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A Tree-Based Next-Best-Trajectory Method for 3-D UAV Exploration

IEEE TRANSACTIONS ON robotics 2024年 40卷 3496-3513页

作者： Lindqvist, Bjorn Patel, Akash Lofgren, Kalle Nikolakopoulos, George Lulea Univ Technol Dept Comp Elect & Space Engn Robot & Artificial Intelligence Grp SE-97187 Lulea Sweden Lulea Univ Technol Dept Comp Elect & Space Engn Robot & AI Grp S-97187 Lulea Sweden

This work presents a fully integrated tree-based combined exploration-planning algorithm: exploration-rapidly-exploring random trees (RRT) (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured environment while directly incorporating exploratory behavior, robot-safe path planning, and robot actuation into the central problem. ERRT provides a complete sampling and tree-based solution for evaluating "where to go next" by considering a tradeoff between maximizing information gain and minimizing the distances traveled and the robot actuation along the path. The complete scheme is evaluated in extensive simulations, comparisons, and real-world field experiments in constrained and narrow subterranean and GPS-denied environments. The framework is fully robot operating system (ROS) integrated and straightforward to use.

关键词： field robotics RRT subterranean exploration tree-based exploration unmanned aerial vehicles (UAVs) field robotics RRT subterranean exploration tree-based exploration unmanned aerial vehicles (UAVs)

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Nonlinear observer-based impedance control of a fully-actuated hexarotor for accurate aerial physical interaction

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF robotics RESEARCH AND APPLICATION 2024年第4期51卷 683-695页

作者： Wang, Chang Jiao, Ran Zhang, Jianhua Univ Sci & Technol Beijing Sch Mech Engn Beijing Peoples R China Beijing Univ Technol Coll Mech & Energy Engn Beijing Peoples R China

PurposeFully-actuated unmanned aerial vehicles (UAVs) are a growing and promising field of research, which shows advantages for aerial physical interaction. The purpose of this paper is to construct a force sensor-denied control method for a fully-actuated hexarotor to conduct aerial interaction with accurate force exerted ***/methodology/approachFirst, by extending single-dimension impedance model to the fully-actuated UAV model, an impedance controller is designed for compliant UAV pose/force control. Then, to estimate the interaction force between UAV end-effector and external environment accurately, combined with super-twisting theory, a nonlinear force observer is constructed. Finally, based on impedance controller and estimated force from observer, an interaction force regulation method is *** presented nonlinear observer-based impedance control approach is validated in both simulation and environments, in which the authors try to use a fully-actuated hexarotor to accomplish the task of aerial physical interaction finding that a specified force is able to be exerted to environment without any information from force ***/valueA solution of aerial physical interaction for UAV system enabling accurate force exerted outward without any force sensors is proposed in this paper.

关键词： Unmanned aerial vehicles (UAV) field robotics

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A cascaded method to detect aircraft in video imagery

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2011年第12期30卷 1527-1540页

作者： Dey, Debadeepta Geyer, Christopher Singh, Sanjiv Digioia, Matthew Carnegie Mellon Univ Sch Comp Sci Pittsburgh PA 15213 USA IRobot Corp Boston MA USA Penn State Electroopt Ctr Freeport PA USA

Unmanned Aerial Vehicles (UAVs) have played vital roles recently in both military and non-military applications. One of the reasons UAVs today are unable to routinely fly in US National Airspace (NAS) is because they lack the sense and ability to avoid other aircraft. Although certificates of authorization can be obtained for short-term use, it entails significant delays and bureaucratic hurdles. Therefore, there is a great need to develop a sensing system that is equivalent to or has greater performance than a human pilot operating under Visual Flight Rules (VFR). This is challenging because of the need to detect aircraft out to at least 3 statute miles, while doing so on field-of-regard as large as 30 degrees( vertical) x 220 degrees( horizontal) and within the payload constraints of a medium-sized UAV. In this paper we report on recent progress towards the development of a field deployable sense-and-avoid system and concentrate on the detection and tracking aspect of the system. We tested a number of approaches and chose a cascaded approach that resulted in 100% detection rate (over about 40 approaches) and 98% tracking rate out to 5 statute miles and a false positive rate of 1 every 50 frames. Within a range of 3.75 miles we can achieve nearly 100% tracking rate.

关键词： Sense-and-avoid UAV field robotics perception

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Automated robotic monitoring and inspection of steel structures and bridges

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ROBOTICA 2019年第5期37卷 947-967页

作者： Hung Manh La Tran Hiep Dinh Nhan Huu Pham Quang Phuc Ha Anh Quyen Pham Univ Nevada Dept Comp Sci & Engn Adv Robot & Automat ARA Lab Reno NV 89557 USA Univ Technol Sydney Sch Elect Mech & Mechatron Syst Sydney NSW Australia

This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real-time for monitoring as well as further processing. Steel surface image stitching and 3D map building are conducted to provide a current condition of the structure. Also, a computer vision-based method is implemented to detect surface defects on stitched images. The effectiveness of the climbing robot's inspection is tested in multiple circumstances to ensure strong steel adhesion and successful data collection. The detection method was also successfully evaluated on various test images, where steel cracks could be automatically identified, without the requirement of some heuristic reasoning.

关键词： field robotics Climbing robots Steel bridge inspection Image stitching 3D map construction Steel crack Histogram thresholding Image segmentation

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Pose-graph underwater simultaneous localization and mapping for autonomous monitoring and 3D reconstruction by means of optical and acoustic sensors

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JOURNAL OF field robotics 2024年第8期41卷 2543-2563页

作者： Bucci, Alessandro Ridolfi, Alessandro Allotta, Benedetto Univ Florence Dept Ind Engn Via St Marta 3 I-50139 Florence Italy Interuniv Ctr Integrated Syst Marine Environm ISME Genoa Italy

Modern mobile robots require precise and robust localization and navigation systems to achieve mission tasks correctly. In particular, in the underwater environment, where Global Navigation Satellite Systems cannot be exploited, the development of localization and navigation strategies becomes more challenging. Maximum A Posteriori (MAP) strategies have been analyzed and tested to increase navigation accuracy and take into account the entire history of the system state. In particular, a sensor fusion algorithm relying on a MAP technique for Simultaneous Localization and Mapping (SLAM) has been developed to fuse information coming from a monocular camera and a Doppler Velocity Log (DVL) and to consider the landmark points in the navigation framework. The proposed approach can guarantee to simultaneously locate the vehicle and map the surrounding environment with the information extracted from the images acquired by a bottom-looking optical camera. Optical sensors can provide constraints between the vehicle poses and the landmarks belonging to the observed scene. The DVL measurements have been employed to solve the unknown scale factor and to guarantee the correct vehicle localization even in the absence of visual features. Furthermore, to evaluate the mapping capabilities of the SLAM algorithm, the obtained point cloud is elaborated with a Poisson reconstruction method to obtain a smooth seabed surface. After validating the proposed solution through realistic simulations, an experimental campaign at sea was conducted in Stromboli Island (Messina), Italy, where both the navigation and the mapping performance have been evaluated.

关键词： 3D robotic mapping field robotics SLAM underwater navigation

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Parallel robots for autonomous climbing along tubular structures

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robotics AND AUTONOMOUS SYSTEMS 2003年第2期42卷 125-134页

作者： Aracil, R Saltarén, R Reinoso, O Univ Miguel Hernandez Dept Ingn E-03202 Elche Spain Univ Politecn Madrid DISAM E-28006 Madrid Spain

This paper proposes the application of the Gough-Stewart (G-S) platform as a climbing robot. The idea of using the parallel G-S platform as a climbing robot is a novel solution to carry out tasks that imply a high risk for workers who have to climb on tubular structures. Some mechanical adaptations allow to convert the G-S platform in an autonomous and teleoperated robot capable to move autonomously along tubular structures (posts, steel wires of bridges, trunks of palms, pipes, etc.) or inside of fluid conducting pipes. To show the capacity of using this G-S platform as climbing robot we propose several mechanical designs capable of climbing through these tubular structures. Taking into account these designs and their functionality, we study the dynamics of some different configurations of these robots. In the second part of the paper we present a first prototype used as a climbing robot, developed to climb on palm trunks. Technical specifications of the system are presented and the control scheme is analyzed. Finally several experiments show the capability of this parallel robot to climb on tubular structures. (C) 2002 Elsevier Science B.V. All rights reserved.

关键词： robotics climbing robots pneumatic control parallel robots field robotics

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Development and control of an articulated mobile robot T² snake-4.2 for plant disaster prevention - development of M2 arm and C-hand

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ADVANCED robotics 2022年第21期36卷 1134-1155页

作者： Chin, Ching Wen Nakajima, Mizuki Furuike, Koki Kon, Kazuyuki Tanaka, Motoyasu Univ Electrocommun Grad Sch Informat Sci & Engn Dept Mech Intelligent Syst Engn 1-5-1 Chofugaoka Chofu Tokyo 1828585 Japan NEC Corp Ltd Natl Secur Solut Div Tokyo Japan

In this study, we develop an articulated mobile robot T-2 Snake-4.2 that can move in narrow spaces, climb stairs, gather information, and operate valves for plant disaster prevention. We developed a novel folding arm M2 arm, fitted to the articulated mobile robot to have a better performance in mobility and operation ability compare to previous work T-2 Snake-4. We introduce a novel method of climbing high steps and stairs by using the M2 arm as a support for the articulated mobile robot. T-2 Snake-4.2 can climb high steps and stairs even with a heavy folding arm. In addition, we present a novel valve operating end effector, C-hand which allows the articulated mobile robot to open a large valve. By utilizing the shape characteristic of the valve, C-hand constraints to the environment and rotates the valve handle without transferring any reaction force to the robot and the folding arm. The developed robot T-2 Snake-4.2 is tested through experiments in the laboratory and also in a field test at the Plant Disaster Prevention Challenge of World Robot Summit 2020.

关键词： field robotics articulated mobile robot folding arm rotating valves mobility

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The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments

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INTERNATIONAL JOURNAL OF SOCIAL robotics 2009年第2期1卷 127-140页

作者： Bauer, Andrea Klasing, Klaas Lidoris, Georgios Muehlbauer, Quirin Rohrmueller, Florian Sosnowski, Stefan Xu, Tingting Kuehnlenz, Kolja Wollherr, Dirk Buss, Martin Tech Univ Munich Inst Automat Control Engn LSR D-80290 Munich Germany

The Autonomous City Explorer (ACE) project combines research from autonomous outdoor navigation and human-robot interaction. The ACE robot is capable of navigating unknown urban environments without the use of GPS data or prior map knowledge. It finds its way by interacting with pedestrians in a natural and intuitive way and building a topological representation of its surroundings. In a recent experiment the robot managed to successfully travel a 1.5 km distance from the campus of the Technische Universitat Munchen to Marienplatz, the central square of Munich. This article describes the principles and system components for navigation in urban environments, information retrieval through natural human-robot interaction, the construction of a suitable semantic representation as well as results from the field experiment.

关键词： Human-robot interaction Knowledge representation Social robotics field robotics Autonomous outdoor navigation

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Recovery policies for safe exploration of lunar permanently shadowed regions by a solar-powered rover

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ACTA ASTRONAUTICA 2023年 213卷 708-724页

作者： Lamarre, Olivier Malhotra, Shantanu Kelly, Jonathan Univ Toronto Inst Aerosp Studies Space & Terr Autonomous Robot Syst STARS Lab 4925 Dufferin St Toronto ON M3H 5T6 Canada CALTECH Jet Prop Lab 4800 Oak Grove Dr Pasadena CA 91109 USA

The success of a multi-kilometre drive by a solar-powered rover at the lunar south pole depends upon careful planning in space and time due to highly dynamic solar illumination conditions. An additional challenge is that the rover may be subject to random faults that can temporarily delay long-range traverses. The majority of existing global spatiotemporal planners assume a deterministic rover-environment model and do not account for random faults. In this paper, we consider a random fault profile with a known, average spatial fault rate. We introduce a methodology to compute recovery policies that maximize the probability of survival of a solar-powered rover from different start states. A recovery policy defines a set of recourse actions to reach a safe location with sufficient battery energy remaining, given the local solar illumination conditions. We solve a stochastic reach-avoid problem using dynamic programming to find an optimal recovery policy. Our focus, in part, is on the implications of state space discretization, which is required in practical implementations. We propose a modified dynamic programming algorithm that conservatively accounts for approximation errors. To demonstrate the benefits of our approach, we compare against existing methods in scenarios where a solar-powered rover seeks to safely exit from permanently shadowed regions in the Cabeus area at the lunar south pole. We also highlight the relevance of our methodology for mission formulation and trade safety analysis by comparing different rover mobility models in simulated recovery drives from the LCROSS impact region.

关键词： Energy-aware planning Reachability analysis Extraterrestrial mobility field robotics

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Search and rescue under the forest canopy using multiple UAVs

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2020年第10-11期39卷 1201-1221页

作者： Tian, Yulun Liu, Katherine Ok, Kyel Tran, Loc Allen, Danette Roy, Nicholas How, Jonathan P. MIT 70 Vassar St Cambridge MA 02139 USA NASA Langley Res Ctr Hampton VA 23665 USA

We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual aliasing which hinders reliable loop closure detection for mutual localization and map fusion. Our proposed system features unmanned aerial vehicles (UAVs) that perform onboard sensing, estimation, and planning. When communication is available, each UAV transmits compressed tree-based submaps to a central ground station for collaborative simultaneous localization and mapping (CSLAM). To overcome high measurement noise and perceptual aliasing, we use the local configuration of a group of trees as a distinctive feature for robust loop closure detection. Furthermore, we propose a novel procedure based on cycle consistent multiway matching to recover from incorrect pairwise data associations. The returned global data association is guaranteed to be cycle consistent, and is shown to improve both precision and recall compared with the input pairwise associations. The proposed multi-UAV system is validated both in simulation and during real-world collaborative exploration missions at NASA Langley Research Center.

关键词： Multi-robot systems field robotics SLAM

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