Topic
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.
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26 Sep 2003TL;DR: A combined probabilistic object classification and estimation theoretic framework to predict the future location of moving objects, along with an associated uncertainty measure is outlined.
Abstract: The realization of on- and off-road autonomous navigation of Unmanned Ground Vehicles (UGVs) requires real-time motion planning in the presence of dynamic objects with unknown trajectories. To successfully plan paths and to navigate in an unstructured environment, the UGVs should have the difficult and computationally intensive competency to predict the future locations of moving objects that could interfere with its path. This paper details the development of a combined probabilistic object classification and estimation theoretic framework to predict the future location of moving objects, along with an associated uncertainty measure. The development of a moving object testbed that facilitates the testing of different representations and prediction algorithms in an implementation-independent platform is also outlined.
23 citations
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TL;DR: The Ocean Sampling Mobile Network (SAMON) simulator testbed has been developed at Penn State to enable web-based integration of high-fidelity simulators of heterogeneous autonomous undersea vehicles from multiple organizations and a variety of on-board and fixed sensors in a realistic ocean environment.
Abstract: The Ocean Sampling Mobile Network (SAMON) simulator testbed has been developed at Penn State for designing and evaluating multirobot ocean-mapping missions, in realistic underwater environments, prior to in-water testing. The goal in developing the testbed is to enable web-based integration of high-fidelity simulators of heterogeneous autonomous undersea vehicles from multiple organizations and a variety of on-board and fixed sensors in a realistic ocean environment in order to formulate and evaluate intelligent control strategies for mission execution. A formal control language facilitates real-time interactions between heterogeneous autonomous components. A simulation experiment is described that demonstrates multistage inferencing and decision/control strategies for spatio-temporal coordination and multilayered adaptation of group behavior in response to evolving environmental physics or operational dynamics.
23 citations
01 Jan 2002
TL;DR: In this article, an overview of the evolution of an onboard system that was developed originally as a ground mission planning and operations tool is presented. Butler et al. discuss the Goddard Space Flight Center s formation flying algorithm, the onboard flight design and its implementation, the interface and functionality of the onboard system, and the implementation of a Kalman filter based GPS data smoother.
Abstract: NASA's first autonomous formation flying mission, the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft, recently completed its principal goal of demonstrating advanced formation control technology. This paper provides an overview of the evolution of an onboard system that was developed originally as a ground mission planning and operations tool. We discuss the Goddard Space Flight Center s formation flying algorithm, the onboard flight design and its implementation, the interface and functionality of the onboard system, and the implementation of a Kalman filter based GPS data smoother. A number of safeguards that allow the incremental phasing in of autonomy and alleviate the potential for mission-impacting anomalies from the on- board autonomous system are discussed. A comparison of the maneuvers planned onboard using the EO-1 autonomous control system to those from the operational ground-based maneuver planning system is presented to quantify our success. The maneuvers discussed encompass reactionary and routine formation maintenance. Definitive orbital data is presented that verifies all formation flying requirements.
23 citations
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11 Sep 2000TL;DR: A low-cost obstacle detection system that can be easily attached to the existing FAU platforms, greatly improving the system safety and reliability of an AUV operation in high threat areas is explored.
Abstract: Autonomous underwater vehicles (AUV) by nature operate in partially unknown environments. Any obstacle lying in the path of the vehicle is a potential mission-terminating threat. Inclusion of a forward looking sensor would provide valuable information to the AUV. Threat assessment and navigation plans would use this information in order to avoid obstacles. Any such system should meet the requirements of an embedded autonomous system, that is small size and low power consumption. The obstacle detection system is to be integrated in the AUV via a common interface protocol. It is the intent of this paper to explore one possible solution to implementing such an obstacle detection system. The system used in this project is a forward looking sonar (FLS). This sonar system is a commercially available unit modified for performing obstacle detection tasks. With less than 4 W total power consumption this sonar can be integrated in an AUV. The small volume of the system allows easy placement in existing small AUV designs. The sonar control software is implementing in DOS on a PC/104 486 CPU. Filtered decision information is presented to the control logic of the existing AUV through a standard interface type (Lontalk network). A grid occupancy search method is used to detect the closest object in the vehicle's path. The region forward of the FLS is sub-divided into various cells. The cells are filled with the raw intensity data collected from the FLS sensor. For each filled cell, a cell signature is computed. The maximum signature cell is extracted from the grid. This cell contains transformed target information such as, range, bearing to target, and cell signature. The scanning scheme performs a first sweep at a short range for a quick detection of close targets, followed by a second sweep at a medium range. Cell signature definition and cell mapping are the research efforts associated with this paper. Experiments are performed on a moving platform, with the ultimate goal of testing the detection system integrated in a small AUV. This low-cost obstacle detection system can be easily attached to the existing FAU platforms, greatly improving the system safety and reliability of an AUV operation in high threat areas.
23 citations
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TL;DR: A GVD-derived topology of spatial affordances is described, in which junctions are defined by the physical capabilities of the navigating robot, and this topology follows walls in open spaces to ensure robust edge transition so that all features can be modeled egocentcally.
Abstract: This article presents our attempts to direct an autonomous robot using efficient and universal topological instructions, which can be incrementally interpreted by a moving robot that does not have its own map initially. Many real-world experiments are included, featuring autonomous exploration and mapping. Surprisingly, we conclude and show that for this type of navigation, abilities in object recognition are more important than better mapping. The article describes a GVD-derived topology of spatial affordances, in which junctions are defined by the physical capabilities of the navigating robot. Similar to the extended GVD, our topology follows walls in open spaces to ensure robust edge transition so that all features can be modeled egocentcally. The specified wall-following distance is calculated to maximize the stability of the egocentrically modeled topology even when obstacle detection is intermittent.
23 citations