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  • 401. Zhong, J.
    et al.
    Hu, Xiaoming
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
    Kleijn, W. B.
    Gaze and zoom controls for visual tracking2013Inngår i: Chinese Control Conf., CCC, 2013, s. 811-816Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Visual tracking is widely used in many applications such as security surveillance, robot navigation and industrial inspection. In this paper gaze and zoom controls for visual tracking with a monocular camera are considered. The gaze control keeps the camera pointing to the centroid of a moving object of interest to keep the object centered in each image. The zoom control adjusts the camera focal length to preserve the object at a desired constant image size. Both gaze control and zoom control are explicitly designed with simple formulas. Simulation results validate the controls.

  • 402.
    Zwinderman, Matthijs
    et al.
    Technical University of Eindhoven, The Netherlands.
    Rybski, Paul E.
    The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA.
    Kootstra, Gert
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    A Human-Assisted Approach for a Mobile Robot to Learn 3D Object Models using Active Vision2010Inngår i: Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (ROMAN 2010), IEEE , 2010, s. 397-403Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this paper we present an algorithm that allows a human to naturally and easily teach a mobile robot how to recognize objects in its environment. The human selects the object by pointing at it using a laser pointer. The robot recognizes the laser reflections with its cameras and uses this data to generate an initial 2D segmentation of the object. The 3D position of SURF feature points are extracted from the designated area using stereo vision. As the robot moves around the object, new views of the object are obtained from which feature points are extracted. These features are filtered using active vision. The complete object representation consists of feature points registered with 3D pose data. We describe the method and show that it works well by performing experiments on real world data collected with our robot. We use an extensive dataset of 21 objects, differing in size, shape and texture.

  • 403.
    Ögren, Petter
    Swedish Defence Research Agency (FOI), Sweden.
    Increasing Modularity of UAV Control Systems using Computer Game Behavior Trees2012Inngår i: AIAA Guidance, Navigation, and Control Conference 2012, 2012Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this paper, we argue that the modularity, reusability and complexity of Unmanned Aerial Vehicle (UAV) guidance and control systems might be improved by using a Behavior Tree (BT) architecture. BTs are a particular kind of Hybrid Dynamical Systems (HDS), where the state transitions of the HDS are implicitly encoded in a tree structure, instead of explicitly stated in transition maps. In the gaming industry, BTs have gained a lot of interest, and are now replacing HDS in the control architecture of many automated in-game opponents. Below, we explore the relationship between HDS and BTs. We show that any HDS can be written as a BT and that many common UAV control constructs are quite naturally formulated as BTs. Finally, we discuss the positive implications of making the above mentioned state transitions implicit in the BTs.

  • 404.
    Ögren, Petter
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.
    Colledanchise, Michele
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
    Behavior Trees in Robotics and AI: An Introduction2018 (oppl. First)Bok (Fagfellevurdert)
    Abstract [en]

    Behavior Trees (BTs) provide a way to structure the behavior of an artificial agent such as a robot or a non-player character in a computer game.  Traditional design methods, such as finite state machines, are known to produce brittle behaviors when complexity increases, making it very hard to add features without breaking existing functionality.  BTs were created to address this very problem, and enables the creation of systems that are both modular and reactive. Behavior Trees in Robotics and AI: An Introduction provides a broad introduction as well as an in-depth exploration of the topic, and is the first comprehensive book on the use of BTs.

  • 405.
    Ögren, Petter
    et al.
    Swedish Defense Research Agency.
    Fiorelli, Eddie
    Princeton University.
    Leonard, Naomi
    Princeton University.
    Cooperative Control of Mobile Sensor Networks: Adaptive Gradient Climbing in a Distributed Environment2004Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 49, nr 8, s. 1292-1302Artikkel i tidsskrift (Fagfellevurdert)
  • 406.
    Ögren, Petter
    et al.
    KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.
    Svenmarck, Peter
    FOI.
    Lif, Patric
    FOI.
    Norberg, Martin
    FOI.
    Söderbäck, Nils Emil
    Swedish Defence Research Agency (FOI).
    Design and implementation of a new teleoperation control mode for differential drive UGVs2014Inngår i: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 37, nr 1, s. 71-79Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this paper, we propose and implement a new control mode for teleoperated unmanned ground vehicles (UGVs), that exploits the similarities between computer games and teleoperation robotics. Today, all teleoperated differential drive UGVs use a control mode called Tank Control, in which the UGV chassis and the pan tilt camera are controlled separately. This control mode was also the dominating choice when the computer game genre First Person Shooter (FPS) first appeared. However, the hugely successful FPS genre, including titles such as Doom, Half Life and Call of Duty, now uses a much more intuitive control mode, Free Look Control (FLC), in which rotation and translation of the character are decoupled, and controlled separately. The main contribution of this paper is that we replace Tank Control with FLC in a real UGV. Using feedback linearization, the orientation of the UGV chassis is abstracted away, and the orientation and translation of the camera are decoupled, enabling the operator to use FLC when controlling the UGV. This decoupling is then experimentally verified. The developments in the gaming community indicates that FLC is more intuitive than Tank Control and reduces the well known situational awareness problem. It furthermore reduces the need for operator training, since literary millions of future operators have already spent hundreds of hours using the interface.

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