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检索条件"任意字段=IEEE International Symposium on Computational Intelligence in Robotics and Automation"

共 2056 条记录，以下是181-190 订阅

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Fast Sampling-based Next-Best-View Exploration Algorithm for a MAV

Fast Sampling-based Next-Best-View Exploration Algorithm for...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Respall, Victor Massague Devitt, Dmitry Fedorenko, Roman Klimchik, Alexandr Innopolis Univ Ctr Technol Robot & Mechatron Components Innopolis Russia

ISBN: (纸本)9781728190778

In this work, we present a new exploration algorithm for Micro Aerial Vehicles (MAVs). The planner uses a combination of Next-Best-View (NBV) sampling and frontier-based approaches to reduce the impact of finding unexplored areas in large scenarios. For each sampled point, the yaw angle is optimized to maximize the potential gain for mapping. The gain is expressed as a ratio between the exploration objective and the time it would take to reach the pose, thus, balancing the nearby exploration and global coverage. We reduce the gain computation bottleneck in the sampling strategy by managing a dual-map with different resolutions. The planner maintains a history graph, with nodes that indicate regions of interest for map expansion. We demonstrate the abilities of the proposed algorithm with simulations and real-world experiments. The results outperform state-of-the-art methods in exploration time and computational cost.

关键词： Three-dimensional displays automation computational modeling Conferences computational efficiency History

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A Fast and Approximate Medial Axis Sampling Technique

A Fast and Approximate Medial Axis Sampling Technique

引用

ieee international Conference on robotics and automation (ICRA)

作者： Denny, Jory Qin, David Zhou, Hanglin Univ Richmond Dept Math & Comp Sci SpiRoL Spider Robot Lab Richmond VA 23173 USA

ISBN: (纸本)9781728190778

One key aspect to planning safe motions for a robot requires maintaining a minimum distance from obstacles. The medial axis, or the set of all points equidistant to two or more obstacles, is useful for planning in this context. However, it is computationally intensive to compute this structure directly. As such, prior research proposed directly sampling this structure to avoid its explicit computation. In this paper, we revisit the computational cost of these sampling-based techniques for motion planning, and we propose a novel approximation algorithm that significantly reduces the necessary collision detection invocations in generating samples near the medial axis. At its core, our technique approximates the clearance of a configuration by reasoning about the clearance of nearby configurations. Ultimately, our approach reduces the computational burden of planning on or near the medial axis.

关键词： Costs automation Conferences Approximation algorithms Cognition Planning computational efficiency

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Computing with a Muscular-Hydrostat System

Computing with a Muscular-Hydrostat System

引用

ieee international Conference on robotics and automation (ICRA)

作者： Nakajima, Kohei Hauser, Helmut Kang, Rongjie Guglielmino, Emanuele Caldwell, Darwin G. Pfeifer, Rolf Univ Zurich Dept Informat Artificial Intelligence Lab CH-8050 Zurich Switzerland Istituto Italiano Tecnologia Dept Adv Robot I-16113 Genoa Italy

ISBN: (纸本)9781467356411;9781467356435

Octopus arms, as well as elephant trunks, squid tentacles, and vertebrate tongues are termed muscular-hydrostats. In such structures, the volume of the organ remains constant during their motions, enabling diverse, complex, and highly controlled movements without the support of a skeleton. Such flexible structures show major advantages over articulated arms that have a rigid skeleton and joints. These advantages have been attracting roboticists aiming to apply these material properties to soft robot controls. In this paper, we show that the muscular-hydrostat system itself has the computational capacity to achieve a complex nonlinear computation. By using a 3D dynamic simulator of the system inspired by the octopus, we actually demonstrate that the system is capable of emulating complex nonlinear dynamical systems by exploiting its elastic body dynamics as a computational resource. In addition, we systematically analyze its computational power in terms of memory capacity, and show that the system has an intrinsic and characteristic short term memory profile. Finally, the implications for soft robot control and future application scenarios are discussed.

关键词： biomechanics elasticity nonlinear dynamical systems robot dynamics

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Self-trained automated parking system

Self-trained automated parking system

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8th international Conference on Control, automation, robotics and Vision (ICARCV 2004)

作者： Oentaryo, RJ Pasquier, M Nanyang Technol Univ Sch Comp Engn Ctr Computat Intelligence Singapore 639798 Singapore

ISBN: (纸本)0780386531

This paper presents part of the research work carried out at the Centre for computational intelligence at NTU to develop novel technologies for the routing, navigation, and control of intelligent cars. One objective is to endow the cars with the ability to autonomously drive on various types of roads and realize manoeuvres such as reverse and parallel parking, three-point turns, etc. Our approach is to design a self-training system that makes use of human expertise to automatically derive a working car control system. A new neuro-fuzzy architecture known as the GenSoYager Fuzzy Neural Network has been realized and integrated with our car-driving simulator for training and testing purposes. The GenSoYagerFNN has proven so far superior to other trained networks in detecting parking slots and accomplishing reverse parking manoeuvres. The approach described has also been validated using a microprocessor controlled model car.

关键词： Parking

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Fast iterative alignment of pose graphs with poor initial estimates

Fast iterative alignment of pose graphs with poor initial es...

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ieee international Conference on robotics and automation (ICRA)

作者： Olson, Edwin Leonard, John Teller, Seth MIT Comp Sci & Artificial Intelligence Lab 77 Massachusetts Ave Cambridge MA 02139 USA

ISBN: (纸本)0780395050

A robot exploring an environment can estimate its own motion and the relative positions of features in the environment. Simultaneous Localization and Mapping (SLAM) algorithms attempt to fuse these estimates to produce a map and a robot trajectory. The constraints are generally non-linear, thus SLAM can be viewed as a non-linear optimization problem. The optimization can be difficult, due to poor initial estimates arising from odometry data, and due to the size of the state space. We present a fast non-linear optimization algorithm that rapidly recovers the robot trajectory, even when given a poor initial estimate. Our approach uses a variant of Stochastic Gradient Descent on an alternative state-space representation that has good stability and computational properties. We compare our algorithm to several others, using both real and synthetic data sets.

关键词： robotics

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Bridging the Gap between Robotic Applications and computational intelligence in Domestic robotics

Bridging the Gap between Robotic Applications and Computatio...

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ieee symposium Series on computational intelligence (SSCI)

作者： Zhong, Junpei Han, Ting Lotfi, Ahmad Cangelosi, Angelo Liu, Xiaofeng Nottingham Trent Univ Sch Sci & Technol Nottingham NG11 8NS England AIST Artificial Intelligence Res Ctr Aomi 2-3-26 Tokyo 1350064 Japan Univ Manchester Sch Comp Sci Manchester M13 9PL Lancs England Hohai Univ Coll IoT Engn Changzhou 213022 Peoples R China

ISBN: (纸本)9781728124858

With the speedy development of hardware (e.g., high performance computing, smaller and cheaper sensors) and software (e.g., deep learning techniques and interaction technologies), robotic products and IoT devices have gradually become accessible to household users. Typical application scenarios of domestic robots include: 1) Providing physical assistance such as floor vacuuming;2) Providing social assistance to answer questions;and 3) Providing education and cognitive assistance such as offering partnerships. In this paper, we provide a brief overview of available domestic robots, particularly focusing on the services they provide and corresponding computational techniques incorporated in these services. We first provide an overview of available commercial domestic robots and state-of-the-art computational intelligence techniques, then discuss the gap between current robotic systems and advanced computational techniques. Finally, we analyze what are the next developmental stages for these techniques with the emergence and development of the domestic robotic platforms.

关键词： domestic robotics intelligent robotics machine learning smart Home interactive robotics service robotics

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Rapid Solution of Cosserat Rod Equations via a Nonlinear Partial Observer

Rapid Solution of Cosserat Rod Equations via a Nonlinear Par...

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ieee international Conference on robotics and automation (ICRA)

作者： Thamo, Balint Dhaliwal, Key Khadem, Mohsen Univ Edinburgh Sch Informat Edinburgh Midlothian Scotland Queens Med Res Inst Ctr Inflammat Res Translat Healthcare Thchnol Grp Edinburgh Midlothian Scotland

ISBN: (纸本)9781728190778

The Cosserat rod equations are used to model continuum and soft robots. Solving these equations are computationally expensive, particularly due to mixed boundary values and kinematic constraints. In this paper, we present a novel nonlinear observer that can rapidly estimate the solution of the Cosserat rod equations. We present details of the observer design and analyse its convergence and stability. Furthermore, we compare the accuracy and performance of the observer with common solvers used in the literature. Our results show that the proposed observer can significantly improve the computational efficiency of continuum robots' models and estimates the solution of the Cosserat rod equations 7 times faster than common solvers.

关键词： automation computational modeling Conferences Kinematics Observers Soft robotics Mathematical models

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Collision-free Coverage Path Planning for the Variable-speed Curvature-constrained Robot

Collision-free Coverage Path Planning for the Variable-speed...

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ieee international Conference on robotics and automation (ICRA)

作者： Li, Lin Shi, Dianxi Jin, Songchang Sun, Yixuan Zhou, Xing Yang, Shaowu Liu, Hengzhu Natl Univ Def Technol Coll Comp Changsha 410003 Hunan Peoples R China Artificial Intelligence Res Ctr AIRC Def Innovat Inst Beijing 100166 Peoples R China Tianjin Artificial Intelligence Innovat Ctr TAI Tianjin 300457 Peoples R China Natl Univ Def Technol Coll Intelligence Sci & Technol Changsha 410003 Hunan Peoples R China

ISBN: (纸本)9798350323658

Dubins coverage has been extensively researched to address the coverage path planning (CPP) problem of a known environment for the curvature-constrained robot. However, its fixed-speed assumption prevents the robot from accelerating to reduce the time and limits its flexibility to avoid obstacles. Therefore, this paper presents a collision-free CPP approach (CFC) for the obstacle-constrained environment, which enhances time efficiency by constructing the variable-speed Dubins paths and ensures robot safety by building a risk potential surface for representing the possibility of collision. Furthermore, CFC models the CPP problem as an asymmetric traveling salesman problem (ATSP) and utilizes a graph pruning strategy to reduce the computational cost. Comparison tests with other Dubins coverage methods demonstrate that CFC provides shorter coverage times and better runtimes than the other Dubins coverage methods while preventing collision risk between the robot and obstacles. Physical experiments in a laboratory setting demonstrate the applicability of CFC to the physical robot.

关键词： Traveling salesman problem

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Correlative Analysis and Impact of Intelligent Virtual Assistants on Machine Learning 11

Correlative Analysis and Impact of Intelligent Virtual Assis...

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11th international Conference on computational intelligence and Communication Networks (CICN)

作者： Khan, Mohd Aijaj Tripathi, Anubhav Dixit, Aaradhya Dixit, Manish Madhav Inst Sci & Technol Gwalior India Birla Inst Technol Ranchi Bihar India

ISBN: (纸本)9781538684399

Intelligent Virtual Assistants are very important part of today's life if we have smartphones. Whether, to call a number, message anyone, checking weather or traffic status, it can just happen in a few seconds by giving verbal commands. Artificial intelligence is obviously making strides in this field as new assistants are being integrated into many applications in automotive, medicine, security, heavy and robotics industry. This paper discusses about how these intelligent assistants work, which AI techniques are used, their applications and their inexpediencies and how they can be improved upon.

关键词： Artificial intelligence (AI) Machine Learning (ML) Intelligent Virtual Assistants Natural Language Processing (NLP) Wake Call Speech Recognition automation robotics Artificial Neural Networks(ANN)

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Neural fidelity warping for efficient robot morphology design

Neural fidelity warping for efficient robot morphology desig...

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ieee international Conference on robotics and automation (ICRA)

作者： Hu, Sha Yang, Zeshi Mori, Greg Simon Fraser Univ Sch Comp Sci Burnaby BC Canada

ISBN: (纸本)9781728190778

We consider the problem of optimizing a robot morphology to achieve the best performance for a target task, under computational resource limitations. The evaluation process for each morphological design involves learning a controller for the design, which can consume substantial time and computational resources. To address the challenge of expensive robot morphology evaluation, we present a continuous multi-fidelity Bayesian Optimization framework that efficiently utilizes computational resources via low-fidelity evaluations. We identify the problem of non-stationarity over fidelity space. Our proposed fidelity warping mechanism can learn representations of learning epochs and tasks to model non-stationary covariances between continuous fidelity evaluations which prove challenging for off-the-shelf stationary kernels. Various experiments demonstrate that our method can utilize the low-fidelity evaluations to efficiently search for the optimal robot morphology, outperforming state-of-the-art methods.

关键词： Conferences Morphology Process control computational efficiency Bayes methods Task analysis Kernel

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