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检索条件"任意字段=1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots"

共 61 条记录，以下是1-10 订阅

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Development of an Artificial Intelligence Tool and Sensing in Informatization Systems of Mobile robots 1

Development of an Artificial Intelligence Tool and Sensing i...

引用

1st international conference on Smart Automation and Robotics for Future Industry, SMARTINDUstRY 2024

作者： Trunov, Alexander Petro Mohyla Black Sea National University 68 Desantnikov 10 Mykolaiv54000 Ukraine

The informatization systems of mobile robots are considered. A mock-up of an autonomous tool for research and modeling of the navigation system, movement models, informatization systems, manipulators and sensing of mobile robotic systems has been developed. The system is built on the JetRacer platform, which uses NVIDIA Jetson Nano. Peculiarities of representation of nonlinear differential models by a recurrent algebraic sequence are studied. The influence of the linearization error of the automated control system (ACS) object, the vector-indicator on the model error was studied and analytically evaluated. A method of model shape transformation has been developed, as a result of which we have three new formalized information quantities. Analytical expressions of the approximation of the solution and the upper limit of the error and the number of iterations, starting from which the error will be smaller than the given one. It is shown that its suitability for information analysis and conclusion, without human participation, defines it as an artificial intelligence (AI) tool. The influence of the linearization error of the ACS object, the indicator vector on the model error was studied. A kinematics model of the manipulator is formed based on the analytical solution of the inverse problem and the sensing system, which determines the angular position of the gripper. simulation of robot movement, influence of the number of eigenvalues and model parameters on the error was carried out, and the error of the solution of the inverse problem was investigated. © 2024 Copyright for this paper by its authors.

关键词： Informatization

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Overview of Tools for programming and Virtual simulation of robots Within the stEM Teaching Process 1

引用

1st international conference on Digital Transformation in Education and Artificial Intelligence Applications, Mostart 2023

作者： Crnokić, Boris Topić, Perica Divković, Marko Prgić, Emanuel Faculty of Mechanical Engineering Computing and Electrical Engineering University of Mostar Matice hrvatske b.b. Mostar88000 Bosnia and Herzegovina Faculty of Science and Education University of Mostar Matice hrvatske b.b. Mostar88000 Bosnia and Herzegovina

ISBN: (数字)9783031368332

ISBN: (纸本)9783031368325

Robotics has proven to be a powerful learning tool, not only as a subject of study and an engineering branch, but also for general aspects of studying stEM disciplines. There are numerous areas of engineering technique and science that are included in the stEM concepts of education based on the application of robotics, such as: sensors and actuators, voice recognition, image processing, new technologies in general, the Internet of Things, smart devices, the digital world as a whole, Industry 4.0/5.0, etc. The inclusion of virtual programming environments and simulators in the teaching of robotics can eliminate many limitations, and enable a larger number of students to simultaneously have access to quality teaching at the same level. This paper presents an overview of several robotics programming environments and simulators, which can be an excellent tool for teaching stEM disciplines through programming, modeling and simulating different robots. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robot programming

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A Passive Recursive Newton Euler Algorithm and Its Application to Inverse Dynamics under Passivity-based Controller

A Passive Recursive Newton Euler Algorithm and Its Applicati...

引用

IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Jonghyeok Kim Youngjin Choi Jonghoon Park Wan Kyun Chung Department of Mechanical Engineering POSTECH Pohang South Korea Department of Robotics Hanyang University Ansan South Korea Neuromeka Seoul South Korea

ISBN: (数字)9798331516857

ISBN: (纸本)9798331516864

This paper proposes a passivity-based Recursive Newton-Euler algorithm, abbreviated pRNE. The proposed pRNE algorithm solves the inverse dynamics under a passivity-based controller, which requires calculating the product term of the Coriolis matrix $C(q,\dot q)$ and the reference velocity ${\dot q^{{\text{ref}}}}$, that is, $C(q,\dot q){\dot q^{{\text{ref}}}}$. Two major parts are modified compared to the standard RNE algorithm: 1) matrix-vector factorization in single rigid body dynamics satisfying the skew-symmetric property, and 2) propagation for reference velocity and acceleration in recursive computation. Through simulation, the proposed pRNE algorithm combined with the passivity-based inverse dynamic controller (P-IDC) validates an accurate tracking performance under model uncertainty and disturbance compared to the standard inverse dynamic controller (IDC).

关键词： Uncertainty Accuracy Trajectory tracking Heuristic algorithms Computational modeling Lie groups programming Computational efficiency standards autonomous robots

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modeling and Performance Assessment of Drone-based Food Delivery Logistics Using Colored Generalized stochastic Petri Nets

Modeling and Performance Assessment of Drone-based Food Deli...

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2024 1st international conference on Logistics (ICL)

作者： Nourredine Oukas Menouar Boulif Taha Zerrouki LIM Laboratory University of Bouira Bouira Algeria LIMOSE Laboratory University of Boumerdes Boumerdes Algeria Computer Science Department University of Bouira Bouira Algeria

ISBN: (数字)9798331518844

ISBN: (纸本)9798331518851

This paper proposes a new modeling to a meal delivery system (MDS) with smart interconnected drones. The use of such Unmanned Aerial Vehicles (UAVs) in MDS is very much needed or even necessary in cases of delivering meals to customers located in tough-to-reach places. We use Colored Generalized stochastic Petri Nets (CGSPN) to model and then simulate the MDS dynamic activities. The conducted simulation shows the proposed CGSPN ability to analyse the behaviour of the MDS before its actual installation.

关键词： Analytical models Accuracy Petri nets Supply chains stochastic processes autonomous aerial vehicles Heterogeneous networks Vehicle dynamics robots Drones

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DANCERS: A Physics and Network Co-Simulator for Communicating Multi-Robot Systems

DANCERS: A Physics and Network Co-Simulator for Communicatin...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Théotime Balaguer Olivier Simonin Isabelle Guérin Lassons Isabelle Fanloni Inria CITI UMR 3720 INSA Lyon France ENS Lyon CNRS LIP UMR 5668 Université Claude Bernard Lyon 1 Lyon France École Centrale Nantes CNRS LS2N UMR 6004 Nantes Université Nantes France

ISBN: (数字)9798331516857

ISBN: (纸本)9798331516864

Multi-robot systems equipped with wireless communication devices can outperform single-robot platforms through cooperation. However, such wireless network face challenges such as the unreliable wireless channels, physical obstacles, uneven terrains, and potential malicious attacks. studying the interplay between the physical and network aspects of these systems proves challenging because existing physics simulators often lack realistic communication models, while network simulators typically use over-simplified physics and mobility models. To address this gap, we introduce DANCERS, a novel co-simulation platform providing synchronization and information exchange between any robotic and any network simulator. DANCERS is evaluated in terms of computational performance, overhead and correctness, and its capabilities are demonstrated through a multi-robot use case.

关键词： Navigation Mobility models Wireless networks Source coding programming Multi-robot systems Synchronization Physics Information exchange Faces

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DANCERS: A Physics and Network Co-Simulator for Communicating Multi-Robot Systems

DANCERS: A Physics and Network Co-Simulator for Communicatin...

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2025 IEEE international conference on simulation, modeling, and programming for autonomous robots, SIMPAR 2025

作者： Balaguer, Theotime Simonin, Olivier Lassons, Isabelle Guerin Fanloni, Isabelle Insa Lyon Inria Citi Umr 3720 France Université Claude Bernard Lyon 1 Ens Lyon Cnrs Lip Umr 5668 Lyon France Nantes Université École Centrale Nantes Cnrs LS2N Umr 6004 Nantes France

ISBN: (纸本)9798331516857

关键词： Multipurpose robots

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Mapping, Trajectory Planning, and Navigation for Hexapod robots Using ROS 1st

Mapping, Trajectory Planning, and Navigation for Hexapod Rob...

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1st international conference on Energy, Material Sciences and Mechanical Engineering, EMSME 2020

作者： Menezes, Jovan Das, Shubhankar Panchal, Bhavik Yelve, Nitesh P. Kumar, Praseed Department of Mechanical Engineering Fr. C. Rodrigues Institute of Technology Vashi Navi Mumbai India

ISBN: (纸本)9789811627934

The paper focuses on the design, modeling, and control of Razbot, an autonomous, dynamically stable hexapod robot possessing three actuated degrees of freedom in each leg. Razbot’s design emphasizes mechanical stability accompanied by robustness to achieve power and computational autonomy providing it a wonderful advantage to maneuver over complex terrains. The project implements robot operating system (ROS) to build simulation and at the same time attain live feedback of Razbot’s location. Such hexapod robots can serve applications in numerous fields such as terrain mapping and navigation for search and rescue operations, military stealth or other surveillance operations, aerospace operations to map and navigate on exoplanets, and many more. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Hexapod robots Kinematics Mapping and navigation ROS Simultaneous localization and mapping

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Maritime Mission Planning for Unmanned Surface Vessel using Large Language Model

Maritime Mission Planning for Unmanned Surface Vessel using ...

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2025 IEEE international conference on simulation, modeling, and programming for autonomous robots, SIMPAR 2025

作者： Din, Muhayy Ud Akram, Waseem Bakht, Ahsan B Dong, Yihao Hussain, Irfan United Arab Emirates

ISBN: (纸本)9798331516857

Unmanned Surface Vessels (USVs) are essential for various maritime operations. USV mission planning approach offers autonomous solutions for monitoring, surveillance, and logistics. Existing approaches, which are based on static methods, struggle to adapt to dynamic environments, leading to suboptimal performance, higher costs, and increased risk of failure. This paper introduces a novel mission planning framework that uses Large Language Models (LLMs), such as GPT-4, to address these challenges. LLMs are proficient at understanding natural language commands, executing symbolic reasoning, and flexibly adjusting to changing situations. Our approach integrates LLMs into maritime mission planning to bridge the gap between high-level human instructions and executable plans, allowing real-time adaptation to environmental changes and unforeseen obstacles. In addition, feedback from low-level controllers is utilized to refine symbolic mission plans, ensuring robustness and adaptability. This framework improves the robustness and effectiveness of USV operations by integrating the power of symbolic planning with the reasoning abilities of LLMs. In addition, it simplifies the mission specification, allowing operators to focus on high-level objectives without requiring complex programming. The simulation results validate the proposed approach, demonstrating its ability to optimize mission execution while seamlessly adapting to dynamic maritime conditions. © 2025 IEEE.

关键词： Computer simulation languages

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Processing Continuous-Valued Signals for Multimodal Spike-Based Pose Regression

Processing Continuous-Valued Signals for Multimodal Spike-Ba...

引用

IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Vidya Sudevan Fakhreddine Zayer Rizwana Kausar Sajid Javed Hamad Karki Giulia De Masi Jorge Dias Center for Autonomous Robotic Systems Khalifa University Abu Dhabi UAE Dept. Science and Engineering Sorbonne University Abu Dhabi UAE

ISBN: (数字)9798331516857

ISBN: (纸本)9798331516864

In underwater missions, energy-efficient operation is critical to maximize the operability of an autonomous robots and mission duration. At the same time, accurate pose estimation at reduced computational cost is essential for various underwater robotics and exploration applications. This paper presents an energy-efficient model for pose regression tasks based on direct Spike-Coding-Decoding (SCD) with adaptive threshold mechanism. The proposed approach enables efficient processing of multimodal continuous-valued images and IMU data. The effectiveness of the proposed module is tested using an open-sourced underwater simulator. In underwater robotics domain, real-world testing remains critical due to limited access to actual underwater environment, making simulators invaluable for rapid algorithm development and refinement. Accordingly, HoloOcean simulator is utilized to collect images and IMU sensor data from various underwater scenarios, which are then fed into a pose estimation framework. The SCD module uses 2D and 1D convolutional layers followed by LIF neurons with adaptive threshold to convert continuous-valued data into sparse spike-based signals. During spike decoding, the spike-based signals are converted back to continuous-values by utilizing the accumulated membrane potential of the output LIF neurons. The feasibility of SCD module is evaluated by its ability to introduce sparsity in spike-based representations with minimal information loss that enables efficient signal reconstruction. Custom multimodal data is collected using the HoloOcean simulator and is used to train the network. We compared the performance of the adaptive learnable threshold method with fixed threshold methods. The experimental results show that spike coding with an adaptive threshold mechanism is highly effective compared to a fixed threshold mechanism, as it can encode the continuous-valued input to its spike-based representation with ≈ 2× higher sparsity and a lesser spike rate.

关键词： Adaptation models Pose estimation Neurons Spiking neural networks programming Robot sensing systems Energy efficiency Signal reconstruction autonomous robots Testing

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Processing Continuous-Valued Signals for Multimodal Spike-Based Pose Regression

Processing Continuous-Valued Signals for Multimodal Spike-Ba...

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2025 IEEE international conference on simulation, modeling, and programming for autonomous robots, SIMPAR 2025

作者： Sudevan, Vidya Zayer, Fakhreddine Kausar, Rizwana Javed, Sajid Karki, Hamad De Masi, Giulia Dias, Jorge Khalifa University Center for Autonomous Robotic Systems Abu Dhabi United Arab Emirates Sorbonne University Dept. Science and Engineering Abu Dhabi United Arab Emirates

ISBN: (纸本)9798331516857

关键词： Image reconstruction

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