198documents trouvés
Multiple eyes in the skies
A.OLLERO, S.LACROIX, L.MERINO, J.GANCET, J.WIKLUND, V.REMUSS, I.VEIGA PEREZ, L.G.GUTIERREZ, D.X.VIEGAS, A.MALLET, R.ALAMI, R.CHATILA, G.HOMMEL, F.J.COLMENERO LECHUGA, B.C.ARRUE, J.FERRUZ, J.RAMIRO MARTINEZ-DE DIOS, F.CABALLERO, M.GONZALEZ BENITEZ
University of Coimbr, Seville, RIA, Universität Berlin, GMV, Helivision
Revue Scientifique : IEEE Robotics & Automation Magazine, Vol.12, N°2, pp.46-57, Juin 2005 , N° 05514
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104584An approach to decision in multi-UAV systems: architecture and algorithms
J.GANCET, G.HATTENBERGER, R.ALAMI, S.LACROIX
RIA
Manifestations avec acte à diffusion limitée : ICRA'2005 Workshop on Coopérative Robotics, Barcelone (Espagne), 22 Avril 2005, 8p. , N° 05328
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103853A grasp planner based on inertial properties
E.LOPEZ DAMIAN, D.SIDOBRE, R.ALAMI
RIA
Manifestation avec acte : 2005 IEEE International Conference on Robotics & Automation (ICRA'05), Barcelone (Espagne), 18-22 Avril 2005, pp.766-771 , N° 04571
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103518Simulation in the LAAS architecture
S.JOYEUX, R.ALAMI, S.LACROIX, A.LAMPE
RIS
Manifestation avec acte : International Conference on Robotics and Automation - Workshop on Software Development in Robotics, Barcelone (Espagne), 18-22 Avril 2005, 7p. , N° 07413
Lien : http://hal.archives-ouvertes.fr/hal-00166799/fr/
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Abstract
While software for robotics cannot avoid being tested for real, it is often difficult and time-consuming to do so. In multi-robot developments, one may be unable to fully experiment its software since putting an experiment into place for a few aerial and terrestrial vehicules can quickly become difficult to do. In these cases, being able to extensively test in simulation is a very important thing. We present here a simulation environment adapted to the LAAS Architecture. This architecture is designed for the control of autonomous robots. The simulation system has been designed to address the major issues in this kind of problems: " being able to use the same code in both simulated and real environments. " being able to reproduce the behavior in non-simulated systems: sensor accuracy, execution latencies in communication (inter-robot and hardware-to-software). " scalability in terms of robots and world size for multi-robot simulations. We present first a quick overview of the LAAS architecture, then the simulation system, and how we did achieve to address the three points outlined above.
Mots-Clés / Keywords
Simulation; Architecture;
A general framework to express intricate motion, manipulation and task planning problem and an implemented planner
S.CAMBON, R.ALAMI
RIA
Rapport LAAS N°05087, Mars 2005, 6p.
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103363Supervision and interaction. Analysis from an autonomous tour-guide robot deployment
A.CLODIC, S.FLEURY, R.ALAMI, M.HERRB, R.CHATILA
RIA, 2I
Rapport LAAS N°04727, Décembre 2004, 8p.
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103173Distributed decision in multi-UAV systems: architecture and algorithms
J.GANCET, G.HATTENBERGER, R.ALAMI, S.LACROIX
RIA
Rapport LAAS N°04566, Octobre 2004, 7p.
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102862A robot task planner that merges symbolic and geometric reasoning
S.CAMBON, F.GRAVOT, R.ALAMI
RIA
Manifestation avec acte : 16th European Conference on Artificial Intelligence (ECAI'2004), Valence (Espagne), 22-27 Août 2004, pp.895-899 , N° 04165
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Abstract
We have developed an original planner, aSyMov, that has been specially designed to address intricate robot planning problems where geometric constraints cannot be simply abstracted in a way that has no influence on the symbolic plan. This paper presents the ingredients that allowed us to establish an effective link between the representations used by a symbolic task planner and the representations used by a realistic motion and manipulation planning library. The architecture and the main plan search strategies are presented together with an illustrative example solved by a prototype implementation of aSyMov. At each step of the planning process both symbolic and geometric constraints are considered. Besides, the planning process tries to arbitrate between finding a plan with the level of knowledge it has already acquired, or investing more in a deeper knowledge of the topology of the different configuration spaces it manipulates.
A distributed tasks allocation scheme in multi-UAV context
T.LEMAIRE, R.ALAMI, S.LACROIX
RIA
Manifestation avec acte : 2004 International Conference on Robotics and Automation (ICRA'2004), New Orleans (USA), 26 Avril 1er Mai 2004, 6p. , N° 04741
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103196aSyMov: a planner that deals with intricate symbolic and geometric problems
F.GRAVOT, S.CAMBON, R.ALAMI
RIA
Conférence invitée : Invited paper. 11th International Symposium on Robotics Research (ISRR'2003), Sienne (Italie), 19-22 Octobre 2003 , N° 03493
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Abstract
We propose an original approach to integrate symbolic task planning, and geometric motion and manipulation planning. We focus more particularly on one key aspect: the relation between the symbolic positions and their geometric counterparts. Indeed, we have developed an instantiation process that is able to propagate incrementally taskdependent as well as 3D environmentdependent constraints and to guide efficiently the search until valid geometric configurations are found that satisfy the plan at both levels. The overall process is discussed and illustrated through an implemented example.