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A subsumptive, hierarchical, and distributed vision-based architecture for smart robotics.

Guilherme N DeSouza1, Avinash C Kak

  • 1School of Electrical, Electronic, and Computer Engineering, University of Western Australia, Crawley 6009, Australia. gdesouza@ee.uwa.edu.au

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|October 27, 2004
PubMed
Summary

We developed a hierarchical, distributed vision system for smart robotics. This architecture enhances robot performance and fault tolerance through specialized, independent control loops for object localization and orientation.

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Area of Science:

  • Robotics
  • Computer Vision
  • Artificial Intelligence

Background:

  • Traditional robotic systems often face limitations in performance and fault tolerance due to monolithic control structures.
  • Integrating sophisticated vision capabilities into robotics requires flexible and robust architectures.

Purpose of the Study:

  • To introduce a novel distributed, hierarchical vision-based architecture for smart robotics.
  • To enhance robot performance, adaptability, and fault tolerance through specialized control loops.

Main Methods:

  • A subsumptive and hierarchical architecture comprising multiple, independent control loops, each with a specific competence level.
  • Coarse-to-fine vision sensing, from approximate object location detection to precise stereo-based position and orientation determination.

Related Experiment Videos

  • A control Arbitrator that ranks loop outputs based on confidence indices derived from sensory information.

    • Main Results:

    • Demonstrated utility for stereoscopic visual servoing.
    • Successfully applied to mobile robot navigation.
    • The architecture shows improved system performance, unaffected by the slowest processing link, and enhanced fault tolerance.

    Conclusions:

    • The proposed distributed vision architecture offers significant advantages in robotic system performance and reliability.
    • The modular and independent nature of control loops allows for graceful degradation and continued operation despite module failures.
    • The architecture is versatile and extensible to various robotic tasks beyond visual servoing and navigation.