[PDF] Sensor Fusion And Decentralized Control In Robotic Systems Iii eBook

Author : G. T. McKee
Publisher : SPIE-International Society for Optical Engineering
Page : 352 pages
File Size : 35,29 MB
Release : 1999
Category : Technology & Engineering
ISBN :

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This work presents a series of papers examining various aspects of sensor fusion and decentralized control in robotic systems.

Author : Arthur G.O. Mutambara
Publisher : Routledge
Page : 252 pages
File Size : 35,97 MB
Release : 2019-05-20
Category : Technology & Engineering
ISBN : 1351456490

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Decentralized Estimation and Control for Multisensor Systems explores the problem of developing scalable, decentralized estimation and control algorithms for linear and nonlinear multisensor systems. Such algorithms have extensive applications in modular robotics and complex or large scale systems, including the Mars Rover, the Mir station, and Space Shuttle Columbia. Most existing algorithms use some form of hierarchical or centralized structure for data gathering and processing. In contrast, in a fully decentralized system, all information is processed locally. A decentralized data fusion system includes a network of sensor nodes - each with its own processing facility, which together do not require any central processing or central communication facility. Only node-to-node communication and local system knowledge are permitted. Algorithms for decentralized data fusion systems based on the linear information filter have been developed, obtaining decentrally the same results as those in a conventional centralized data fusion system. However, these algorithms are limited, indicating that existing decentralized data fusion algorithms have limited scalability and are wasteful of communications and computation resources. Decentralized Estimation and Control for Multisensor Systems aims to remove current limitations in decentralized data fusion algorithms and to extend the decentralized principle to problems involving local control and actuation. The text discusses: Generalizing the linear Information filter to the problem of estimation for nonlinear systems Developing a decentralized form of the algorithm Solving the problem of fully connected topologies by using generalized model distribution where the nodal system involves only locally relevant states Reducing computational requirements by using smaller local model sizes Defining internodal communication Developing estima

Author : Elisa Shahbazian
Publisher : Springer Science & Business Media
Page : 363 pages
File Size : 22,96 MB
Release : 2008-12-03
Category : Computers
ISBN : 1402088833

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An Advanced Research Workshop (ARW) “Data Fusion Technologies for Harbour Protection” was held in Tallinn, Estonia 27 June–1 July, 2005. This workshop was organized by request of the NATO Security Through Science Programme and the Defence Investment Division. An ARW is one of many types of funded group support mechanisms established by the NATO Science Committee to contribute to the critical assessment of existing knowledge on new important topics, to identify directions for future research, and to promote close working relationships between scientists from different countries and with different professional experiences. The NATO Science Committee was approved at a meeting of the Heads of Government of the Alliance in December 1957, subsequent to the 1956 recommendation of “Three Wise Men” – Foreign Ministers Lange (Norway), Martino (Italy) and Pearson (Canada) on Non-Military Cooperation in NATO. The NATO Science Committee established the NATO Science Programme in 1958 to encourage and support scientific collaboration between individual scientists and to foster scientific development in its member states. In 1999, following the end of the Cold War, the Science Programme was transformed so that support is now devoted to collaboration between Partner-country and NATO-country scientists or to contributing towards research support in Partner countries. Since 2004, the Science Programme was further modified to focus exclusively on NATO Priority Research Topics (i. e. Defence Against Terrorism or Countering Other Threats to Security) and also preferably on a Partner country priority area.

Author : Ramon Garcia-Hernandez
Publisher : Springer
Page : 121 pages
File Size : 15,9 MB
Release : 2017-02-05
Category : Technology & Engineering
ISBN : 3319533126

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This book provides a decentralized approach for the identification and control of robotics systems. It also presents recent research in decentralized neural control and includes applications to robotics. Decentralized control is free from difficulties due to complexity in design, debugging, data gathering and storage requirements, making it preferable for interconnected systems. Furthermore, as opposed to the centralized approach, it can be implemented with parallel processors. This approach deals with four decentralized control schemes, which are able to identify the robot dynamics. The training of each neural network is performed on-line using an extended Kalman filter (EKF). The first indirect decentralized control scheme applies the discrete-time block control approach, to formulate a nonlinear sliding manifold. The second direct decentralized neural control scheme is based on the backstepping technique, approximated by a high order neural network. The third control scheme applies a decentralized neural inverse optimal control for stabilization. The fourth decentralized neural inverse optimal control is designed for trajectory tracking. This comprehensive work on decentralized control of robot manipulators and mobile robots is intended for professors, students and professionals wanting to understand and apply advanced knowledge in their field of work.

Author : Wolfgang Banzhaf
Publisher : Springer
Page : 922 pages
File Size : 46,93 MB
Release : 2011-03-31
Category : Computers
ISBN : 354039432X

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This book constitutes the refereed proceedings of the 7th European Conference on Artificial Life, ECAL 2003, held in Dortmund, Germany in September 2003. The 96 revised full papers presented were carefully reviewed and selected from more than 140 submissions. The papers are organized in topical sections on artificial chemistries, self-organization, and self-replication; artificial societies; cellular and neural systems; evolution and development; evolutionary and adaptive dynamics; languages and communication; methodologies and applications; and robotics and autonomous agents.