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检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

共 5264 条记录，以下是191-200 订阅

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From LLMs to Actions: Latent Codes as Bridges in Hierarchical Robot control

From LLMs to Actions: Latent Codes as Bridges in Hierarchica...

引用

2024 international conference on intelligent Robots and Systems

作者： Shentu, Yide Wu, Philipp Rajeswaran, Aravind Abbeel, Pieter Univ Calif Berkeley Berkeley CA 94720 USA Meta Seattle WA USA

ISBN: (纸本)9798350377712;9798350377705

Hierarchical control for robotics has long been plagued by the need to have a well defined interface layer to communicate between high-level task planners and low-level policies. With the advent of LLMs, language has been emerging as a prospective interface layer. However, this has several limitations. Not all tasks can be decomposed into steps that are easily expressible in natural language (e.g. performing a dance routine). Further, it makes end-to-end fine-tuning on embodied data challenging due to domain shift and catastrophic forgetting. We introduce our method - Latent Codes as Bridges (LCB) - as an alternate architecture to overcome these limitations. LCB uses a learnable latent code to act as a bridge between LLMs and low-level policies. This enables LLMs to flexibly communicate goals in the task plan without being entirely constrained by language limitations. Additionally, it enables end-to-end finetuning without destroying the embedding space of word tokens learned during pre-training. Through experiments on Language Table and Calvin, two common language based benchmarks for embodied agents, we find that LCB outperforms baselines (including those w/ GPT-4V) that leverage pure language as the interface layer on tasks that require reasoning and multi-step behaviors.

关键词： Benchmarking

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Transfer-robot task allocation algorithm considering production priority for flexible job-shop scheduling problem 18

Transfer-robot task allocation algorithm considering product...

引用

18th international conference on control Automation robotics and Vision

作者： Zhou, Meng Wang, Xinheng Liang, Zhongxing Wang, Chang Wang, Jing North China Univ Technol Coll Elect & Control Engn Beijing 100144 Peoples R China Beijing Aerosp Automat Control Inst Beijing 100854 Peoples R China Harbin Engn Univ Coll Intelligent Syst Sci & Engn Harbin 10217 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

This paper proposes a flexible job-shop scheduling problem optimization method, which focuses on providing solutions for industrial production. First, in terms of model construction, the method further considers the cost of automated guided vehicles and the priority of workpiece production based on previous methods. Then, this method solves the model by non-dominated sorting genetic algorithm with self-cross and delete-mutation. It reduces the production time and energy by an average of 6.4% and 19.4%, which are 5.4% and 15.1% with the priority. Finally, the simulation verifies that the method effectively reduces the production cost while realizing the adjustment of the automated guided vehicle number and the workpiece production sequence.

关键词： Job-shop scheduling non-dominated sorting genetic algorithm priority task allocation

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Carbon Fiber Robot Manipulator with Virtual Impedance control

Carbon Fiber Robot Manipulator with Virtual Impedance Contro...

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2024 international conference on Advanced robotics and intelligent Systems, ARIS 2024

作者： Tseng, Chien-Yao Haung, Han-Pang National Taiwan University Taiwan National Taiwan University Department of Mechanical Engineering Taipei Taiwan

ISBN: (纸本)9798350362572

This paper presents an experimental study comparing a robot manipulator's performance constructed with aluminum alloy and carbon fiber components. In addressing safety concerns, we evaluate the collision avoidance strategy known as Virtual Impedance control. This strategy ensures the safety of both users and the robot itself. By implementing Virtual Impedance control, the robot adeptly avoids obstacles, contributing to a safer and more reliable robotic operation. These findings underscore the benefits of utilizing carbon fiber in robotic manipulator construction, promising enhanced efficiency and safety. © 2024 IEEE.

关键词： Robot applications

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Improved A* Algorithm and Dynamic Obstacle Avoidance Method for Path Planning and Self-Positioning of Autonomous Guided Vehicles

Improved A* Algorithm and Dynamic Obstacle Avoidance Method ...

引用

2024 international conference on intelligent robotics and automatic control

作者： Wang, Yingrui Meng, Junting Zhang, Dong Chen, Xiaoqi South China Univ Technol Shien Ming Wu Sch Intelligent Engn Guangzhou Peoples R China South China Univ Technol Sch Mech & Automot Engn Guangzhou Peoples R China South China Univ Technol Sch Future Technol Guangzhou Peoples R China

ISBN: (纸本)9798350389814;9798350389807

As Autonomous Guided Vehicles (AGV) are becoming more and more widely used, they demand safe and reliable autonomous navigation solutions to problems including how to plan a safe and efficient path based on known environmental information, how to accurately self-locate, and how to precisely avoid obstacles during the navigation process. These problems have given rise to path planning algorithms that have been the focus of research in the field of intelligent robot control. This paper develops new methods for path planning and self-positioning. Firstly, it develops the improved A* algorithm by constructing a heuristic function and increasing the weight of the heuristic cost. The improved algorithm significantly reduces the computation of the traversal of irrelevant node points and hence the computation time. Further it adds a smoothing process for unsmooth paths using Bessel curves, resulting in sufficiently smooth curve. Simulations of the algorithm show that the improved A* algorithm can significantly reduce the number of nodes traversed while ensuring optimal paths. Secondly, in terms of self-positioning, the distance between the visual tag and the robot is analyzed using the visual tag information acquired by the robot vision system to determine the position and orientation of the robot. To achieve collision avoidance during navigation in dynamic environments, a dynamic obstacle avoidance method is proposed, which combines TOF sensors to acquire local environment information;dynamic obstacle avoidance is achieved by inserting and switching tracking sub-targets. Finally, path planning tests were carried out using the AGV. Results show that the method can meet the needs of AGV applications in complex and dynamic environments.

关键词： Path planning Self-positioning A* algorithm Dynamic obstacle avoidance Autonomous Guided Vehicle (AGV)

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Coordinated control of Precision Conveyor Based on Array Piezoelectric Actuators 9

Coordinated Control of Precision Conveyor Based on Array Pie...

引用

9th international conference on Automation, control and robotics Engineering (CACRE)

作者： Tang, Yujuan Zhao, Yongquan Jinling Inst Technol Sch Intelligent Sci & Control Engn Nanjing Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing Peoples R China

ISBN: (纸本)9798350350319;9798350350302

Due to the problems of the traditional transmission platform device, such as low transmission accuracy and single transmission path, a precision conveyor based on array piezoelectric actuators is present. In order to meet the requirements of the two-DOF drive motion, a structure of double-V orthogonal two-DOF piezoelectric actuator is adopted. The advantages and disadvantages of three different layout methods are discussed, and the layout of four ultrasonic drivers with regular hexagon for conveyor is determined. The working principle of the ultrasonic piezoelectric transmission platform module is classified and discussed according to the regular hexagon layout, and the output speed of each ultrasonic driver under different required motion angles is obtained, so as to achieve the effect of coordinated control. According to the layout and working principle of the GSA-based fuzzy PID controller and piezoelectric precision conveyor, the coordinated control simulation model of the precision conveyor is built on the Simulink. A coordinated control experimental platform is built to validate whether the piezoelectric conveyor can move things translationally and rotationally. The results show that the translation and rotation displacement of the carried objects can be realized.

关键词： Piezoelectric precision conveyor Ultrasonic actuator Coordinated control

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Adaptive Formation control of Multi-Quadrotors Cooperative Transportation 9

Adaptive Formation Control of Multi-Quadrotors Cooperative T...

引用

9th international conference on Automation, control and robotics Engineering (CACRE)

作者： Chen, Xinyu Fan, Yunsheng Wang, Guofeng Jiang, Yuhao Dalian Maritime Univ Coll Marine Elect Engn Dalian Peoples R China Key Lab Technol & Syst Intelligent Ships Liaoning Dalian Peoples R China Univ Nottingham Ningbo China Ningbo Peoples R China

ISBN: (纸本)9798350350319;9798350350302

This paper presents a control system for cooperative multi-quadrotors formation transportation. The forces and moments between the multi-quadrotors and the payload are analyzed using the Udwadia-Kalaba method, and a multi-quadrotors transportation system model is established. An improved coefficient is introduced to address the rope length drift problem during the takeoff process. Based on consensus theory, the payload is considered a virtual leader, and a cooperative formation control system for multi-quadrotors is constructed. Ultimately, the cooperative formation system is controlled using the adaptive integral backstepping controller, alongside employing an adaptive law to estimate and counteract disturbances induced by the payload on the quadrotors. The control system is validated through simulation experiments to determine its effectiveness.

关键词： multiple-quadrotors payload transportation cooperative control adaptive backstepping

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Enhancing Visual Place Recognition via Fast and Slow Adaptive Biasing in Event Cameras

Enhancing Visual Place Recognition via Fast and Slow Adaptiv...

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2024 international conference on intelligent Robots and Systems

作者： Nair, Gokul B. Milford, Michael Fischer, Tobias Queensland Univ Technol Fac Engn Ctr Robot Brisbane Qld 4000 Australia

ISBN: (纸本)9798350377712;9798350377705

Event cameras are increasingly popular in robotics due to beneficial features such as low latency, energy efficiency, and high dynamic range. Nevertheless, their downstream task performance is greatly influenced by the optimization of bias parameters. These parameters, for instance, regulate the necessary change in light intensity to trigger an event, which in turn depends on factors such as the environment lighting and camera motion. This paper introduces feedback control algorithms that automatically tune the bias parameters through two interacting methods: 1) An immediate, on-the-fly fast adaptation of the refractory period, which sets the minimum interval between consecutive events, and 2) if the event rate exceeds the specified bounds even after changing the refractory period repeatedly, the controller adapts the pixel bandwidth and event thresholds, which stabilizes after a short period of noise events across all pixels (slow adaptation). Our evaluation focuses on the visual place recognition task, where incoming query images are compared to a given reference database. We conducted comprehensive evaluations of our algorithms' adaptive feedback control in real-time. To do so, we collected the QCR-Fast-and-Slow dataset that contains DAVIS346 event camera streams from 366 repeated traversals of a Scout Mini robot navigating through a 100 meter long indoor lab setting (totaling over 35km distance traveled) in varying brightness conditions with ground truth location information. Our proposed feedback controllers result in superior performance when compared to the standard bias settings and prior feedback control methods. Our findings also detail the impact of bias adjustments on task performance and feature ablation studies on the fast and slow adaptation mechanisms.

关键词： Feedback control

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Research on intelligent automatic Operating System of Marine Concrete Coating Aided by Computer Technology 7

Research on Intelligent Automatic Operating System of Marine...

引用

7th international conference on robotics, control and Automation (ICRCA)

作者： Guo, Zhangfeng China Railway 20th Bur Grp Third Engn Co Ltd Chongqing 400065 Peoples R China

ISBN: (纸本)9798350345780

Concrete structures are prone to corrosion under marine environmental conditions. The marine environment can usually be divided into atmospheric region, splash region, tidal region and underwater region according to the different regions of its effect on the structure. These regions have different corrosion conditions, corrosion characteristics and corrosion rates. Therefore, coating is required. In order to reduce resource consumption, the operation of marine concrete coating is handed over to the computer intelligent automatic operating system to realize. This paper studies the design of intelligent automatic operating system for marine concrete coating, and proves that the automatic operating system assisted by computer technology will greatly improve its performance. A series of investigation experiments are carried out for this research. First, the important position of marine concrete coating in today's marine engineering and its practicability are fully analyzed, and then the analysis is carried out with computer technology to illustrate its feasibility. Secondly, the PID control algorithm is used to improve the fast response characteristics of the system, enhance the stability of the system, and improve the dynamic characteristics of the system. Final experiments show that intelligent, automated coatings can improve concrete's frost resistance, after using the intelligent automatic operating system, the coating efficiency is significantly improved by more than 20% due to the reduction of manual operations.

关键词： Computer Technology Marine Concrete Concrete Coating intelligent automatic Operation Analog Simulation

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On the Feasibility of EEG-based Motor Intention Detection for Real-Time Robot Assistive control

On the Feasibility of EEG-based Motor Intention Detection fo...

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IEEE international conference on robotics and Automation (ICRA)

作者： Choi, Ho Jin Das, Satyajeet Peng, Shaoting Bajcsy, Ruzena Figueroa, Nadia Univ Penn Sch Engn & Appl Sci Philadelphia PA 19104 USA

ISBN: (纸本)9798350384581;9798350384574

This paper explores the feasibility of employing EEG-based intention detection for real-time robot assistive control. We focus on predicting and distinguishing motor intentions of left/right arm movements by presenting: i) an offline data collection and training pipeline, used to train a classifier for left/right motion intention prediction, and ii) an online real-time prediction pipeline leveraging the trained classifier and integrated with an assistive robot. Central to our approach is a rich feature representation composed of the tangent space projection of time-windowed sample covariance matrices from EEG filtered signals and derivatives;allowing for a simple SVM classifier to achieve unprecedented accuracy and real-time performance. In pre-recorded real-time settings (160 Hz), a peak accuracy of 86.88% is achieved, surpassing prior works. In robot-in-the-loop settings, our system successfully detects intended motion solely from EEG data with 70% accuracy, triggering a robot to execute an assistive task. We provide a comprehensive evaluation of the proposed classifier.

关键词： intelligent robots

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IA*QB: An Efficient Trajectory Planning Approach for the automatic Berthing of Unmanned Surface Vessel 9

IA*QB: An Efficient Trajectory Planning Approach for the Aut...

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9th international conference on control, Automation and robotics (ICCAR)

作者： Yuan, Shouzheng Liu, Zhilin Sun, Yuxin Song, Simeng Wang, Zhongxin Harbin Engn Univ Coll Intelligent Syst Sci & Engn Harbin Peoples R China

ISBN: (纸本)9798350322514

Trajectory planning plays an important role in the automatic berthing of Unmanned Surface Vessel (USV). This study proposes IA*QB approach for the USV's berthing trajectory planning in the harbor. First, a global path is obtained by the A* algorithm. Considering the path generated by the traditional A* algorithm is unsuitable for the USV to track at the corners, quasi B-spline is employed to smooth the path. Subsequently, path points with approximately equal spacing are selected as waypoints in the trajectory. Furthermore, the quadratic interpolation method is proposed at the end of the berthing trajectory. Thus, the USV's velocity can be decreased to zero linearly. Simulation results show the effectiveness and the superiority of the proposed approach.

关键词： USV automatic berthing trajectory planning interpolation method

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