Belief Driven Manipulator Control for Integrated Searching and Tracking

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dc.contributor.author Webb, Stephen en_US
dc.contributor.author Furukawa, Tomonari en_US
dc.contributor.editor IEEE en_US
dc.date.accessioned 2012-02-02T11:08:27Z
dc.date.available 2012-02-02T11:08:27Z
dc.date.issued 2006 en_US
dc.identifier 2009008142 en_US
dc.identifier.citation Webb Stephen and Furukawa Tomonari 2006, 'Belief Driven Manipulator Control for Integrated Searching and Tracking', , IEEE, Piscataway, USA, , pp. 4983-4988. en_US
dc.identifier.issn 1-4244-0259-X en_US
dc.identifier.other E1UNSUBMIT en_US
dc.identifier.uri http://hdl.handle.net/10453/16337
dc.description.abstract This paper presents a feedforward control strategy for a robotic manipulator based on a belief function. The belief about a target's next location, as described by a probability density function, is maintained by a recursive Bayesian process that fuses observations with a target motion model. A sensor model that incorporates positive and negative sensor readings allows the single belief function to be used to deliver both searching and tracking behaviors. Constrained non-linear optimization is used to search configuration space for the control action that maximizes the subsequent probability of detection. To demonstrate application of the technique, a simple example is elaborated for a searching and tracking task with an eye-in-hand sensor en_US
dc.language en_US
dc.publisher IEEE en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/IROS.2006.282523 en_US
dc.title Belief Driven Manipulator Control for Integrated Searching and Tracking en_US
dc.parent Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.journal.number en_US
dc.publocation Piscataway, USA en_US
dc.identifier.startpage 4983 en_US
dc.identifier.endpage 4988 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 090600 en_US
dc.personcode 998406 en_US
dc.personcode 105483 en_US
dc.percentage 50 en_US
dc.classification.name Electrical and Electronic Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.date.activity 20061009 en_US
dc.location.activity Beijing, China en_US
dc.description.keywords Australia , Bayesian methods , Constraint optimization , Control systems , Intelligent robots , Kinematics , Manipulator dynamics , Pulp manufacturing , Robot sensing systems , Target tracking en_US
dc.staffid 105483 en_US


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