An Architecture for Autonomously Controlling Robot with Embodiment in Real World

In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated with sensing' and `dynamically change their plans when necessary'. We propose the use of a new concept, enabling robots to do these two things, for autonomously controlling mobile robots. We implemented our concept to make two experiments under static/dynamic environments. The results of these experiments show that our idea provides a way to adapt to dynamic changes of the environment in the real world.Comment: Submission for proc. of KRR-ICLP2013 (resubmitted using LLNCS style

Recent Developments in the Optimization of Space Robotics for Perception in Planetary Exploration

The following paper reviews recent developments in the field of optimization of space robotics. The extent of focus of this paper is on the perception (robotic sense of analyzing surroundings) in space robots in the exploration of extra-terrestrial planets. Robots play a crucial role in exploring extra-terrestrial and planetary bodies. Their advantages are far from being counted on finger tips. With the advent of autonomous robots in the field of robotics, the role for space exploration has further hustled up. Optimization of such autonomous robots has turned into a necessity of the hour. Optimized robots tend to have a superior role in space exploration. With so many considerations to monitor, an optimized solution will nevertheless help a planetary rover perform better under tight circumstances. Keeping in view the above mentioned area, the paper describes recent developments in the optimization of autonomous extra-terrestrial rovers.Comment: 12 pages, Presented in the International Conference on Space - 2014, Proceedings of the International Conference on Space - 201

Machine Vision and Applications DOI 10.1007/s00138-007-0085-z ORIGINAL PAPER Intelligent perception and control for space robotics Autonomous Satellite Rendezvous and Docking

Abstract We present a space robotic system capable of capturing a free-flying satellite for the purposes of on-orbit satellite servicing. Currently such operations are carried out either manually or through discrete-event scripted controllers. The manual approach is costly and exposes astronauts to danger, while the scripted approach is tedious and brittle. Consequently, there is substantial interest in performing these operations autonomously, and the work presented here is a step in this direction. To our knowledge, ours is the only satellite-capturing system that relies on vision and cognition to deal with an uncooperative satellite. Our innovative system combines visual perception (object identification, recognition, and tracking) with high-level reasoning in a hybrid deliberative/reactive computational framework. The reasoning module, which encodes a model of the environment, performs deliberation to control the perception pipeline— it guides the vision system, validates its performance, and suggests corrections when vision is performing poorly. Furthermore, it advises the behavioral controller to carry out its tasks. Reasoning and related elements, among them intention, context, and memory, are responsible for the robustness and reliability of the overall system. We demonstrate our prototype system controlling a robotic arm that autonomously captures a free-flying satellite in a realistic laboratory setting that faithfully mimics on-orbit conditions