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检索条件"任意字段=15th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2018"

共 36 条记录，以下是11-20 订阅

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Improved discrete RRT for coordinated multi-robot planning 15

Improved discrete RRT for coordinated multi-robot planning

引用

15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Hvězda, Jakub Kulich, Miroslav Přeučil, Libor Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

ISBN: (纸本)9789897583216

this paper addresses the problem of coordination of a fleet of mobile robots – the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during last decades, but a minority of them is practically applicable, i.e. fast, producing near-optimal solutions, and complete. We propose a novel probabilistic approach based on the Rapidly Exploring Random Tree algorithm (RRT) by significantly improving its multi-robot variant for discrete environments. the presented experimental results show that the proposed approach is fast enough to solve problems with tens of robots in seconds. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in (ter Mors et al., 2010), it solves problems where ter Mors’s algorithm fails. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Multipurpose robots

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Proceedings of 15th international conference on Electromechanics and robotics "Zavalishin's Readings" 1

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丛书名： Smart Innovation, Systems and Technologies

1000年

作者： Andrey Ronzhin Vladislav Shishlakov

ISBN: (数字)9789811555800

ISBN: (纸本)9789811555794;9789811555824

this book features selected papers presented at the 15th international conference on Electromechanics and robotics “Zavalishin's Readings” – ER(ZR) 2020, held in Ufa, Russia, on 15–18 April 2020. the contributions, written by professionals, researchers and students, cover topics in the field of automatic control systems, electromechanics, electric power engineering and electrical engineering, mechatronics, robotics, automation and vibration technologies. the Zavalishin's Readings conference was established as a tribute to the memory of Dmitry Aleksandrovich Zavalishin (1900–1968) – a Russian scientist, corresponding member of the USSR Academy of Sciences and founder of the school of valve energy converters based on electric machines and valve converters energy. the first conference was organized by the Institute of Innovative Technologies in Electromechanics and robotics at the Saint Petersburg State University of Aerospace Instrumentation in 2006.

关键词： robotics and automation robotics Mechatronics Power Electronics, Electrical Machines and Networks

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informatics in control, automation and robotics 2009

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丛书名： Lecture Notes in Electrical Engineering

2009年

作者： Juan Andrade Cetto Jean-Louis Ferrier Joaquim Filipe

ISBN: (数字)9783642002717

ISBN: (纸本)9783642002700

the present book includes a set of selected papers from the 5th "international conference on informatics in control automation and robotics" (icinco 2008), held in Funchal-Madeira, Portugal, 11-15 May 2008. the conference was organized in three simultaneous tracks: "Intelligent control Systems and Optimization", "robotics and automation" and "Systems Modeling, Signal Processing and control". the book is based on the same structure. the purpose of this conference is to bring together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. informatics applications are pervasive in many areas of control, automation and robotics, and this conference intends to emphasize this connection, therefore, most papers highlight applications of Information Technology (IT) in these areas and present ideas on how to solve problems using IT, both in R&D and industrial applications. A diversity of papers are included in the book, ranging from papers describing advanced prototypes, systems, tools and techniques to papers presenting surveys indicating future directions.

关键词： control theory automation robotics

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A semi-autonomous robotic airship for environmental monitoring missions 15

A semi-autonomous robotic airship for environmental monitori...

引用

15th IEEE international conference on robotics and automation, ICRA 1998

作者： Elfes, A. Siqueira Bueno, S. Bergerman, M. Ramos, J.G. Automation Institute Informatics Technology Center Caixa Postal 6162 Campinas SP13083-970 Brazil

ISBN: (纸本)078034300X

this paper discusses Project AURORA (autonomous unmanned remote monitoring robotic airship) which focuses on the development of the control, navigation, sensing, and inference technologies required for substantially autonomous robotic airships. Our target application areas include the use of robotic airships for environmental, biodiversity, and climate research and monitoring. Based on typical mission requirements, we present arguments that favour airships over airplanes and helicopters as the ideal platforms for such missions. We outline the overall system architecture of the AURORA robotic airship, discuss its main subsystems, and mention the research and development issues involved. © 1998 IEEE.

关键词： Airships

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A Neuro-Inspired Approach to Solve a Simultaneous Location and Mapping Task Using Shared Information in Multiple Robots Systems 15

A Neuro-Inspired Approach to Solve a Simultaneous Location a...

引用

15th international conference on control, automation, robotics and Vision, ICARCV 2018

作者： Menezes, Matheus Chaves De Freitas, Edison Pignaton Cheng, Sen De Oliveira, Alexandre Cesar Muniz De Almeida Ribeiro, Paulo Rogerio Graduate Program on Computer Science Federal University of Maranhão Sao Luis Brazil Computational Neuroscience Ruhr University Bochum Institute for Neural Computation Bochum Germany Department of Informatics Federal University of Maranhão Sao Luis Maranhao Brazil Department of Computer Engineering Federal University of Maranhão Sao Luis Maranhao Brazil

ISBN: (纸本)9781538695821

this paper presents a neuro-inspired mapping approach that uses partial information shared by multiple robots to reduce the time to create a map of an entire environment. Robots using a neurobiologically inspired algorithm, namely RatSLAM, map an environment sharing video information among themselves. RatSLAM, which is based on the navigation system present in the hippocampus of rodents' brain, has been widely used on simultaneous localization and mapping (SLAM) problem. this proposal has been able to generate suitable maps mainly when there is redundant information, e.g. a scene is seen more than once, since this fact activates local view cells that inject activity inside the pose cells via an excitatory link. the work here reported extends this approach by merging partial information acquired by multiple robots. the results from the performed experiments show that the final map built by two robots with shared information is similar to one built by two robots performing the same mapping task individually, i.e. without sharing information. However, the time spent to generate the whole map with the proposed shared approach was smaller than the one without the shared information. thus, the current approach allows creating a complete map of an environment within a reduced time using multiple robots. © 2018 IEEE.

关键词： Mapping

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Centimeter-Scaled Self-assembly of a Chessboard Pattern 17th

Centimeter-Scaled Self-assembly of a Chessboard Pattern

引用

17th international conference on informatics in control, automation and robotics, icinco 2020

作者： Jílek, Martin Bertl, Lukáš Kulich, Miroslav Přeučil, Libor Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (纸本)9783030924416

the tile-based self-assembly is an interesting addition to the additive manufacturing framework. the main idea, utilization of randomness to construct highly ordered structures, puts it apart from the conventional methods. Moreover, it is an interesting (elementary) research topic on its own, since the mechanism is a fundamental driving force in the rise of many natural structures, including living organisms. Although extensively studied mainly in nanotechnology, we perceive a lack of comprehensive studies of the process around a scale of centimeters. thus, we present an extended experimental study of a chessboard assembly, based on the centimeter-scaled self-assembling system with magnetically bonded tiles. the tiles assemble on a 2D plane while being mechanically excited by an industrial manipulator. Seven significant events that lead to growth or to decay of assemblies are described. Further quantitative analysis confirmed the dependency of assembly progress on the system temperature and suggested lower bounds of an assembly error and upper bounds of assembly sizes for different temperatures. © 2022, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Biology

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Introduction of toe mechanism with bi-articular tendon into legged robot 15

Introduction of toe mechanism with bi-articular tendon into ...

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15th IEEE international conference on Mechatronics and automation, ICMA 2018

作者： Kurokawa, Kanako Sato, Ryuki Hiasa, Shuma Ming, Aiguo Meng, Fei Liu, Huaxin Fan, Xuxiao Chen, Xuechao Yu, Zhangguo Huang, Qiang Dept. of Mechanical Engineering and Intelligent Systems Graduate School of Informatics and Engineering University of Electro-Communications Tokyo Japan Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781538660720

In recent years, bio-inspired robots have been researched in order to realize dynamic motions like animals. Focusing on animals' dynamic motions, toes are considered as important mechanisms. In the toes, there are a muscle and tendon that flex the toe joint and extend the ankle joint. the coupled movements between ankle and toe joints can be realized by using the muscle and tendon. the tendon is allowed to store and reuse elastic energy by releasing it during motion. In order to improve the performance of dynamic motion, a toe mechanism inspired by the tendon over the two joints is introduced into our legged robot. In this paper, a toe mechanism with bi-articular tendon consisting of tension spring, cable and pulleys is proposed. Design parameters were determined by simulation, and jumping experiments were carried out using a legged robot with this mechanism. As a result of the experiments, the jumping height of the legged robot with this mechanism has been improved. © 2018 IEEE.

关键词： Tendons

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Constrained controllability

Constrained controllability

引用

international conference on Methods and Models in automation and robotics (MMAR)

作者： Klamka Jerzy Institute of Control Engineering Silesian University of Technology Gliwice Poland Institute of Theoretical and Applied Informatics Polish Academy of Sciences Gliwice Poland

In the paper, infinite-dimensional, continuous-time control systems described by nonlinear and semilinear abstract differential equations are considered. Using methods of functional analysis sufficient conditions for constrained exact local controllability are formulated and proved. It is generally assumed that the values of controls are in a convex and closed cone with vertex at zero. Illustrative application is also given. Moreover, some remarks and comments on controllability problems for nonlinear dynamical systems are presented.

关键词： controllability Aerospace electronics Nonlinear dynamical systems Linear approximation Sufficient conditions Equations

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Model of human psychology for controlling autonomous robots

Model of human psychology for controlling autonomous robots

引用

international conference on Methods and Models in automation and robotics (MMAR)

作者： Zdzisław Kowalczuk Michał Czubenko Department of Decision Systems Faculty of Electronics Telecommunications and Informatics Gdansk University of Technology Gdansk Poland

this paper presents a mind model for controlling autonomous robot systems, based on human psychology. A cognitive system and a motivational system (emotions and needs) constitute its main parts. the motivational system controls the reactions of a robot with the use of changeable states of needs. Emotions control the behavior of the robot by modulating certain parameters of needs. the cognitive system controls both the memory of the robot and its data processing.

关键词： Humans Robot sensing systems Mood control systems

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Recurrent Deterministic Policy Gradient Method for Bipedal Locomotion on Rough Terrain Challenge

Recurrent Deterministic Policy Gradient Method for Bipedal L...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Doo Re Song Chuanyu Yang Christopher McGreavy Zhibin Li School of Informatics University of Edinburgh UK

this paper presents a deep learning framework that is capable of solving partially observable locomotion tasks based on our novel interpretation of Recurrent Deterministic Policy Gradient (RDPG). We study on bias of sampled error measure and its variance induced by the partial observability of environment and subtrajectory sampling, respectively. three major improvements are introduced in our RDPG based learning framework: tail-step bootstrap of temporal difference, initialisation of hidden state using past subtrajectory, truncation of temporal backpropagation, and injection of external experiences learned by other agents. the proposed learning framework was implemented to solve the Bipedal-Walker challenge in OpenAI's gym simulation environment where only partial state information is available. Our simulation study shows that the autonomous behaviors generated by the RDPG agent are highly adaptive to a variety of obstacles and enables the agent to effectively traverse rugged terrains for long distance with higher success rate than leading contenders.

关键词： Task analysis Legged locomotion Training Observability Humanoid robots Backpropagation

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