LEADER 12981nam 22008175 450 001 996466058403316 005 20200629193013.0 010 $a3-642-23232-9 024 7 $a10.1007/978-3-642-23232-9 035 $a(CKB)3400000000024017 035 $a(SSID)ssj0000611033 035 $a(PQKBManifestationID)11416183 035 $a(PQKBTitleCode)TC0000611033 035 $a(PQKBWorkID)10639991 035 $a(PQKB)10664901 035 $a(DE-He213)978-3-642-23232-9 035 $a(MiAaPQ)EBC6288180 035 $a(MiAaPQ)EBC5579628 035 $a(Au-PeEL)EBL5579628 035 $a(OCoLC)756036351 035 $a(PPN)156309831 035 $a(EXLCZ)993400000000024017 100 $a20110824d2011 u| 0 101 0 $aeng 135 $aurnn|008mamaa 181 $ctxt 182 $cc 183 $acr 200 10$aTowards Autonomous Robotic Systems$b[electronic resource] $e12th Annual Conference, TAROS 2011, Sheffield, UK, August 31 -- September 2, 2011, Proceedings /$fedited by Roderich Groß, Lyuba Alboul, Chris Melhuish, Mark Witkowski, Tony T. Prescott, Jacques Penders 205 $a1st ed. 2011. 210 1$aBerlin, Heidelberg :$cSpringer Berlin Heidelberg :$cImprint: Springer,$d2011. 215 $a1 online resource (XVIII, 435 p.) 225 1 $aLecture Notes in Artificial Intelligence ;$v6856 300 $aInternational conference proceedings. 311 $a3-642-23231-0 320 $aIncludes bibliographical references and author index. 327 $aIntro -- Title -- Preface -- Organization -- Table of Contents -- A Cricket-Controlled Robot Orienting towards a Sound Source -- Introduction -- Materials and Methods -- Hardware -- Wetware -- Software -- Experimental Methods -- Experiments -- Discussion -- References -- A General Classifier of Whisker Data Using Stationary Naive Bayes: Application to BIOTACT Robots -- Introduction -- Classification with Stationary Naive Bayes -- Experiment 1: Surface Texture Classification -- Experiment 2: Speed and Radial Distance Classification -- Experiment 3: Shape and Position Classification -- Discussion -- References -- A Navigation System for a High-Speed Professional Cleaning Robot -- Introduction -- Related Work -- Problem Description and System Overview -- Motion Planning -- Steer Angle Selection -- Speed Calculation -- Experimental Results -- Conclusions and Future Work -- References -- A Recursive Least Squares Solution for Recovering Robust Planar Homographies -- Introduction -- Overview -- Feature Detection and Matching: A Derived Approach -- A Recursive Solution for Estimating Homography -- Summary -- References -- Airborne Ultrasonic Position and Velocity Measurement Using Two Cycles of Linear-Period-Modulated Signal -- Introduction -- Cross Correlation by Single-Bit Processing -- The Method of Position and Velocity Measurement -- Two-Dimensional Position Measurement -- Two-Dimensional Velocity Vector Measurement -- Experiment -- Experimental Setup -- Experimental Result -- Conclusion -- References -- An Eye Detection and Localization System for Natural Human and Robot Interaction without Face Detection -- Introduction: Biologicaly Inspired Robot Navigation -- Head Direction Cells -- Models of Head Direction Cells -- Methods: The Model -- Experimental Procedure and Results -- Training the Model -- Testing the Model -- Discussion. 327 $aSummary and Conclusion -- References -- Contextual Recognition of Robot Emotions -- Introduction -- Hypotheses -- Method -- Interaction Design -- Design and Results of the First Experiment -- Design and Results of the Second Experiment -- Discussion -- References -- Costs and Benefits of Behavioral Specialization -- Introduction -- Related Work -- Model of Specialization -- Learning -- Forgetting -- Task Allocation Strategy -- Experimental Setup -- Task Abstraction -- Simulation Tools -- Specialization Measures -- Experiments -- Basic Properties -- Adaptivity -- Costs and Benefits -- Conclusions -- References -- CrunchBot: A Mobile Whiskered Robot Platform -- Introduction -- Methods -- Results -- Discussion -- References -- Deformation-Based Tactile Feedback Using a Biologically-Inspired Sensor and a Modified Display -- Introduction -- System Design -- Sensor -- Tactile Display -- System Integration -- Performance -- Sensor -- Display -- System -- Conclusion -- References -- Design and Control of an Upper Limb Exoskeleton Robot RehabRoby -- Introduction -- Control Architecture -- RehabRoby -- Low-Level and High-Level Controllers -- Experimental Setup -- Task Design -- Experiment Protocol -- Subjects -- Results -- Discussion and Conclusion -- References -- Distributed Motion Planning for Ground Objects Using a Network of Robotic Ceiling Cameras -- Introduction -- Scenario Characteristics and Camera Network Model -- Related Work -- Distributed Path Planning -- Adaption to Changes in the Environment -- Heuristics to Reduce Local Minima Attraction -- Heuristics to Optimize the Use of Resources (Efficiency Heuristics) -- Experimental Results -- Robustness to Alignment Errors -- Communication Efficiency -- Scalability: Increasing Robot Density in a Fixed Size Environment -- Scalability: Increasing Environment Size, Fixed Density of Robots. 327 $aConclusions and Future Work -- References -- Evaluating the Effect of Robot Group Size on Relative Localisation Precision -- Introduction -- The Relative Localisation Approach -- Description of the Experiments -- Design Decisions and Necessary Preconditions -- Collecting Data -- Evaluation of the Results -- Summary -- References -- Instance-Based Reinforcement Learning Technique with a Meta-learning Mechanism for Robust Multi-Robot Systems -- Introduction -- Learning Task -- Extended BRL -- BRL: RL in Continuous Learning Space -- BRL with a Meta-learning Mechanism -- Real Robot Experiments -- Experimental Settings -- Results -- Discussion -- Conclusion -- References -- Locomotion Selection and Mechanical Design for a Mobile Intra-abdominal Adhesion-Reliant Robot for Minimally Invasive Surgery -- Introduction -- Current Developments in Surgical Robotics -- Bio-inspiration for Adhesive Materials -- Intra-corporeal Devices -- Mechanical Requirements -- System Definition -- Locomotion -- Miniature Actuators -- Mechanical Design -- Motor Integration -- Conclusion -- Future Work -- References -- Mapping with Sparse Local Sensors and Strong Hierarchical Priors -- Introduction -- Methods -- Static Structures: Generative Models -- Inference -- Results -- Discussion -- References -- Multi-rate Visual Servoing Based on Dual-Rate High Order Holds -- Introduction -- Dual-Rate High Order Holds -- Multi-rate Visual Servoing -- Control System -- Vision System -- Analysis -- Simulation Results -- Experimental Results -- Conclusions -- References -- Optimal Path Planning for Nonholonomic Robotic Systems via Parametric Optimisation -- Introduction -- Nonholonomic Systems on the Euclidean Groups SE(n) -- Problem Statement -- Methodology -- General Hamiltonian Lift on SE(n) -- A Note on Integrability -- Examples -- Example 1-The Wheeled Robot. 327 $aExample 2-A Conventional Autonomous Underwater Vehicle (AUV) -- Conclusion -- References -- Probabilistic Logic Reasoning about Traffic Scenes -- Introduction -- A Markov Logic Framework for a Lane Assistance System -- Vision System -- Probabilistic Logics -- Markov Logic and Alchemy -- Contextual Information -- Results -- Evaluation -- Concluding Remarks -- References -- Real-World Reinforcement Learning for Autonomous Humanoid Robot Charging in a Home Environment -- Introduction -- Problem Overview -- Network Architecture and Learning -- Supervised Reinforcement Learning and Experimental Results -- Conclusions -- References -- Robot Routing Approaches for Convoy Merging Maneuvers -- Introduction -- Simplified Approach -- Extended Approach -- Conclusions -- References -- Sensing with Artificial Tactile Sensors: An Investigation of Spatio-temporal Inference -- Introduction -- Theoretical Background: Hierarchical Temporal Memory and Cortical Computation -- Methods -- Results -- Discussion -- References -- Short-Range Radar Perception in Outdoor Environments -- Introduction -- Ground Echo Modeling -- The Radar Ground Segmentation System -- Background Extraction -- Ground Segmentation -- Experimental Results -- Ground Segmentation and Range Accuracy -- Conclusions -- References -- Smooth Kinematic Controller vs. Pure-Pursuit for Non-holonomic Vehicles -- Introduction -- Double Continuous-Curvature Generation -- Multi-rate Kinematic Control Based on DCC-Paths -- Benchmark -- Conclusions -- References -- Supervised Traversability Learning for Robot Navigation -- Introduction -- Related Work -- Algorithm Description -- Stereo Vision and V-Disparity Image Computation -- Feature Extraction and SVM-Based Learning -- Experimental Validation -- Conclusion -- References. 327 $aTask Space Integral Sliding Mode Controller Implementation for 4DOF of a Humanoid BERT II Arm with Posture Control -- Introduction -- Integral Sliding Mode Controller -- Posture Torque Controller -- Experimental Setup and Results Discussion -- Conclusion -- References -- Towards Autonomous Energy-Wise RObjects -- Introduction -- Energy Scavenging Technologies -- Heat -- Light -- Ambient Radio Frequencies -- Pressure and Temperature Variations -- Gas and Liquid Flows -- Mechanical -- RObjects Power Requirements -- Conclusion and Discussion -- References -- Towards Safe Human-Robot Interaction -- Introduction -- Related Work -- System and Human-Robot Interface -- Software Architecture -- How the System Works -- Trustworthiness -- Safety Properties -- Liveness Properties -- Experiments -- Experimental Setting -- Description of Experiments -- Expected Outcomes -- Results -- Conclusion and Follow-On Research Directions -- References -- Towards Temporal Verification of Emergent Behaviours in Swarm Robotic Systems -- Introduction -- Temporal Logic and Model Checking -- Analysing Swarm Algorithms -- The `Alpha' Algorithm -- Abstraction -- Verification Using Model Checking -- Results: Concurrency -- Results: Changing the Alpha Parameter and Wireless Ranges -- Discussion and Related Work -- Conclusions and Future Work -- References -- Walking Rover Trafficability - Presenting a Comprehensive Analysis and Prediction Tool -- State of the Art -- The LPTPT Tool -- Introduction -- LPTPT Model - Phase 1 -- LPTPT Model - Phase 2 -- LPTPT Model Predictions -- Wheeled Rover Comparison -- Slip Dependency -- Trafficability Prediction on Unknown Soils -- Conclusions and Future Work -- References -- What Can a Personal Robot Do for You? -- Introduction -- Survey Design -- Results Analysis -- Results -- Discussion -- Attitude towards Robots -- Task Types -- Methodology. 327 $aMarket Considerations. 330 $aThis book constitutes the refereed proceedings of the 12th Annual Conference Towards Autonomous Robotics Systems, TAROS 2011, held in Sheffield, UK, in August/September 2011. The 32 revised full papers presented together with 29 two-page abstracts were carefully reviewed and selected from 94 submissions. Among the topics addressed are robot navigation, robot learning, human-robot interaction, robot control, mobile robots, reinforcement learning, robot vehicles, swarm robotic systems, etc. 410 0$aLecture Notes in Artificial Intelligence ;$v6856 606 $aArtificial intelligence 606 $aOptical data processing 606 $aUser interfaces (Computer systems) 606 $aArtificial Intelligence$3https://scigraph.springernature.com/ontologies/product-market-codes/I21000 606 $aImage Processing and Computer Vision$3https://scigraph.springernature.com/ontologies/product-market-codes/I22021 606 $aUser Interfaces and Human Computer Interaction$3https://scigraph.springernature.com/ontologies/product-market-codes/I18067 615 0$aArtificial intelligence. 615 0$aOptical data processing. 615 0$aUser interfaces (Computer systems). 615 14$aArtificial Intelligence. 615 24$aImage Processing and Computer Vision. 615 24$aUser Interfaces and Human Computer Interaction. 676 $a629.892 702 $aGroß$b Roderich$4edt$4http://id.loc.gov/vocabulary/relators/edt 702 $aAlboul$b Lyuba$4edt$4http://id.loc.gov/vocabulary/relators/edt 702 $aMelhuish$b Chris$4edt$4http://id.loc.gov/vocabulary/relators/edt 702 $aWitkowski$b Mark$4edt$4http://id.loc.gov/vocabulary/relators/edt 702 $aPrescott$b Tony T$4edt$4http://id.loc.gov/vocabulary/relators/edt 702 $aPenders$b Jacques$4edt$4http://id.loc.gov/vocabulary/relators/edt 712 12$aTAROS (Conference) 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a996466058403316 996 $aTowards Autonomous Robotic Systems$91997345 997 $aUNISA