scholarly journals An Adaptive Memory Model for Long-Term Navigation of Autonomous Mobile Robots

2011 ◽  
Vol 2011 ◽  
pp. 1-9 ◽  
Author(s):  
M. Hentschel ◽  
B. Wagner
Keyword(s):  
Mobile Robots ◽  
Indoor Environment ◽  
Human Memory ◽  
Autonomous Mobile Robots ◽  
Memory Model ◽  
Adaptive Memory ◽  
Variant Information ◽  
Environmental Representation ◽  
Over Time

This paper introduces an environmental representation for autonomous mobile robots that continuously adapts over time. The presented approach is inspired by human memory information processing and stores the current as well as past knowledge of the environment. In this paper, the memory model is applied to time-variant information about obstacles and driveable routes in the workspace of the autonomous robot and used for solving the navigation cycle of the robot. This includes localization and path planning as well as vehicle control. The presented approach is evaluated in a real-world experiment within changing indoor environment. The results show that the environmental representation is stable, improves its quality over time, and adapts to changes.

scholarly journals The Quest For "Always-On" Autonomous Mobile Robots

2019 ◽  
Author(s):  
Joydeep Biswas
Keyword(s):  
Mobile Robots ◽  
State Machine ◽  
Autonomous Mobile Robots ◽  
Human In The Loop ◽  
The World ◽  
Feature Based ◽  
Markov Localization

Building ``always-on'' robots to be deployed over extended periods of time in real human environments is challenging for several reasons. Some fundamental questions that arise in the process include: 1) How can the robot reconcile unexpected differences between its observations and its outdated map of the world? 2) How can we scalably test robots for long-term autonomy? 3) Can a robot learn to predict its own failures, and their corresponding causes? 4) When the robot fails and is unable to recover autonomously, can it utilize partially specified, approximate human corrections to overcome its failures? We summarize our research towards addressing all of these questions. We present 1) Episodic non-Markov Localization to maintain the belief of the robot's location while explicitly reasoning about unmapped observations; 2) a 1,000km challenge to test for long-term autonomy; 3) feature-based and learning-based approaches to predicting failures; and 4) human-in-the-loop SLAM to overcome robot mapping errors, and SMT-based robot transition repair to overcome state machine failures.

The Second Stage Experiments on Long Term Activity of Autonomous Mobile Robots - Repetitive Navigation for One Week in a Corridor

2002 ◽  
Vol 14 (4) ◽  
pp. 375-381
Author(s):  
Yasushi Hada ◽  
◽  
Shin'ichi Yuta
Keyword(s):  
Mobile Robots ◽  
Experimental System ◽  
Autonomous Mobile Robots ◽  
Second Stage ◽  
Real Robot

Our goal is to enhance the autonomy of mobile robots, which must perform meaningful tasks for a long-term with regular maintenance at intervals of a week or month. Since we started this research, we recognize not only complexity but duration as indications of autonomy, which we call ""Long Term Activity"". We are studying such autonomy using an experimental robotics approach, which constructs a real robot and develops required technologies. Our experimental system, still in work, navigates a corridor environment autonomously for one week. In this paper, we present the system and some results of experiments.

scholarly journals Accuracy and Convergence Analysis of uFA-FastSLAM for Robot and Landmarks Position Estimation

2021 ◽  
Vol 2129 (1) ◽  
pp. 012018
Author(s):  
R J Musridho ◽  
H Hasan ◽  
H Haron ◽  
D Gusman ◽  
M A Mohammad
Keyword(s):  
Mobile Robots ◽  
Convergence Analysis ◽  
Firefly Algorithm ◽  
Estimation Error ◽  
Position Estimation ◽  
Autonomous Mobile Robots ◽  
Localization And Mapping ◽  
Robot Position ◽  
Modified Firefly Algorithm ◽  
Over Time

Abstract In autonomous mobile robots, Simultaneous Localization and Mapping (SLAM) is a demanding and vital topic. One of two primary solutions of SLAM problem is FastSLAM. In terms of accuracy and convergence, FastSLAM is known to degenerate over time. Previous work has hybridized FastSLAM with a modified Firefly Algorithm (FA), called unranked Firefly Algorithm (uFA), to optimize the accuracy and convergence of the robot and landmarks position estimation. However, it has not shown the performance of the accuracy and convergence. Therefore, this work is done to present both mentioned performances of FastSLAM and uFA-FastSLAM to see which one is better. The result of the experiment shows that uFA-FastSLAM has successfully improved the accuracy (in other words, reduced estimation error) and the convergence consistency of FastSLAM. The proposed uFA-FastSLAM is superior compared to conventional FastSLAM in estimation of landmarks position and robot position with 3.30 percent and 7.83 percent in terms of accuracy model respectively. Furthermore, the proposed uFA-FastSLAM also exhibits better performances compared to FastSLAM in terms of convergence consistency by 93.49 percent and 94.20 percent for estimation of landmarks position and robot position respectively.

Intelligent Control of Autonomous Soccer Robots Compensating for Missing Information

2005 ◽  
Vol 9 (3) ◽  
pp. 268-276 ◽  
Author(s):  
Hikari Fujii ◽  
◽  
Nobuyuki Kurihara ◽  
Kazuo Yoshida ◽  
Keyword(s):  
Mobile Robots ◽  
Intelligent Control ◽  
Visual Information ◽  
Short Term Memory ◽  
Human Memory ◽  
Autonomous Mobile Robots ◽  
Missing Information ◽  
Short Term ◽  
Term Memory ◽  
Soccer Robots

For autonomous mobile robots, visual information is used to recognize the environment. Although the acquisition of visual information is often disturbed in the real environment, it is necessary for a robot to act appropriately even if information is missing. We compensate for missing information for autonomous mobile robots by using short-term memory (STM) to make robots act appropriately. This method involves short-term memory and action selectors. Short-term memory is constructed based on the model of human memory and the forgetting curve used in cognitive science. These action selectors use compensated-for information and determine suitable action. One action selector consists of a neural network whose connection weights are learned by a genetic algorithm. Another selector is designed based on the designer's knowledge. These action selectors are switched based on reliability index of information. RoboCup Middle Size League soccer robots are used for demonstration. The experimental and simulation results show its effectiveness.

Enhancing community welfare through improved water quality: a case for applying staggered pollution charges in the river Musi sub-basin of Andhra Pradesh, India

Water Policy ◽  
2005 ◽  
Vol 7 (5) ◽  
pp. 469-483
Author(s):  
Tishya Chatterjee
Keyword(s):  
Andhra Pradesh ◽  
Relevant Literature ◽  
Pollution Prevention ◽  
Economic Benefits ◽  
Environmental Damage ◽  
Marginal Costs ◽  
Community Acceptance ◽  
Level Data ◽  
Over Time

In conditions of severe water-pollution and dormant community acceptance of accumulating environmental damage, the regulator's role goes beyond pollution prevention and more towards remediation and solutions based on the community's long-term expectations of economic benefits from clean water. This paper suggests a method to enable these benefits to become perceptible progressively, through participatory clean-up operations, supported by staggered pollution charges. It analyses the relevant literature on pollution prevention and applies a cost-based “willingness to pay” model, using primary basin-level data of total marginal costs. It develops a replicable demand-side approach imposing charge-standard targets over time in urban-industrial basins of developing countries.

The Short-Term and Long-Term Impacts of Sarbanes-Oxley Act on Composition and Characteristics of Corporate Board of Directors

2015 ◽  
Vol 5 (4) ◽  
Author(s):  
Halil Kaya ◽  
Gaurango Banerjee
Keyword(s):  
Board Composition ◽  
Corporate Boards ◽  
Corporate Accountability ◽  
Corporate Board ◽  
Short Term ◽  
Dual Roles ◽  
Board Characteristics ◽  
Sarbanes Oxley ◽  
Over Time

The paper examines the Sarbanes-Oxley (2002) Acts immediate impact on board composition and characteristics as well as possible reversals in its impact over time. Effects on directors age and tenure are analyzed over the 2001-06 sample period. Female participation in corporate boards is also studied in the pre-SOX and post-SOX periods. The dual roles of directors in being a member of the board as well as serving as either CEO, CFO, Chairman, Co-Chair, Founder, or Lead Director of their respective companies is also examined. We observe a short-term impact of SOX on board compositions due to changes seen in board characteristics between 2001 (pre-SOX), and 2003-05 short-term period (post-SOX). Also, we observe a reversal of board characteristics in 2006 to pre-SOX levels implying that the effects of SOX on board composition were short-lived, and needs to be monitored over time to ensure adherence to corporate accountability guidelines over the long-term.

A Downward Spiral? A Panel Study of Misinformation and Media Trust in Chile

2021 ◽  
pp. 194016122110252
Author(s):  
Sebastián Valenzuela ◽  
Daniel Halpern ◽  
Felipe Araneda
Keyword(s):  
News Media ◽  
Panel Study ◽  
Future Research ◽  
Panel Survey ◽  
Downward Spiral ◽  
The Media ◽  
Media Trust ◽  
People’S Attitudes ◽  
Over Time

Despite widespread concern, research on the consequences of misinformation on people's attitudes is surprisingly scant. To fill in this gap, the current study examines the long-term relationship between misinformation and trust in the news media. Based on the reinforcing spirals model, we analyzed data from a three-wave panel survey collected in Chile between 2017 and 2019. We found a weak, over-time relationship between misinformation and media skepticism. Specifically, initial beliefs on factually dubious information were negatively correlated with subsequent levels of trust in the news media. Lower trust in the media, in turn, was related over time to higher levels of misinformation. However, we found no evidence of a reverse, parallel process where media trust shielded users against misinformation, further reinforcing trust in the news media. The lack of evidence of a downward spiral suggests that the corrosive effects of misinformation on attitudes toward the news media are less serious than originally suggested. We close with a discussion of directions for future research.

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