Positioning for autonomous robotics

Abstract

Creating a standard for knowledge representation and reasoning in autonomous robotics is an urgent task if we consider recent advances in robotics as well as predictions about the insertion of robots in human daily life. Indeed, this will impact the way information is exchanged between multiple robots or between robots and humans and how they can all understand it without ambiguity. Indeed, Human Robot Interaction (HRI) represents the interaction of at least two cognition models (Human and Robot). Such interaction informs task composition, task assignment, communication, cooperation and coordination in a dynamic environment, requiring a flexible representation. Hence, this paper presents the IEEE RAS Autonomous Robotics (AuR) Study Group, which is a spin-off of the IEEE Ontologies for Robotics and Automation (ORA) Working Group, and and its ongoing work to develop the first IEEE-RAS ontology standard for autonomous robotics. In particular , this paper reports on the current version of the ontology for autonomous robotics as well as on its first implementation successfully validated for a human-robot interaction scenario, demonstrating the developed ontology's strengths which include semantic interoperability and capability to relate ontologies from different fields for knowledge sharing and interactions.

Two-dimensional localization using nonlinear Kalman approaches

“…fiber optic gyros, roll/pitch/yaw sensors, digital compasses, accelerometers, wheel encoders, etc.) to improve position accuracy by compensating the error of the data pertaining to each sensor in various applications such as autonomous lawn mowers [4,5], and autonomous automotive systems [6,7]. Fusion is usually accomplished through the implementation of Kalman methodologies.…”

“…Similar to [5,10], these landmarks (reflectors) will be passive and detected with a rotating laser system on an AVS. A method for triangulation is based on geometry using the measured angles between "line of sight" of known landmarks.…”