September 28, Course Projects
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This document summarizes several multi-robot system research projects presented at a seminar. It introduces common challenges in multi-robot research such as collaborative lifting of boxes, bouncing balls between robots, efficient patrolling, localization with constraints, coverage while maintaining connectivity, data ferrying in sensor networks, learning locomotion, resource sharing to improve performance, informed flocking in honeybees, hierarchical coverage control, music generation with agents, message passing in ROS, mapping with smart spheres, soft robot actuation, and optimal plant placement. General advice is given on crafting research projects, focusing on an open question and developing a testable hypothesis and methodology.
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September 11, Deliberative Algorithms II
This document discusses exact and approximate algorithms for multi-robot systems. Exact algorithms always find the optimal solution but can be computationally expensive for problems like the traveling salesman problem (TSP) that are NP-hard. Approximate algorithms trade off optimality for speed. Market-based algorithms provide a distributed solution for task allocation problems where robots bid on tasks. Centralized systems require communication but have single points of failure, while distributed algorithms allow for robust self-organization but may produce ambiguous solutions.
December 2, Projects
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Template functions and classes in C++ allow functions and classes to operate on multiple data types rather than a single data type. The document discusses how template functions define a type parameter to replace the data type, and template classes define member functions and variables as templates. It provides examples of template functions used in ROS for message passing, including advertise and subscribe, which allow publishing and subscribing to messages of different types.
November 30, Projects
The document discusses using a particle filter and physics simulator to localize objects seen by a robot. It proposes generating possible object configurations from particle filter hypotheses and using a physics simulator to reject configurations where objects overlap or are unstable. The goal is to find a world model that is physically valid according to the simulator. Examples show invalid configurations being rejected and the best valid configuration being output.
December 4, Project
This presentation discusses using reinforcement learning to teach modular robots locomotion. The key challenges are the high-dimensional state and action spaces, as well as the lack of domain knowledge. The presentation proposes using policy gradient reinforcement learning with finite differences to learn locomotion policies from raw sensor data. It suggests that incorporating domain knowledge through task manifolds and curriculum learning could help address the "curse of dimensionality" and speed up the learning process. The goals are to apply these techniques to learn locomotion, map tasks to policies, and develop a "robot school" curriculum.
Vishal Verma: Rapidly Exploring Random Trees
The document discusses rapidly exploring random trees (RRTs), an algorithm for motion planning in robotics. RRTs are used to search high-dimensional spaces and consider constraints like obstacles, differential constraints of motion, and non-holonomic constraints. The RRT algorithm works by growing a search tree randomly throughout the configuration space to explore it efficiently. It is shown to work well for problems with obstacles, differential constraints, and non-holonomic constraints compared to other randomized planning methods. Examples are provided to demonstrate RRT planning for holonomic and non-holonomic systems.
Lecture 05
This document discusses various computer vision techniques for obtaining range and depth information from images, including depth from focus, depth from stereo, and optical filters. It introduces the pinhole camera model and explains how depth can be estimated from a single image by analyzing focus versus from multiple images using stereo vision. Examples of image processing techniques like convolution and morphological operations are also provided. The challenges of object recognition are discussed, noting that perception depends on assumptions about lighting, geometry, frequency, color and other factors that can be ambiguous.
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September 21, Modeling of Gradient-Based Controllers I
This document discusses gradient-based modeling approaches for reactive control of multi-robot systems. It introduces concepts like cost functions defined over robot positions to encode behaviors, stability analysis using tools like Lyapunov functions, and examples like maximizing visual coverage using a Voronoi decomposition of the environment. Students are asked to propose a 1-page project on applying methods from the course to a multi-robot control problem.
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Thank you for the summary. Discrete event simulation is a useful technique for modeling complex multi-robot systems with large state spaces and uncertainties.
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This document provides a summary of the key topics covered in an introduction to robotics course over 15 weeks, including:
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This document provides an introduction to robotics kinematics including forward kinematics, inverse kinematics, and maneuverability. It discusses calculating a robot's speed given its wheel speeds and geometry using forward kinematics, and determining required wheel speeds to achieve a desired speed using inverse kinematics. It also covers a robot's degree of mobility based on the number of independently controllable wheels and degree of steerability based on the number of independently steered wheels to determine its overall maneuverability. Examples are provided and the document concludes with assigning homework to read about forward kinematics and program a waypoint following robot.
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This document outlines the syllabus for an introduction to robotics course. It will cover topics like locomotion, kinematics, perception, localization, planning and navigation. Students will gain hands-on experience programming robots in simulation and debates. Assessments include weekly reading assignments, a midterm, debate and class participation. The course will not cover components building or software engineering, focusing instead on simulation. Students will design controllers for robots in a competition called Ratslife to practice perception, navigation and planning skills.
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What are the safety risks with autonomous robots? Are autonomous robot a threat to human workers? How can robots achieve intelligent behavior? What mechanisms are needed to reach human agility?
Lecture 09: Localization and Mapping III
This document provides an overview of localization and mapping techniques for robotics, including:
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Lecture 08: Localization and Mapping II
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Lecture 07: Localization and Mapping I
This document discusses localization and mapping for robotics. It introduces topics like gyroscopes, odometry, GPS, and landmarks for localization. It discusses uncertainty models using Gaussian distributions and error propagation. Methods for belief representation are presented, including parametric single/multi hypothesis and non-parametric particle filters. Environment representations like continuous, discrete, and topological maps are described. The document provides an example of Google Maps and discusses belief representation in topological maps. It also covers multi-hypothesis belief representation, sensor data to topological maps using exact and Voronoi decompositions, and adaptive cell-size. The document assigns homework on navigation algorithms and reactive vs. deliberative planning.
Lecture 06: Features
This document provides an introduction to robotics features for computer vision. It discusses low-level image features like edges, colors and corners that can be extracted from sensors. Higher level features allow reasoning about the environment like object detection and segmentation. Examples demonstrate visual servoing using image features to grasp objects as well as fruit detection using filtering, segmentation and the Hough transform. The document also covers corner detection methods like Harris corners and scale-invariant feature transform (SIFT). It concludes with discussing using features to implement a robot controller and assigning project groups to work on different aspects.
Lecture 05: Vision
Vision is a challenging task for robots due to various ambiguities, including: depth discontinuities, surface orientation changes, reflectance changes, illumination changes, and different perspectives. Basic image processing techniques can help with tasks like edge detection, thresholding, morphological operations, and stereo vision calculations, but object recognition still requires combining these techniques with filters tuned to the specific objects. For homework, students should read about these topics and complete a questionnaire.
Lecture 04: Sensors
This document discusses robotics perception and sensors. It provides an overview of forward and inverse kinematics, feedback control concepts, and different types of sensors used in robotics like laser rangefinders, infrared sensors, and their performance characteristics. It also outlines an exercise for designing a robot capable of various tasks like vacuuming, lawn mowing, or ball collection and discusses the necessary sensors, algorithms, and mechanisms to address. Homework assigned is to read a section on perception and complete a questionnaire.
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一、工作未确定，回国需先给父母、亲戚朋友看下文凭的情况，办理一份就读学校的毕业证【微信：A575476】文凭即可
二、回国进私企、外企、自己做生意的情况，这些单位是不查询毕业证真伪的，而且国内没有渠道去查询国外文凭的真假，也不需要提供真实教育部认证。鉴于此，办理一份毕业证【微信：A575476】即可
三、进国企，银行，事业单位，考公务员等等，这些单位是必需要提供真实教育部认证的，办理教育部认证所需资料众多且烦琐，所有材料您都必须提供原件，我们凭借丰富的经验，快捷的绿色通道帮您快速整合材料，让您少走弯路。
留信网认证的作用:
1:该专业认证可证明留学生真实身份
2:同时对留学生所学专业登记给予评定
3:国家专业人才认证中心颁发入库证书
4:这个认证书并且可以归档倒地方
5:凡事获得留信网入网的信息将会逐步更新到个人身份内，将在公安局网内查询个人身份证信息后，同步读取人才网入库信息
6:个人职称评审加20分
7:个人信誉贷款加10分
8:在国家人才网主办的国家网络招聘大会中纳入资料，供国家高端企业选择人才
→ 【关于价格问题（保证一手价格）
我们所定的价格是非常合理的，而且我们现在做得单子大多数都是代理和回头客户介绍的所以一般现在有新的单子 我给客户的都是第一手的代理价格，因为我想坦诚对待大家 不想跟大家在价格方面浪费时间
对于老客户或者被老客户介绍过来的朋友，我们都会适当给一些优惠。
选择实体注册公司办理，更放心，更安全！我们的承诺：可来公司面谈，可签订合同，会陪同客户一起到教育部认证窗口递交认证材料，客户在教育部官方认证查询网站查询到认证通过结果后付款，不成功不收费！
NIMA2024 | De toegevoegde waarde van DEI en ESG in campagnes | Nathalie Lam |...
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The Genesis of BriansClub.cm Famous Dark WEb Platform
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Cover Story - China's Investment Leader - Dr. Alyce SU
In World Expo 2010 Shanghai – the most visited Expo in the World History
https://www.britannica.com/event/Expo-Shanghai-2010
China’s official organizer of the Expo, CCPIT (China Council for the Promotion of International Trade https://en.ccpit.org/) has chosen Dr. Alyce Su as the Cover Person with Cover Story, in the Expo’s official magazine distributed throughout the Expo, showcasing China’s New Generation of Leaders to the World.
Sustainable Logistics for Cost Reduction_ IPLTech Electric's Eco-Friendly Tra...
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Part 2 Deep Dive: Navigating the 2024 Slowdown
Introduction
The global retail industry has weathered numerous storms, with the financial crisis of 2008 serving as a poignant reminder of the sector's resilience and adaptability. However, as we navigate the complex landscape of 2024, retailers face a unique set of challenges that demand innovative strategies and a fundamental shift in mindset. This white paper contrasts the impact of the 2008 recession on the retail sector with the current headwinds retailers are grappling with, while offering a comprehensive roadmap for success in this new paradigm.
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一比一原版(QMUE毕业证书)英国爱丁堡玛格丽特女王大学毕业证文凭如何办理
永久可查学历认证【微信：A575476】【(QMUE毕业证书)英国爱丁堡玛格丽特女王大学毕业证成绩单Offer】【微信：A575476】（留信学历认证永久存档查询）采用学校原版纸张、特殊工艺完全按照原版一比一制作（包括：隐形水印，阴影底纹，钢印LOGO烫金烫银，LOGO烫金烫银复合重叠，文字图案浮雕，激光镭射，紫外荧光，温感，复印防伪）行业标杆！精益求精，诚心合作，真诚制作！多年品质 ,按需精细制作，24小时接单,全套进口原装设备，十五年致力于帮助留学生解决难题，业务范围有加拿大、英国、澳洲、韩国、美国、新加坡，新西兰等学历材料，包您满意。
【业务选择办理准则】
一、工作未确定，回国需先给父母、亲戚朋友看下文凭的情况，办理一份就读学校的毕业证【微信：A575476】文凭即可
二、回国进私企、外企、自己做生意的情况，这些单位是不查询毕业证真伪的，而且国内没有渠道去查询国外文凭的真假，也不需要提供真实教育部认证。鉴于此，办理一份毕业证【微信：A575476】即可
三、进国企，银行，事业单位，考公务员等等，这些单位是必需要提供真实教育部认证的，办理教育部认证所需资料众多且烦琐，所有材料您都必须提供原件，我们凭借丰富的经验，快捷的绿色通道帮您快速整合材料，让您少走弯路。
留信网认证的作用:
1:该专业认证可证明留学生真实身份
2:同时对留学生所学专业登记给予评定
3:国家专业人才认证中心颁发入库证书
4:这个认证书并且可以归档倒地方
5:凡事获得留信网入网的信息将会逐步更新到个人身份内，将在公安局网内查询个人身份证信息后，同步读取人才网入库信息
6:个人职称评审加20分
7:个人信誉贷款加10分
8:在国家人才网主办的国家网络招聘大会中纳入资料，供国家高端企业选择人才
→ 【关于价格问题（保证一手价格）
我们所定的价格是非常合理的，而且我们现在做得单子大多数都是代理和回头客户介绍的所以一般现在有新的单子 我给客户的都是第一手的代理价格，因为我想坦诚对待大家 不想跟大家在价格方面浪费时间
对于老客户或者被老客户介绍过来的朋友，我们都会适当给一些优惠。
选择实体注册公司办理，更放心，更安全！我们的承诺：可来公司面谈，可签订合同，会陪同客户一起到教育部认证窗口递交认证材料，客户在教育部官方认证查询网站查询到认证通过结果后付款，不成功不收费！
Garments ERP Software in Bangladesh _ Pridesys IT Ltd.pdf
Pridesys Garments ERP is one of the leading ERP solution provider, especially for Garments industries which is integrated with
different modules that cover all the aspects of your Garments Business. This solution supports multi-currency and multi-location
based operations. It aims at keeping track of all the activities including receiving an order from buyer, costing of order, resource
planning, procurement of raw materials, production management, inventory management, import-export process, order
reconciliation process etc. It’s also integrated with other modules of Pridesys ERP including finance, accounts, HR, supply-chain etc.
With this automated solution you can easily track your business activities and entire operations of your garments manufacturing
proces
Innovative Uses of Revit in Urban Planning and Design
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Dive into this presentation and learn about the ways in which you can buy an engagement ring. This guide will help you choose the perfect engagement rings for women.
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September 28, Course Projects
- 1. Multi-Robot Systems CSCI 7000-006 Monday, September 28, 2009 NikolausCorrell
- 2. Crafting a Research Project What is “research”? Preliminary requirement: open question Secondary: how to solve it Hypothesis: states question and leads to methodology Sources of confusion You need to investigate what the questions are You need to design your experiment You need to optimize your system You need to develop tools to investigate
- 3. Collaborative Lifting Problem: Lifting a box collaboratively Hypothesis: Problem can be encoded in a single cost function that allows gradient-based control Method: formal stability analysis Gregory Brown
- 4. Collaborative Bouncing Problem: Bouncing a ball back and forth between two robots Hypothesis: Use a particle-filter for predicting system dynamics Method: Dynamical model and implementation Mikael Ian Pryor
- 5. Probabilistic Patrolling Problem: Patrol an environment efficiently but unpredictable to the adversary Hypothesis: Use a balance between exploration and exploitation during coverage Method: Probabilistic algorithm, model, implementation VijethRai
- 6. Probabilistic Localization with Geometric Constraints Problem: Localizing “intelligent” objects Hypothesis: Using the object geometry and simulated physics in a particle filterfor an RFID reader can improve localization accuracy Method: Particle filter combined with physics-based simulator Neeti Shared Wagle
- 7. Reactive Coverage with Connectivity Constraints Problem: cover an environment while maintain connectivity Hypothesis: Constraints can be encoded in a global cost function Method: Stability analysis of gradient-based controller MaciejStachura
- 8. Probabilistic Path Generation for Data Ferrying in Unknown Sensor Deployments Problem: collecting data from sensor network using mobile robot Hypothesis: optimal planning always better or same than randomized even if node location is unknown Method: analysis and hardware validation Anthony Carfang
- 9. Policy-space Learning of Tunable Locomotion Primitives Problem: learn to locomote unknown actuator configurations Hypothesis: The Natural Policy Gradient method can allow to find optimal policies in high-dimensional, continuous state space in real time Method: implementation in realistic simulation Ben Pearre
- 10. Resource sharing in Multi-Robot Systems Problem: improve individual performance by relying on team sensors Hypothesis: Can Resource Sharing Make Up for Perception Deficiencies in a Multi-Robot Team? Method: Demonstration in real hardware GPS Peter Klein
- 11. Informed Flocking in Honey Bees Question: how do honeybees communicate the location of a new nesting site Hypothesis: Can the Robustness to Disturbances Shed Light into the Preferred Method of Informed Flocking in Honey-Bees? Approach: mathematical model and numerical simulation Apratim Shaw
- 12. Mothership/Daughtership Coverage Control Problem Question: how to best distribute capabilities in a system? Hypothesis: A hierarchical mothership (MS)/daughtership (DS) system can be applied to coverage control problems and is more efficient and scalable than a team of all MS or all DS. Method: mathematical model and numerical simulation Jason Durrie
- 13. An agent based approach to music generation Problem: generate nice music automatically Hypothesis: A threshold agent based model where each agent represents a note on the piano is capable of creating “good” sounding music. Approach: mathematical model and numerical simulation Stephen Heck
- 14. MROS: Multi-Robot Operating System Problem: message passing in ROS limited to a single agent Hypothesis: broadcast message proxies can turn local message bus into message graph Implementation: Message proxy using BioNet MarekSotola
- 15. Smart Sand Problem: Mapping hard to access environments Hypothesis: We can reconstruct the topology and sensing landscape of a cavity using large numbers of smart spheres that can establish their local position Method: implementation in ODE, analysis Monish Prabhakar
- 16. Towards Truly Soft Robots Problem: Creating shape deformation and actuation from soft components Hypothesis: Given a soft smart sheet composed of cells that can be individuallyactuated and that can as a result actively change its shape, it is possible to createarbitrary 3D polygons by combining and contorting the 1D sheets in novel ways Method: Implementation of spring-mass model of actuator meshes in ODE SwamyAnanthanarayan
- 17. Optimal plant placement Problem: place plants such that light and water are optimally used Hypothesis: Genetic algorithms will outperform gradient-based optimization in strongly-coupled, non-linear dynamic systems Method: Mathematical model, numerical simulation Rhonda Hoenigman
- 18. Implementation Common resources/goals Manipulation Communication Mobile base ODE Matlab Create clusters and collaborate
- 19. Project report Motivation for your research Hypothesis Materials and Methods Results Discussion Conclusion
- 20. Scientific thesis in general Principally you need a hypothesis and write a dissertation to defend it The reality is often different Investigate interesting problem and variations Funding driven (not necessarily scientific) Change in direction/advising Solution: what is the most interesting question my material can answer? Drop all the rest.
- 21. This week Wednesday: Probabilistic Modeling Friday: Start course projects