Information Processing in Autonomous Mobile Robots: Proceedings of the International Workshop March 6-8, 1991 Technische Universität München Germany

ISBN-13: 9783540539643 / Angielski / Miękka / 1991 / 354 str.

Ga1/4nther Schmidt

Opis

This volume is a collection of 22 papers presented at the International Workshop on Information Processing in Autonomous Mobile Robots, held in Munich (Germany) in March 1991. Autonomous mobile robot technologies are generating significant interest because of their potential capabilities for future applications on the plant floor as weil as in the service industry. Autonomous robots may navigate around factories and laboratories, hospitals, office-buildings, airports or sirnilar public and sernipublic places. They may deliver equipment, coilect garbage and perform other such tasks. One of the major challenges for the field of autonomous mobile robot research is to develop robust and real-time systerns for perception and understanding of complicated real environments as weil as for intelligent decision-making with respect to proper actions. This Workshop was set up to stimulate discussion and the exchangement of new ideas on various aspects of autonomous mobile robot methodologies and applications. The main focal points of the Workshop program were sensing and perception, navigation and control, knowledge bases and computer architechtures as weil as various applications. The papers are prepared by leading experts in theses areas from Europe, Japan, the United States and by researchers involved in the interdisciplinary research project on "Information Processing in Autonomous Mobile Robots (Sonderforschungsbereich 331)" at the Technische Universitat Munchen.

Spis treści

Towards Integration of Autonomous Subsystems for Assembly and Mobility into Flexible Manufacturing.- Sensing and Perception.- Temporal Integration of Multiple Sensor Observations for Dynamic World Modeling: A Multiple Hypothesis Approach.- An Application of Image Processing and Image Interpretation in Manufacturing Environments.- Dynamic Sensing and Multi-Task Performance with a Mobile Manipulator System.- Multisensor System for an Autonomous Robot Vehicle.- Dynamic Control of Robot Perception Using Stochastic Spatial Models.- Contributions of a Microwave Radar Sensor to a Multisensor System Used for Autonomous Vehicles.- Navigation and Control.- Hierachical Control of Free-Navigation AGVs.- Performance Data of Dead Reckoning Procedures for Non Guided Vehicles.- Guide Dog Robot Harunobu-5 - Stereotyped Motion and Navigation -.- Indoor Navigation of Mobile Robots by Use of Learned Maps.- A Recursive Control Structure for Mobile Robots.- Real-Time Control in an Autonomous Mobile Robot.- Advanced Sensor-Guided Motion Control for Mobile Robots.- Knowlege-Bases and Computer Architectures.- Reactive Planning - A Model of Knowledge-Based Real-Time Planning -.- An Object-Oriented Knowledge Base for CIM Environments.- Architectural Features of Computer Systems for Autonomous Mobile Robot Applications.- Learning.- Location Recognition in a Mobile Robot Using Self-Organising Feature Maps.- Strategies for Learning Elementary Mobile Robot Operations.- Applications.- Safety Aspects for Autonomous Robot Systems.- Seam-Welds Inspection of Underwater Structures Using a Submersible Mobile Robot.- Layers of Task Planning for Intelligent Autonomous Systems in a Flexible Manufacturing Environment.- List of Authors.