Proceedings of the 1989 CESAR/CEA (Center for Engineering Systems Advanced Research/Commissariat a l'Energie Atomique) workshop on autonomous mobile robots (May 30--June 1, 1989)
- Oak Ridge National Lab., TN (USA). Center for Engineering Systems Advanced Research
The US DOE Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) and the Commissariat a l'Energie Atomique's (CEA) Office de Robotique et Productique within the Directorat a la Valorization are working toward a long-term cooperative agreement and relationship in the area of Intelligent Systems Research (ISR). This report presents the proceedings of the first CESAR/CEA Workshop on Autonomous Mobile Robots which took place at ORNL on May 30, 31 and June 1, 1989. The purpose of the workshop was to present and discuss methodologies and algorithms under development at the two facilities in the area of perception and navigation for autonomous mobile robots in unstructured environments. Experimental demonstration of the algorithms and comparison of some of their features were proposed to take place within the framework of a previously mutually agreed-upon demonstration scenario or base-case.'' The base-case scenario described in detail in Appendix A, involved autonomous navigation by the robot in an a priori unknown environment with dynamic obstacles, in order to reach a predetermined goal. From the intermediate goal location, the robot had to search for and locate a control panel, move toward it, and dock in front of the panel face. The CESAR demonstration was successfully accomplished using the HERMIES-IIB robot while subsets of the CEA demonstration performed using the ARES robot simulation and animation system were presented. The first session of the workshop focused on these experimental demonstrations and on the needs and considerations for establishing benchmarks'' for testing autonomous robot control algorithms.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- DOE/ER
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6934491
- Report Number(s):
- ORNL/TM-11518; CESAR-90/15; CONF-8905329-; ON: DE90011283
- Resource Relation:
- Conference: Proceedings of the 1989 CESAR/CEA workshop on autonomous mobile robots, Oak Ridge, TN (USA), 30 May - 1 Jun 1989
- Country of Publication:
- United States
- Language:
- English
Similar Records
Status of the CEA (Commissariat a l'Energie Atomique) fuel examination hot cell facilities
Research in mobile robotics at ORNL/CESAR (Oak Ridge National Laboratory/Center for Engineering Systems Advanced Research)
Related Subjects
42 ENGINEERING
ROBOTS
NAVIGATION
ALGORITHMS
AUTOMATION
BENCHMARKS
COMPUTER ARCHITECTURE
HYPERCUBE COMPUTERS
NEURAL NETWORKS
PERFORMANCE TESTING
VISION
COMPUTERS
MATHEMATICAL LOGIC
TESTING
990200* - Mathematics & Computers
420200 - Engineering- Facilities
Equipment
& Techniques