Autonomous Robots and Agents PDF
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Subhas Chandra Mukhopadhyay and Gourab Sen Gupta (Eds.) Autonomous Robots and Agents Studies in Computational Intelligence, Volume 76 Editor-in-chief Prof. Janusz Kacprzyk Systems Research Institute Polish Academy of Sciences ul. Newelska 6 01-447 Warsaw Poland E-mail: Subhas Chandra Mukhopadhyay Gourab Sen Gupta (Eds.) Autonomous Robots and Agents With 130 Figures and 22 Tables Subhas Chandra Mukhopadhyay Gourab Sen Gupta Institute of Information Sciences School of Electrical and Electronic and Technology Engineering Massey University (Turitea Campus) Singapore Polytechnic Palmerston North Singapore New Zealand E-mail: Guest Editorial This special issue titled “Autonomous Robots and Agents” in the book series of “Studies in Computational Intelligence” contains the extended version of rd the papers selected from those presented at the 3 International Confer- ence on Autonomous Robots and Agents (ICARA 2006) which was held in December 11-14, 2006 at Massey University, Palmerston North, New Zealand. A total of 132 papers were presented at ICARA 2006, of which 30 papers have been selected for this special issue. The first three papers are in the category of Search and Rescue. In the first paper D. A. Williamson and D. A. Carnegie have described the development of an embedded platform which is the core of an Urban Search and Rescue (USAR) system. An embedded computer, network camera, supervisory mod- ule and wireless gateway along with a distributed high efficiency power supply have resulted in a compact, inexpensive and efficient embedded platform for robotic USAR. In the next paper J. L. Baxter et al., have described a potential field based approach for multi-robot search and rescue operation. R. Jarvis and M. Marzouqi have described a search strategy based on a probabilistic model of target in which location and the partitioning of the environment are performed autonomously. The next five papers are in the category of Localisation, Mapping and Navigation. J. Schmidt et al., have presented an approach for indoor map- ping and localisation using sparse range data, acquired by a mobile robot equipped with sonar sensors. T. Taylor has applied high level understanding to visual localisation for mapping. He has outlined some simple geometric relationships that can be used to recover vertical edges from an image when the camera is tilted. By comparing the slopes of vertical edges in succes- sive images, it is possible to calculate distances moved or angles of rotation. H. Yussof et al., have developed an optical three-axis tactile sensor for object handling tasks in humanoid robot system. The developed sensor is capable of clearly acquiring normal force and shearing force. Furthermore, it can also detect force at the XYZ-axes of a Cartesian coordinate. C. Astengo-Noguez and R. Brena-Pinero have presented a clustering method based on negotiation VI Guest Editorial in flock traffic navigation and showed by simulation that a non-centred solu- tion can be achieved letting individual vehicles to communicate and negotiate among them. M. Happlod and M. Ollis have presented a novel method for terrain classification for mobile robot navigation that eliminates the need for guessing which geometric features are relevant. The system learns to mimic the classification judgments of a human expert rather than applying explicit rules or thresholds to measured features. S. M. R. Hasan and J. Potgieter have presented a design of an integrated circuit for robotic visual object position tracking. H. Andreasson et al., have proposed a non-iterative algorithm for 3D laser scans based on parameter-free vision-based interpolation method. The next three papers are on mobile robots. G. Seet et al., have des- cribed the design and development of an interactive 3D robotic simulator to study behaviour of mobile robots in a cooperative environment. A.N. Chand and G.C. Onwubolo have developed a mobile robot intended to eliminate the human component in the book retrieval process by autonomously navigating to and retrieving a specific book from a bookshelf. In the next paper a trajec- tory planning strategy for surveillance mobile robots has been discussed by L.S. Martins-Filho and E.E.N. Macau. The next group of papers are in the area of algorithms and simulation for robotic systems. T.Y. Li and C.C. Wang have proposed a genetic algorithm to generate an optimal set of weighting parameters for composing virtual forces within a given environment and the desired movement behaviour. J.A. Ferland et al., have applied the particle swarm algorithm in the capacitated open pit mining problem. N. Murata et al., have proposed a genetic algorithm based automatic adjustment method of the optical axis in laser systems. A novel genetic algorithm based method to evolve control system of a computer sim- ulated mobile inverted pendulum has been presented by M. Beckerleg and J. Collins. M. Meenakshi and M.S. Bhat have presented a robust control method based on H2 controller for lateral stabilisation of a micro air vehicle. The deve- loped methodology is applicable to all classes of mini and micro air vehicles. The next two papers are on robot teams. H. Furukawa has designed an ecological interface for human supervision of a robot team. The performance of an embedded real-time system for use in a scenario of soccer playing robots has been evaluated by K. Koker. The next two papers are on biped walking robot. Takahashi et al., have detailed the development of a simple six-axis biped robot system which can be used as a teaching aid for undergraduate students studying intelligent robotics. In the other paper the autonomous stride-frequency and step-length adjustment for biped walking control has been reported by L. Yang et al. An extended Kalman filtering technique has been applied for the iden- tification of unmanned aerial vehicle by A. G. Kallapur et al. M Goyal has reported a novel strategy for multi-agent coalitions in a dynamic hostile world. Guest Editorial VII K. H. Hyun et al., have designed a filter bank and extracted emotional speech features for the recognition of emotion based on voice. A FPGA- based implementation of graph colouring algorithms has been reported by V. Sklyarov and his colleagues. O. Kenta et al., have employed levy based control strategy and extended it with autonomous role selection to solve the sharing problems of common resources. R. Akmeliawati and I. M. Y. Mareels have studied the complex stability radius for automatic design of gain scheduled control in the next two papers. In the last paper V. Sklyarov and I. Skliarov have suggested design meth- ods for reconfigurable hierarchical finite state machines (RHFSM), which pos- sess two important features such as they enable the control algorithms to be divided in modules providing direct support for “divide and conquer” strategy and they allow for static and dynamic reconfiguration. We do hope that the readers will find this special issue interesting and useful in their research as well as in practical engineering work in the area of robotics and autonomous robots. We are very happy to be able to offer the readers such a diverse special issue, both in terms of its topical coverage and geographic representation. Finally, we would like to whole-heartedly thank all the authors who have contributed their work to this special issue. We are grateful to all the review- ers from all around the world who have generously devoted their precious time to review the manuscripts. Subhas Chandra Mukhopadhyay, Guest Editor Institute of Information Sciences and Technology, Massey University (Turitea Campus) Palmerston North, New Zealand VIII Guest Editorial Dr. Subhas Chandra Mukhopadhyay graduated from the Department of Electrical Engineering, Jadavpur University, Calcutta, India in 1987 with a Gold medal and received the Master of Elec- trical Engineering degree from Indian Institute of Science, Bangalore, India in 1989. He obtained the PhD (Eng.) degree from Jadavpur University, India in 1994 and Doctor of Engineering degree from Kanazawa University, Japan in 2000. During 1989-90 he worked almost 2 years in the research and development department of Crompton Greaves Ltd., India. In 1990 he joined as a Lecturer in the Electrical Engineering department, Jadavpur University, India and he promoted to Senior Lecturer of the same department in 1995. Obtaining Monbusho fellowship he went to Japan in 1995. He worked with Kanazawa University, Japan as researcher and Assistant professor till September 2000. In September 2000 he joined as Senior Lecturer in the Institute of Infor- mation Sciences and Technology, Massey University, New Zealand where he is working currently as an Associate professor. His fields of interest include Sen- sors and Sensing Technology, Electromagnetics, control, electrical machines and numerical field calculation etc. He has authored 175 papers in different international journals and confer- ences, co-authored a book and written a book chapter and edited six confer- ence proceedings. He has also edited two special issues of international journals (IEEE Sensors Journal and IJISTA) as guest editor. He is a Fellow of IET (UK), a senior member of IEEE (USA), an associate editor of IEEE Sensors journal. He is in the editorial board of e-Journal on Non-Destructive Testing, Sensors and Transducers, Transactions on Systems, Signals and Devices (TSSD). He is in the technical programme committee of IEEE Sensors conference, IEEE IMTC conference and IEEE DELTA confer- ence. He was the Technical Programme Chair of ICARA 2004 and ICARA 2006. He was the General chair of ICST 2005. He is organizing the ICST 2007 (icst.massey.ac.nz) as the General chair during November 26-28, 2007 at Palmerston North, New Zealand. Mr. Gourab Sen Gupta graduated with a Bache- lor of Engineering (Electronics) from the University of Indore, India in 1982. In 1984 he got his Mas- ter of Electronics Engineering from the University of Eindhoven, The Netherlands. In 1984 he joined Philips India and worked as an Automation Engineer in the consumer electronics division till 1989. Currently he works as a Senior Lecturer in the School of Electrical and Electronic Engineering at Singapore Polytechnic, Singapore. He was with Massey University, Palmerston Guest Editorial IX North, New Zealand from September 2002 to August 2006 as a Visiting Senior Lecturer while carrying out studies for his PhD degree. He has published over 50 papers in international journals and conference proceedings, co-authored two books on programming, edited four conference proceedings, and edited two special issues of international journals (IEEE Sensors Journal and IJISTA) as guest editor. He is a senior member of IEEE. His area of interest is robotics, autonomous systems, embedded controllers and vision processing for real-time applications. He was the General Chair of ICARA 2004 and ICARA 2006. He was the Technical Programme chair of ICST 2005. He is organizing the ICST 2007 (icst.massey.ac.nz) as the Tech- nical Programme Chair during November 26-28, 2007 at Palmerston North, New Zealand. Contents 1 Toward Hierarchical Multi-Robot Urban Search and Rescue: Development of a ‘Mother’ Agent David A. Williamson and Dale A. Carnegie . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 Multi-Robot Search and Rescue: A Potential Field Based Approach J.L. Baxter, E.K. Burke, J.M. Garibaldi, and M. Norman. . . . . . . . . . . . . 9 3 Probabilistic Target Search Strategy R. Jarvis and M. Marzouqi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4 Localisation and Mapping With a Mobile Robot Using Sparse Range Data Jochen Schmidt, Chee K. Wong, and Wai K. Yeap . . . . . . . . . . . . . . . . . . . 25 5 Applying High-Level Understanding to Visual Localisation for Mapping Trevor Taylor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 6 Development of an Optical Three-Axis Tactile Sensor for Object Handing Tasks in Humanoid Robot Navigation System Hanafiah Yussof, Masahiro Ohka, Hiroaki Kobayashi, Jumpei Takata, Mitsuhiro Yamano, and Yasuo Nasu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7 Clustering Methods in Flock Traffic Navigation Based on Negotiation Carlos Astengo-Noguez and Ram´on Brena-Pinero . . . . . . . . . . . . . . . . . . . . 53 8 Using Learned Features from 3D Data for Robot Navigation Michael Happold and Mark Ollis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
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