Autonomous system (mathematics)

About: Autonomous system (mathematics) is a research topic. Over the lifetime, 1648 publications have been published within this topic receiving 38373 citations.

Team AnnieWAY's autonomous system

Abstract: This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the DARPA Urban Challenge 2007 competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. A recent laser scanner plays the prominent role in the perception of the environment. It measures range and reflectivity for each pixel. While the former is used to provide 3D scene geometry, the latter allows robust lane marker detection. Mission and maneuver selection is conducted via a concurrent hierarchical state machine that specifically ascertains behavior in accordance with California traffic rules. We conclude with a report of the results achieved during the competition.

RCON: Dynamic mobile interfaces for command and control of ROS-enabled robots

Abstract: The development of effective user interfaces for an autonomous system can be quite difficult, especially for devices that are to be operated in the field where access to standard computer platforms may be difficult or impossible. One approach in this type of environment is to utilize tablet or phone devices, which when coupled with an appropriate tool such as ROSBridge can be used to connect with standard robot middleware. This has proven to be a successful approach for devices with mature user interface requirements but may require significant software development for experimental systems. Here we describe RCON, a software tool that allows user interfaces on iOS devices to be configured on the device itself, in real time, in response to changes in the robot software infrastructure or the needs of the operator. The system is described in detail along with the accompanying communication framework and the process of building a user interface for a simple autonomous device.

Coarse-Graining Autonomous ODE Systems by Inducing a Separation of Scales: Practical Strategies and Mathematical Questions

Abstract: This short note introduces a methodology for sequential multiscale modeling of autonomous, “microscopic”, systems of Ordinary Differential Equations through a redefinition of the original dynamics as an augmented system with an explicit separation of time scales arising merely from the definition of time-averaging. Associated mathematical questions are stated and discussed.

AMOS; active perception of an autonomous system

Abstract: In the autonomous mobile systems project (AMOS), the FAW uses a mobile robot to study questions related to the deep integration of sub-symbolic and symbolic information processing. AMOS aims at methods for autonomously acquiring new concepts via induction from its interaction with its environment. This paper presents an architecture which integrates both symbolic planning as well as nonsymbolic reactive mechanisms, thus providing a basic autonomy, so that the robot can freely maneuver around without any detailed model of itself and its complex real-world environment . Substantial differences between expectation and observation are used as hints-generated via the robot's interaction with the environment-to situations which are of relevance for the robot. In particular, the concepts of plan breakdown and region of interest play a fundamental role. Autonomously, based on the robot's decision, images are taken and clustered without supervision into groups which are expected to correspond to semantically similar situations. These hypotheses shall be used in further work as a necessary pre-requisite in order to autonomously generate a new concept relating the recognition of such perception classes to appropriate actions. >

Assistive technology: autonomous wheelchair in obstacle-ridden environment.

Abstract: The benefits for the advancement and enhancement of assistive technology are manifold. However, improving accessibility for persons with disabilities (PWD) to ensure their social and economic inclusion makes up one of the major ones in recent times. This paper presents a set of new nonlinear time-invariant stabilizing controllers for safe navigation of an autonomous nonholonomic rear-wheel drive wheelchair. Autonomous wheelchairs belong to the category of assistive technology, which is most sought in current times due to its usefulness, especially to the less abled (physically and/or cognitively), hence helping create an inclusive society. The wheelchair navigates in an obstacle-ridden environment from its start to final configuration, maintaining a robust obstacle avoidance scheme and observing system restrictions and dynamics. The velocity-based controllers are extracted from a Lyapunov function, the total potentials designed using the Lyapunov based Control Scheme (LbCS) falling under the classical approach of the artificial potential field method. The interplay of the three central pillars of LbCS, which are safety, shortness, and smoothest course for motion planning, results in cost and time effectiveness and the velocity controllers' efficiency. Using the Direct Method of Lyapunov, the stability of the wheelchair system has been proved. Finally, computer simulations illustrate the effectiveness of the set of new controllers.