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Editorial: Neural network models in autonomous robotics

FRONTIERS IN NEUROrobotics 2025年 19卷 1587137页

作者： Cheng, Long Mao, Ying Ward, Tomas North China Elect Power Univ Sch Control & Comp Engn Beijing Peoples R China Fordham Univ Dept Comp & Informat Sci New York NY USA Dublin City Univ Insight SFI Res Ctr Data Analyt Dublin Ireland

The integration of neural network models in autonomous robotics represents a monumental leap in artificial intelligence and robotics. These models, mirroring the human brain's complexity and efficiency, have catalyzed innovations in machine learning, fostering more adaptive, intelligent, and efficient robotic systems. Recent research in areas like deep learning, reinforcement learning, and neural network optimization has significantly advanced, yet challenges remain, especially in robotics' real-world application, energy efficiency, and operation in complex, unstructured environments.

关键词： neural network models autonomous robotics energy efficiency multi-modal sensory data human-robot collaboration

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Development and implementation of a MATLAB simulation project for a multidisciplinary graduate course in autonomous robotics

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COMPUTER APPLICATIONS IN ENGINEERING EDUCATION 2004年第1期12卷 54-64页

作者： Joshi, SS Univ Calif Davis Dept Mech & Aeronaut Engn Davis CA 95616 USA

In this paper, we describe a MATLAB computer simulation course project implemented as part of an introductory graduate course in autonomous robotics at the University of California, Davis. The course consisted of students from Mechanical and Aeronautical Engineering, Psychology and Neuroscience, Electrical Engineering, and Computer Science. Creating a valuable class computer project experience for graduate students with greatly varying backgrounds is a challenging undertaking. Graduate students in different majors may have widely different educational backgrounds, field-specific language and culture, and computer background. It is a main result of this paper that a meaningful autonomous robotics computer project can be developed that allows students to be individually unique and creative, but at the same time allows each student to understand and share ideas, tools, and methods from all the other students. Simulation project conception, teamwork, implementation, results, and lessons learned are described. (C) 2004 Wiley Periodicals, Inc.

关键词： computer simulation architecture autonomous robotics graduate course multidisciplinary

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A service assistant combining autonomous robotics, flexible goal formulation, and deep-learning-based brain-computer interfacing

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robotics AND autonomous SYSTEMS 2019年 116卷 98-113页

作者： Kuhner, D. Fiederer, L. D. J. Aldinger, J. Burget, F. Voelker, M. Schirrmeister, R. T. Do, C. Boedecker, J. Nebel, B. Ball, T. Burgard, W. Univ Freiburg Dept Comp Sci Freiburg Germany Univ Freiburg Fac Med Freiburg Germany Univ Freiburg Fac Biol Freiburg Germany Univ Freiburg BrainLinks BrainTools Cluster Excellence Freiburg Germany

As autonomous service robots become more affordable and thus available for the general public, there is a growing need for user-friendly interfaces to control these systems. Control interfaces typically get more complicated with increasing complexity of robotic tasks and environments. Traditional control modalities such as touch, speech or gesture are not necessarily suited for all users. While some users can make the effort to familiarize themselves with a robotic system, users with motor disabilities may not be capable of controlling such systems even though they need robotic assistance most. In this paper, we present a novel framework that allows these users to interact with a robotic service assistant in a closed-loop fashion, using only thoughts. The system is composed of several interacting components: a brain-computer interface (BCI) that uses non-invasive neuronal signal recording and co-adaptive deep learning, high-level task planning based on referring expressions, navigation and manipulation planning as well as environmental perception. We extensively evaluate the BCI in various tasks, determine the performance of the goal formulation user interface and investigate its intuitiveness in a user study. Furthermore, we demonstrate the applicability and robustness of the system in real world scenarios, considering fetch-and-carry tasks, close human-robot interactions and in presence of unexpected changes. As our results show, the system is capable of adapting to frequent changes in the environment and reliably accomplishes given tasks within a reasonable amount of time. Combined with high-level task planning based on referring expressions and an autonomous robotic system, interesting new perspectives open up for non-invasive BCI-based human-robot interactions. (C) 2019 The Authors. Published by Elsevier B.V.

关键词： EEG Co-adaptive brain-computer-interface Realtime deep learning autonomous robotics Referring expression generation High-level task planning Computer vision

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Where neuroscience and dynamic system theory meet autonomous robotics: A contracting basal ganglia model for action selection

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NEURAL NETWORKS 2008年第4期21卷 628-641页

作者： Girard, B. Tabareau, N. Pham, Q. C. Berthoz, A. Slotine, J. -J. Coll France Lab Physiol Percept & Act UMR 7152 CNRS F-75231 Paris 05 France MIT Nonlinear Syst Lab Cambridge MA 02139 USA

Action selection, the problem of choosing what to do next, is central to any autonomous agent architecture. We use here a multi-disciplinary approach at the convergence of neuroscience, dynamical system theory and autonomous robotics, in order to propose an efficient action selection mechanism based on a new model of the basal ganglia. We first describe new developments of contraction theory regarding locally projected dynamical systems. We exploit these results to design a stable computational model of the cortico-baso-thalamo-cortical loops. Based on recent anatomical data, we include usually neglected neural projections, which participate in performing accurate selection. Finally, the efficiency of this model as an autonomous robot action selection mechanism is assessed in a standard survival task. The model exhibits valuable dithering avoidance and energy-saving properties, when compared with a simple if-then-else decision rule. (C) 2008 Elsevier Ltd. All rights reserved.

关键词： action selection basal ganglia computational model autonomous robotics contraction analysis

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Graph Neural Network Based 77 GHz MIMO Radar Array Processor for autonomous robotics 18

Graph Neural Network Based 77 GHz MIMO Radar Array Processor...

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18th European Conference on Antennas and Propagation (EuCAP)

作者： Wijitharathna, Ransara Mendis, Pahan Perera, Rahal Mahawela, Punsara Udayanga, Nilan Edussooriya, Chamira U. S. Madanayake, Arjuna Univ Moratuwa Dept Elect & Telecommun Engn Moratuwa Sri Lanka Florida Int Univ Dept Elect & Comp Engn Miami FL USA Deep Si Technol Colombo Sri Lanka

ISBN: (纸本)9788831299091;9798350394436

Frequency-modulated continuous-wave (FMCW) multiple-input multiple-output (MIMO) long-range radars currently employed for autonomous robotics have limited maximum range. By employing transmit beamforming and beam scanning, the range can be increased. However, the beam scanning time reduces the achievable velocity resolution. In this paper, we propose an FMCW MIMO radar, operating at 77 GHz, with transmit (TX) beamforming with subarrays to increase the range. We employ four TX subarrays, each having three antennas, with analog beamforming. Compared to TX beamforming as one TX array, our approach provides sufficiently wide beams alleviating beam scanning, further, without substantially reducing the virtual elements of the MIMO radar. We implement the radar signal processing pipeline on a ZYNQ Ultrascale+ ZCU106 FPGA to achieve real-time processing. Furthermore, we employ a graph neural network to detect objects using the radar point cloud. Preliminary results are presented to confirm the operation of the proposed FMCW MIMO radar.

关键词： FMCW radar MIMO radar beamforming autonomous robotics graph neural networks

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A Novel Machine Vision Approach Applied for autonomous robotics Navigation

A Novel Machine Vision Approach Applied for Autonomous Robot...

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IEEE International Conference on Systems, Man, and Cybernetics (SMC)

作者： Lins, Romulo Goncalves Givigi, Sidney N. Hung, Shao-Ming Noureldin, Aboelmagd Royal Mil Coll Canada Dept Elect & Comp Engn Kingston ON Canada

ISBN: (纸本)9781479986965

Machine vision is widely used in many applications of engineering. In this paper, a new approach of machine vision is proposed for autonomous robotics navigation. The proposed methodology uses a sequence of images to locate homologous points and rebuild the objects in the robot surroundings. Using this approach a robot is able to measure an obstacle in order to avoid a collision as well as measure its velocity in maneuver using only information provided by cameras. Experimental results validate the application of the proposed method for autonomous robots applications.

关键词： Machine vision autonomous robotics velocity estimation obstacles collision avoidance

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A Modelling and Formalisation Tool for Use Case Design in Social autonomous robotics 4th

A Modelling and Formalisation Tool for Use Case Design in So...

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4th Iberian robotics Conference (Robot) - Advances in robotics

作者： Gragera, Alba Maria Garcia, Alba Fernandez, Fernando Univ Carlos III Madrid Madrid 28911 Spain

ISBN: (纸本)9783030361501;9783030361495

The modelling of use cases in Social robotics and its formalisation in a control architecture is a complex and time consuming task, which can be seen as a knowledge engineering process. This manuscript focuses on the description of a novel tool created to simplify the process of modelling these interactions through the definition of such use cases as nominal behaviours with exogenous events. The control architecture of the robotic platform used is based on Automated Planning, allowing robots to deal with stochastic environments. The tool comprises two main objectives: to ease the knowledge engineering process to model social interactions and to generate Planning Domain Description Language code (PDDL) as a formalisation that can be injected into a control architecture. We model different use cases and test the PDDL formalisation by using the control architecture. The test carried out shows evidence of good results, encouraging further research of this type of tools to provide autonomy and facility to experts and non-experts in the field.

关键词： autonomous robotics Automated planning Use case modelling

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STEAM Approach to autonomous robotics Curriculum for High School Using the Robobo Robot 10th

STEAM Approach to Autonomous Robotics Curriculum for High Sc...

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10th International Conference on robotics in Education (RiE)

作者： Bellas, Francisco Mallo, Alma Naya, Martin Souto, Daniel Deibe, Alvaro Prieto, Abraham Duro, Richard J. Univ A Coruna Integrated Grp Engn Res La Coruna Spain

ISBN: (纸本)9783030269456;9783030269449

Teaching robotics in secondary school is common nowadays, although with heterogeneous approaches in different countries, mainly in the specific technology that is used. Even with such lack of standardization, there are many common elements in these early stages of educational robotics, focused on basic assembling, simple sensing, and locomotion, which are a consequence of the simplicity of the robots that are used. In this paper, we aim to go one step ahead, and propose an approach of how the next stage in educational robotics should be. To this end, we analyze the current situation of this subject in reference to the robotics market and society, and then we propose a structure for the curriculum development. This approach is based on the use of the Robobo robot, as a clear example of the type of device that allows to perform such update of the subject, and on the use of a STEAM methodology, where a global view of how to face a robotics problem is presented.

关键词： Educational robotics autonomous robotics STEAM education Smartphone Computer vision Project-based learning

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Progress and Roadmap for Intelligent Self-Healing Materials in autonomous robotics

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ADVANCED MATERIALS 2021年第19期33卷 2002800-2002800页

作者： Tan, Yu Jun Susanto, Glenys Jocelin Anwar Ali, Hashina Parveen Tee, Benjamin C. K. Natl Univ Singapore Dept Mat Sci & Engn Singapore 117575 Singapore Natl Univ Singapore Inst Innovat Hlth Technol iHealthtech Singapore 117599 Singapore Natl Univ Singapore Elect & Comp Engn Singapore 117583 Singapore Natl Univ Singapore N 1 Inst Hlth Singapore Singapore Agcy Sci Technol & Res Inst Mat Res & Engn Singapore 138634 Singapore

Robots are increasingly assisting humans in performing various tasks. Like special agents with elite skills, they can venture to distant locations and adverse environments, such as the deep sea and outer space. Micro/nanobots can also act as intrabody agents for healthcare applications. Self-healing materials that can autonomously perform repair functions are useful to address the unpredictability of the environment and the increasing drive toward the autonomous operation. Having self-healable robotic materials can potentially reduce costs, electronic wastes, and improve a robot endowed with such materials longevity. This review aims to serve as a roadmap driven by past advances and inspire future cross-disciplinary research in robotic materials and electronics. By first charting the history of self-healing materials, new avenues are provided to classify the various self-healing materials proposed over several decades. The materials and strategies for self-healing in robotics and stretchable electronics are also reviewed and discussed. It is believed that this article encourages further innovation in this exciting and emerging branch in robotics interfacing with material science and electronics.

关键词： autonomous robotics electronics self‐ healing materials self‐ repair

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A Low-Cost autonomous Mobile robotics Experiment: Control, Vision, Sonar, and Handy Board

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COMPUTER APPLICATIONS IN ENGINEERING EDUCATION 2012年第2期20卷 203-213页

作者： Inanc, Tamer Dinh, Huan Univ Louisville Dept Elect & Comp Engn Louisville KY 40292 USA

The aim of the paper is to demonstrate a design of a low-cost mobile robotics experiment using LEGO Mindstorms Robotic Invention System kit, Handy Board microcontroller board, CMU camera, and SRF04 sonar sensor. The experiment is designed to be used as a laboratory session of a course on Fundamentals of autonomous Robots. This hands-on course aims to foster students' interests from different fields to autonomous mobile robotics and improve the education in this area. (C) 2009 Wiley Periodicals, Inc. Comput Appl Eng Educ 20: 203-213, 2012;View this article online at ***/journal/cae;DOI 10.1002/cae.20386

关键词： autonomous robotics LEGO handy board hands-on education

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