S. Yuta, S. Suzuki and S. Iida. Implementation of a small size experimental selfcontained autonomous robot: sensors, vehicle control and description of sensor behaviour, Proceedings of 2nd International Symposium on Experimental Robotics, pages 25-27, Toulouse France, June 1991.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....goal location Velocity Threshold Select behaviour Set object clearance distance Avoid Object Follow Wall Seek Goal Figure 7. Using TVL to acquire multiple adjustable robot behaviours simultaneously. 2. 4 Testing TVL Behaviours To test the TVL controller we use the Yamabico mobile robot [Yuta et al., 1991] shown in Figure 8a. This compact robot is equipped with 16 sonar sensors arranged in a ring equally spaced around the robot. Each sonar has a maximum range of 1.5 metres. A bump sensor is also fitted for detecting collisions. We provide the robot with seven trajectory locomotion commands for ....

S. Yuta, S. Suzuki and S. Iida. Implementation of a small size experimental selfcontained autonomous robot: sensors, vehicle control and description of sensor behaviour, Proceedings of 2nd International Symposium on Experimental Robotics, pages 25-27, Toulouse France, June 1991.

....goal location Velocity Threshold Select behavior Set object clearance distance Avoid Object Follow Wall Seek Goal Figure 7. Using TVL to acquire multiple adjustable robot behaviors simultaneously. 1. 4 Previous TVL Work To conduct our TVL experiments we use the Yamabico mobile robot [Yuta et al., 1991] shown in Figure 8(a) This robot is equipped with 16 sonar sensors arranged in a ring equally spaced around the robot and a bump sensor for detecting collisions. We provide the robot with seven trajectory locomotion commands for traversing its environment labeled T3L to T3R on Figure 8(b) Each ....

S. Yuta, S. Suzuki and S. Iida. Implementation of a small size experimental selfcontained autonomous robot: sensors, vehicle control and description of sensor behavior, Proceedings of 2nd International Symposium on Experimental Robotics, pages 25-27, Toulouse France, June 1991.

....approach as described by [Zadeh, 1973] and more recently investigated by [Sudkamp and Hammell, 1994] for our experiments so that our robot is capable of adjusting its fuzzy rules while it experiences its environment. To conduct our robot learning experiments we use the Yamabico mobile robot [Yuta et al., 1991] shown in Figure 2 equipped with 16 sonar sensors arranged in a ring equally spaced around the robot. One disadvantage of using a FAM matrix to classify the input vector search space is that if the input vector is large, the size of the matrix and consequently the amount of data and learning time ....

S. Yuta, S. Suzuki and S. Iida. Implementation of a small size experimental selfcontained autonomous robot: sensors, vehicle control and description of sensor behavior, Proceedings of 2nd International Symposium on Experimental Robotics, pages 25-27, Toulouse France, June 1991.

....Video Radio Modem Radio Video Mobile Robot Touch screen Ethernet Transceiver Ethernet Ethernet Video Figure 1: System configuration 2 OUR SYSTEM An overview of our system is depicted in Figure 1. The full configuration of our system involved four subsystem: a Yamabico robot [4], a vision processor [5] a communication server [6] and an user interface console. The basic operation of our system is that the robot is being controlled over a radio via a SUN workstation, acting as a communication server. Due to computation limitation the vision processing resided off board, ....

S. Yuta, S. Suzuki, and S. IIda. Implementation of a Small Size Experimental Self-Contained Autonomous Robot. In Proceedings of the 2nd Int. Symposium on Experimental Robotics, pages 902-- 909, Toulouse, France, June 25--27 1991.

....Dictionary, 1992] T Behaviour 81 5.1.1 YAMABICO AUTONOMOUS MOBILE ROBOTS The two small sized mobile robots we used are shown in Figure 29 below. They are Yamabico family robots designed at the University of Tsukuba Intelligent Robotics Laboratory in Japan, and evolved over a 21 year period [Yuta et al. 1991]. The robots were constructed at the University of Tsukuba during a three month visit at the beginning of the PhD research. Upon return various other sensors and actuators were added, as necessitated by the demands of the cooperative cleaning task. Figure 29 The two Yamabicos Flo and Joh ....

Yuta, S., Suzuki, S. and Iida, S., "Implementation of a small size experimental self-contained autonomous robot - sensors, vehicle control, and description of sensor based behavior", Proc. Experimental Robotics, Tolouse, France, LAAS/CNRS (1991).

....3. The System Our research involved the development of an architecture for behavior based agents that supports cooperation (Jung, 1998; Jung and Zelinsky, 1999) 2 . To validate the architecture we implemented a cooperative cleaning task using the two Yamabico mobile robots pictured in Figure 2 (Yuta et al. 1991). The task is to clean our laboratory floor space. Our laboratory is a cluttered environment, so the system must be capable of dealing with movable obstacles, people and other hazards. 3.1 The Robots As we are interested in heterogeneous cooperation, we built each robot with a different set of ....

Yuta, S., Suzuki, S. and Iida, S. 1991. Implementation of a small size experimental self-contained autonomous robot - sensors, vehicle control, and description of sensor based behavior, Proc. Experimental Robotics, Tolouse, France, LAAS/CNRS.

.... against which to evaluate various schemes for cooperation, and as a demonstration of our control architecture the Architecture for Behaviour Based Agents (ABBA) Jung et al. 1998b; Jung and Zelinsky, 1998c; Jung, 1998] The Yamabico robots we built were designed at the University of Tsukuba [Yuta et al. 1991] (pictured in Figure 1) One particular implementation of the task required a purposive navigation capability from both robots. This paper presents the integrated spatial and topological navigation and map learning scheme that was devised to meet this requirement. 2. THE ROBOTS As we are ....

Yuta, S., Suzuki, S. and Iida, S., "Implementation of a small size experimental self-contained autonomous robot - sensors, vehicle control, and description of sensor based behavior", Proc. Experimental Robotics, Tolouse, France, LAAS/CNRS (1991).

....Example Our research involved the development of an architecture for behavior based agents that supports cooperation [Jung, 1998; Jung and Zelinsky, 1999] 3 . To validate the architecture we implemented a cooperative cleaning task using the two Yamabico mobile robots pictured in Figure 5 [Yuta et al. 1991]. The task is to clean our laboratory floor space. Our laboratory is a cluttered environment, so the 3 See also http: pobox.com david.jung thesis.html system must be capable of dealing with movable obstacles, people and other hazards. 6.1 The Robots As we are interested in heterogeneous ....

Yuta, S., Suzuki, S. and Iida, S., "Implementation of a small size experimental self-contained autonomous robot - sensors, vehicle control, and description of sensor based behavior", Proc. Experimental Robotics, Tolouse, France, LAAS/CNRS (1991).

....framework. This paper describes the architecture, but first a description of the task and the implementation of the required sensing technologies. Figure 1 Yamabico s Flo and Joh The task is for our two autonomous mobile robots to clean the floor of our laboratory. The Yamabico robots [Yuta 91] shown in Figure 1 are heterogeneous in the sense that each has different tools and sensors such that neither can accomplish the task alone. One of the robots, Joh , has a vacuum cleaner that can be turned on and off via software. Joh s task is to vacuum piles of litter from the laboratory ....

S. Yuta, S. Suzuki and S. Iida, "Implementation of a small size experimental self-contained autonomous robot - sensors, vehicle control, and description of sensor based behavior", Proc. Experimental Robotics, Tolouse, France, LAAS/CNRS (1991).

....the implementation of this visual behaviour, after introducing the task context. 2.1 Multi robot Cleaning The concrete task we chose to implement for our investigation into cooperative systems is for our two autonomous mobile robots to clean the floor of our laboratory. The Yamabico robots [Yuta 91] shown in Figure 1 are heterogeneous in the sense that each has different tools and sensors such that neither can accomplish the task alone. One of the robots, Joh , has a vacuum cleaner that can be turned on and off via software. Joh s task is to vacuum piles of litter from the laboratory ....

S. Yuta, S. Suzuki and S. Iida, "Implementation of a small size experimental self-contained autonomous robot - sensors, vehicle control, and description of sensor based behavior", Proc. Experimental Robotics, Tolouse, France, LAAS/CNRS (1991).

....components; a vision processing system; a communication server; a teleoperational console; and a mobile robot. The logical relationship of these components is shown in Figure 1. The robot we are teleoperating for our experiment is a Yamabico mobile robot built at the University of Tsukuba, Japan [8]. The Yamabico is a distributed and flexible mobile robot that has an extendible architecture. For our needs we have included a CCD camera with a video transmitter, and a radio modem. The video transmitter is used to transmit an NTSC video signal to both the vision system and the teleoperating ....

S. Yuta, S. Suzuki, and S. IIda. Implementation of a Small Size Experimental Self-Contained Autonomous Robot. In Proceedings of the 2nd Int. Symposium on Experimental Robotics, pages 902--909, Toulouse, France, June 25--27 1991.

....system. However, after development of the visual behaviours we plan to design a detailed specification for an onboard vision processing system for our mobile robot. 2 . Our System The robot we are using is a Yamabico mobile robot that was developed at the University of Tsukuba by Yuta et al. [11]. It has a distributed system with separate modules for locomotion, ultrasonic sensing plus a master module for coordinating the processors. To our Yamabico mobile robot we have added a small size video camera with a video transmitter and radio modem, as shown in Figure 1. The video transmitter is ....

S. Yuta, S. Suzuki and S. IIda, "Implementation of a Small Size Experimental Self-Contained Autonomous Robot", Proceedings of the 2nd Int. Symposium on Experimental Robotics, June 25-27, 1991, Toulouse, France.

....for which the whisker based navigation was developed. The aim of the research is to assess the effect on performance of changing some parameters of the cooperation technique employed. The context of the assessment is a specific cooperative task performed by our Yamabico autonomous mobile robots [Yuta 91] one of which is pictured in Figure 1. The task we have chosen is for two Yamabico robots to clean our laboratory floor. Each has different tools such that neither can accomplish the task alone. One robot is equipped with a vacuum cleaner and the other with a sweep for sweeping close to walls, ....

Yuta, S., Suzuki, S. and Iida, S., "Implementation of a small size experimental self-contained autonomous robot - sensors, vehicle control, and description of sensor based behavior", Proc. Experimental Robotics, Tolouse, France, LAAS/CNRS (1991).

....of behaviour based robotic systems. In order to assess the performance of different levels of sophistication of cooperative behaviour we have focused on a concrete application. The task we have chosen is for two autonomous mobile robots to clean the floor of our laboratory. The Yamabico robots [Yuta 91] shown in Figure 1 each have different tools and sensors such that neither can accomplish the task alone. Figure 1 (a) Yamabico Flo (b) Yamabico Joh The robot Joh navigates by vision, and has a vacuum cleaner that can be turned on and off via software. Joh s task is to vacuum piles of litter ....

S. Yuta, S. Suzuki and S. Iida, "Implementation of a small size experimental self-contained autonomous robot - sensors, vehicle control, and description of sensor based behavior", Proc. Experimental Robotics, Tolouse, France, LAAS/CNRS (1991).

....of the component behaviours and a solution to the task that uses ABBA and afore mentioned mechanisms. Figure 1 The two Yamabicos Flo and Joh 2. COOPERATIVE CLEANING The task chosen was for our two autonomous mobile robots to clean the floor of our laboratory. The Yamabico robots [Yuta et al. 1991] shown in Figure 1 are heterogeneous in the sense that each has different tools and sensors such that neither can accomplish the task alone. In fact, the task was contrived so that this was the case. One of the robots, Joh , has a vacuum cleaner that can be turned on and off via software. Joh s ....

Yuta, S., Suzuki, S. and Iida, S., "Implementation of a small size experimental self-contained autonomous robot - sensors, vehicle control, and description of sensor based behavior", Proc. Experimental Robotics, Tolouse, France, LAAS/CNRS (1991).

....autonomous mobile robots. It is the goal of our research program to develop path planning algorithms whose correctness and robustness can be tested and verified by implementation on our experimental, self contained and autonomous mobile robot the Yamabico which was reported by Yuta et.al. in [1]. The primary drawbacks of most reported path planning methods is that they operate in known environments and only find the shortest path between the start and goal positions. However completely known environments rarely exist in practise, for example a map of a building or factory can be readily ....

S. Yuta, S. Suzuki and S. IIda, "Implementation of a Small Size Experimental Self-Contained Autonomous Robot - Sensors, Vehicle Control, and Description of Sensor based Behaviour", Proceedings of 2nd International Symposium on Experimental Robotics, June 25-27, 1991, Toulouse, France.

....project was to implement the scheme of complete coverage described in the previous section on the Yamabico Robot, shown in Fig. 7. The Yamabico is an autonomous self contained mobile robot that was purpose built for the research of mobile robotics problems in indoor and outdoor environments [7]. The robot is equipped with two driving wheels mounted on a central axis and has optical and ultrasonic range sensors. Each hardware function of the robot is modularised to run on a single board computer. A master module implements decision making and coordinates the actions of each hardware ....

S. Yuta, S. Suzuki and S. IIda, "Implementation of a Small Size Experimental Self-Contained Autonomous Robot - Sensors, Vehicle Control, and Description of Sensor based Behaviour", Proceedings of 2nd International Symposium on Experimental Robotics, June 25-27, 1991, Toulouse, France.

....On the other hand, the motor for driving wheel is controlled to achieve reference velocity v ref . 4 Architecture and Implementation of mWLSpur 4. 1 hardware and software Hardware and software design of mWL is adapted from the architecture design for our autonomous mobile robots Yamabico [ Yuta et al. 1991 ] We provided master controller module and locomotion controller module on mWL. There are communication channels between them. User program which specifies the behavior is running on the master module. The program consists of the combination of motor commands to the locomotion module and ....

S. Yuta, S. Suzuki and S. Iida. Implementation of a small size experimental selfcontained autonomous robot - sensors, vehicle control and description of sensor based behavior. Proc. of Int. Symp. on Experimental Robots '91, pp, 1991.

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