agents is presented drawing upon Gardenfors Conceptual Spaces approach. The target microrobotic platforms considered are computationally, power, sensor, and communications impoverished compared to more traditional robotics platforms due to their small size. This produces novel challenges for the system to converge on an interpretation of events within the world, in this case specifically focusing on the task of ... |
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| Overriding Ethical Constraints in Lethal Autonomous Systems |
Jan 2012 |
9 pages |
| Authors:
Ronald C Arkin; Patrick Ulam; GEORGIA INST OF TECH ATLANTA MOBILE ROBOT LAB
|
| This article describes the philosophy, design, and prototype implementation of an operator override system intended for use in managing unmanned robotic systems capable of lethal behavior. The ethical ramifications associated with the responsibility assignment of such a system are presented, which guide the development of the proof-of-concept system that serves as the basis for the simulation results presented herein. |
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| Characterizing Performance Guarantees for Multiagent, Real-Time Systems Operating in Noisy and Uncertain Environments |
Jan 2012 |
8 pages |
| Authors:
Damiam Lyons; Ronald Arkin; Stephen Fox; Shu Jiang; Prem Nirmal; Munzir Zafar; GEORGIA INST OF TECH ATLANTA MOBILE ROBOT LAB
|
| Autonomous robots offer the potential to conduct Counter-Weapons of Mass Destruction (C-WMD) missions in an efficient and robust manner. However, to leverage this potential, a mission designer needs to be able to determine how well a robot system will operate in the noisy and uncertain environments that a C-WMD mission may require. We are developing a software framework for verification of performance guarantees for C-WMD missions based on the MissionLab ... |
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| Envisioning: Mental Rotation-based Semi-reactive Robot Control |
Jan 2012 |
16 pages |
| Authors:
Ronald C Arkin; Frank Dellaert; Joan Devassy; GEORGIA INST OF TECH ATLANTA MOBILE ROBOT LAB
|
| This paper describes ongoing research into the role of optic-flow derived spatial representations and their relation to cognitive computational models of mental rotation in primates, with the goal of producing effective and unique autonomous robot navigational capabilities. A theoretical framework is outlined based on a vectorial interlingua spanning perception, cognition and motor control. Progress to date on its implementation within an autonomous robot control architecture is presented. |
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| The Role of Mental Rotations in Primate-inspired Robot Navigation |
Jan 2012 |
6 pages |
| Authors:
Ronald C Arkin; GEORGIA INST OF TECH ATLANTA
|
| The use of a primate's spatial ability of mental rotation to serve as a basis for robotic navigation has been almost entirely overlooked by the robotics community to date. In this paper, the role of this cognitive capacity is presented as an adjunct to existing robotic control systems, with the underlying approach being derived from studies of primate spatial cognition. Specifically, optical flow is used as a basis for transitory ... |
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Reports by Keyword(s)
ROBOTS
