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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

共 2793 条记录，以下是311-320 订阅

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Using Inverse Compensation Vectors for Autonomous Maze Exploration 14

Using Inverse Compensation Vectors for Autonomous Maze Explo...

引用

14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Bieszczad, Andrzej A. J. Calif State Univ Channel Isl Comp Sci Program One Univ Dr Camarillo CA 93012 USA

ISBN: (纸本)9789897583049

Autonomous exploration of mazes requires finding a "center of gravity" keeping the robot safe from colliding with the walls. that is similar to the obstacle avoidance problem as the maze walls are obstacles that the robot must avoid. In this report, we describe an approach to controlling robot movements in a maze using an Inverse Compensation Vector (ICV) that is not much more computationally demanding than calculating a centroid point. the ICV is used to correct the robot velocity vector that determines the direction and the speed, so the robot moves in the maze staying securely within the passages between the walls. We have tested the approach using a simulator of a physical robot equipped with a planar LIDAR scanner. Our experiments showed that using the ICV to compensate robot velocity is an effective motion-correction method. Furthermore, we augmented the algorithm with preprocessing steps that alleviate problems caused by noisy raw data coming from actual LIDAR scans of a physical maze.

关键词： Mobile robotics Obstacle Avoidance Maze Running Movement Correction

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6D Pose Estimation from Point Cloud Using an Improved Point Pair Features Method 7

6D Pose Estimation from Point Cloud Using an Improved Point ...

引用

7th international conference on control, automation and robotics (ICCAR)

作者： Wang, Haoyu Wang, Hesheng Zhuang, Chungang Shanghai Jiao Tong Univ Sch Mech Engn Shanghai Peoples R China

ISBN: (纸本)9781665449861

the Point Pair Features (PPF) method has been shown to be effective for pose estimation under clutter and occlusion. Our improved method mainly includes: (1) an approach for solving normal orientations of closed geometries based on Odd-even Rule;(2) an efficient downsampling approach by dividing a voxel grid into equivalent angle cells;(3) a verification step based on fitting points. the method is evaluated on real datasets of clutter and shows better performance as well as efficiency for 6D pose estimation compared to original PPF method.

关键词： pose estimation point pair features point cloud normal estimation 3D computer vision

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Online Unscented Rauch-Tung-Striebel Smoother for 6DOF Vehicle Localization 13

Online Unscented Rauch-Tung-Striebel Smoother for 6DOF Vehic...

引用

13th international conference on control automation robotics & Vision (ICARCV)

作者： Meng, Xiaoli Qayyum, Usman Wang, Heng Liu, Bingbing Inst Infocomm Res Singapore Singapore

ISBN: (纸本)9781479951994

Online and robust localization in a large scale outdoor environment is an essential component for self-driving vehicles. this paper addresses the theoretical and experimental development of a 6DOF localization approach with an online Unscented Rauch-Tung-Striebel (RTS) Smoother. this work focuses on the performance evaluation of the Unscented RTS smoother from a low-cost inertial sensor and consumer-grade Differential Global Positioning System (DGPS). the method is evaluated on a publicly available dataset (with centimetre accuracy benchmark) where we compare our results against the stand-alone Unscented Kalman filter (UKF) and an offline unscented RTS smoother. the extensive evaluation against the conventional approaches demonstrates the effectiveness of our approach, capable of providing accurate/online vehicle's localization information.

关键词： Sensor fusion DGPS IMU Unscented Rauch-Tung-Striebel (RTS) Smoother vehicle localization

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Chaos engineering and control in mobile robotics applications 15

Chaos engineering and control in mobile robotics application...

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

作者： Nasr, Salah Abadi, Amine Bouallegue, Kais Mekki, Hassen Networked Objects Control and Communication Systems-Laboratory National Engineering School of Sousse University of Sousse Tunisia Department of Electrical Engineering Higher Institute of Applied Sciences and Technology of Sousse Tunisia

ISBN: (纸本)9789897583216

this article briefly summarizes the theory of chaos and its applications. Firstly, we begin by describing chaos as an aperiodic bounded deterministic motion, which is sensitive to initial states and therefore unpredictable after a certain time. then, fundamental tools of the chaos theory, used for identifying and quantifying chaotic dynamics, are shared. the paper covers a main numerical approach to identify chaos such as the Lyapunov exponents. Many important applications of chaos in several areas such as chaos in electrical and electronic engineering and chaos applications in robotics have been presented. An analysis of the reviewed publications is presented and a brief survey is reported as well. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Chaos control

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Self-learning Continuous controllers

Self-learning Continuous Controllers

引用

11th international conference on control, automation, robotics and Vision (ICARCV 2010)

作者： Cerman, Otto Husek, Petr Czech Tech Univ Dept Control Engn FEE Prague 16627 6 Czech Republic

ISBN: (纸本)9781424478132

In this paper different approach of adaptation mechanism for fuzzy model reference learning control (FMRLC) method will be introduced. In contrast to original method the proposed procedure guarantees continuity of the fuzzy controller that in reward results in its smooth input-output behaviour (mapping) that eliminates undesirable abrupt changes in the control signal. Additionally, the proposed method shows larger robustness to responses of initial conditions and various reference signals. the advantages of the proposed modification are presented on control of magnetic suspension system. From result comparing rule bases after adaptation there is absolutely smooth control surface in case of proposed method FMRLC in comparison with original FMRLC. With proposed procedure it was achieved similar result regulation to original FMRLC but with more than 4x smaller adaptation gain.

关键词： self-learning controllers fuzzy model reference learning control fuzzy logic

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Time efficient hybrid motion planning algorithm for HOAP-2 humanoid robot

Time efficient hybrid motion planning algorithm for HOAP-2 h...

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Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： Elmogy, Mohammed Habel, Christopher Zhang, Jianwei Department of Informatics MIN Faculty University of Hamburg Germany

ISBN: (纸本)9781617387197

the development of practical motion planning algorithms and obstacle avoidance techniques is considered as one of the most important fields of study in the task of building autonomous or semiautonomous robot systems. the motion planners designed for humanoid robots combine both path planning generation and the ability of executing the resulting path with respect to their characteristics. these planners should consider the specific dynamical constraints and stability problems of the humanoid robots. In this paper, we present a time-efficient hybrid motion planning system for a Fujitsu HOAP-2 humanoid robot in indoor and miniature city environments. the proposed technique is a combination of sampling-based planner and D* Lite search to generate dynamic footstep placements in unknown environments. It generates the search space depending on non-uniform sampling of the free configuration space to direct the computational resources to troubled and difficult regions. D* Lite search is then implemented to find dynamic and low-cost footstep placements within the resulting configuration space. the proposed hybrid algorithm reduces the searching time and produces a smoother path for the humanoid robot with low cost.

关键词： Anthropomorphic robots

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Object Detection and 6D Pose Estimation for Precise Robotic Manipulation in Unstructured Environments 14th

Object Detection and 6D Pose Estimation for Precise Robotic ...

引用

14th international conference on informatics in control, automation and robotics (ICINCO)

作者： di Castro, Mario Camarero Vera, Jorge Ferre, Manuel Masi, Alessandro CERN European Org Nucl Res Meyrin Switzerland UPM CSIC Ctr Automat & Robot Madrid Spain

ISBN: (纸本)9783030112929;9783030112912

In this paper we present an algorithm for the robust 6D pose estimation with an RGB-D camera in harsh and unstructured environments using object detection. While the pose estimation uses clustering and segmentation to find a robust point in multiple frames to track changes in the position of the camera, its functionality is enhanced with Faster-RCNN for classification and detection, providing the operator with information about the object of interest. this work further facilitates the goal of increasing the robot's autonomy and helping operators to recover 3D reconstructions of the objects to be manipulated with the robot.

关键词： Mobile robots and intelligent autonomous systems Deep learning Faster-RCNN Perception and awareness

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A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft robotics Systems: Application to CENTAURO Robot 13

A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effecti...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Kamedula, Malgorzata Kashiri, Navvab Caldwell, Darwin G. Tsagarakis, Nikos G. Ist Italiano Technol Dept Adv Robot Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9789897581984

Despite the important role of simulation in the development and control of robotics systems, the majority of open source simulation tools has however paid no attention to the progress and paradigm change on the robot design in the past 15 years with the consideration of soft actuation technologies as a mean to power new robotic systems. More specifically, the integration of series elastic actuators (SEAs) into robots modifies significantly the dynamics characteristics of the system while the incorporation of the passive compliance into the actuators is not applied in conventional simulators. this paper introduces a scheme for the implementation of the SEA dynamics on a Gazebo-ROS framework exploited for the simulation of a new centaur-like robot. this approach is based on designing a custom control plugin embodying the passive compliance dynamics so that the controller associated with each joint receives both collocated and non-collocated feedback. A simulation comparison with Matlab validating the performance of the designed control plugin is demonstrated. In the end, a whole-body simulation of the centaur robot driven/controlled by the proposed plugin is presented.

关键词： Gazebo-ROS Simulators Legged Robots Flexible Joint Robots Series Elastic Actuators Quadrupeds Humanoids Simulation

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RTFM: Towards Understanding Source Code using Natural Language Processing 17

RTFM: Towards Understanding Source Code using Natural Langua...

引用

17th international conference on informatics in control, automation and robotics (ICINCO)

作者： Galanis, Maximilian Dietrich, Vincent Kast, Bernd Fiegert, Michael Siemens AG Corp Technol Otto Hahn Ring 6 D-81739 Munich Germany

ISBN: (纸本)9789897584428

the manual configuration of today's autonomous systems for new tasks is becoming increasingly difficult due to their complexity. One solution to this problem is to use planning algorithms that can automatically synthesize suitable data processing pipelines for the task at hand and thus simplify the configuration. Planners usually rely on models, which are created manually based on already existing methods. these methods are often provided as part of domain specific code libraries. therefore, using existing planners on new domains requires the manual creation of models based on the methods provided by other libraries. To facilitate this, we propose a system that generates an abstract semantic model from C++ libraries automatically. the necessary information is extracted from the library using a combination of static source code analysis to analyze its header files and natural language processing (NLP) to analyze its official documentation. We evaluate our approach on the perception domain with two popular libraries: HALCON and OpenCV. We also outline how the extracted models can be used to configure data processing pipelines for the perception domain automatically by using an existing planner.

关键词： Semantics-based Software Engineering Information Extraction Natural Language Processing Planning

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An implementation of high availability in networked robotic systems

An implementation of high availability in networked robotic ...

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4th international conference on informatics in control, automation and robotics

作者： Anton, Florin Daniel Borangiu, theodor Anton, Silvia Univ Politehn Bucuresti Dept Automat & Appl Informat RO-060032 Bucharest Romania

ISBN: (纸本)9789728865832

In today's complex enterprise environments, providing continuous service for applications is a key component of a successful robotized implementing of manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned systems and application downtime. this is achieved through the elimination of hardware and software single points of failure (SPOF). A high availability solution will ensure that the failure of any component of the solution - either hardware, software or system management, will not cause the application and its data to become permanently unavailable. High availability solutions should eliminate single points of failure through appropriate design, planning, hardware selection, software configuring, application control, carefully environment control and change management discipline. In short, one can define high availability as the process of ensuring an application is available for use by duplicating and/or sharing hardware resources managed by a specialized software component. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) re integration. the paper discusses the implementing of a high availability solution in a robotized manufacturing line.

关键词： networked robotics high availability fault tolerant systems resource monitoring resource control

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