检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Le Gentil, Cedric Vayugundla, Mallikarjuna Giubilato, Riccardo Stuerzl, Wolfgang Vidal-Calleja, Teresa Triebel, Rudolph Univ Technol Sydney Fac Engn & IT Ctr Autonomous Syst Sydney NSW Australia German Aerosp Ctr Inst Robot & Mechatron Cologne Germany Tech Univ Munich TUM Dept Comp Sci Munich Germany

ISBN: (纸本)9781728162126

The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the ambiguity of the visual appearance makes state-of-the-art visual place recognition approaches less effective than in urban or man-made environments. This paper presents a method to solve the loop closure problem using only spatial information. The key idea is to use a novel continuous and probabilistic representations of terrain elevation maps. Given 3D point clouds of the environment, the proposed approach exploits Gaussian Process (GP) regression with linear operators to generate continuous gradient maps of the terrain elevation information. Traditional image registration techniques are then used to search for potential matches. Loop closures are verified by leveraging both the spatial characteristic of the elevation maps (SE(2) registration) and the probabilistic nature of the GP representation. A submap-based localization and mapping framework is used to demonstrate the validity of the proposed approach. The performance of this pipeline is evaluated and benchmarked using real data from a rover that is equipped with a stereo camera and navigates in challenging, unstructured planetary-like environments in Morocco and on Mt. Etna.

关键词： Localization space robotics and automation Multi-Modal Perception Visual-Based Navigation

来源：评论

学校读者我要写书评

暂无评论

Multi-Rate Tracking Control for a space Robot on a Controlled Satellite: A Passivity-Based Strategy

引用

IEEE robotics AND automation LETTERS 2019年第2期4卷 1319-1326页

作者： De Stefano, Marco Mishra, Hrishik Balachandran, Ribin Lampariello, Roberto Ott, Christian Secchi, Cristian German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany Univ Modena & Reggio Emilia I-41100 Modena Italy

In this letter we design a novel control strategy for a space manipulator operating on a controlled base. The proposed controllers resolve the tracking of the end-effector and the regulation of the base. In particular, we focus on the effects due to the different sampling rates of the manipulator and the base controllers which can generate stability issues. These effects are analysed from an energetic perspective and passivity-based controllers are designed for the base and the manipulator to avoid instability. The method is validated with simulations and experiments on a robotic facility, the OOS-Sim.

关键词： space robotics and automation compliance and impedance control multi-robot systems tracking control

来源：评论

学校读者我要写书评

暂无评论

Evaluation of Hopping Robot Performance With Novel Foot Pad Design on Natural Terrain for Hopper Development

引用

IEEE robotics AND automation LETTERS 2019年第4期4卷 3294-3301页

作者： Sakamoto, Kosuke Otsuki, Masatsugu Maeda, Takao Yoshikawa, Kent Kubota, Takashi Univ Tokyo Dept Elect Engn & Informat Syst Tokyo 1138656 Japan Japan Aerosp Explorat Agcy Inst Space & Aeronaut Sci Sagamihara Kanagawa 2525210 Japan Chuo Univ Fac Elect Elect & Commun Engn Tokyo 1128551 Japan Japan Aerosp Explorat Agcy Res & Dev Directorate Sagamihara Kanagawa 2525210 Japan

This letter presents the hopping performance evaluation on three types of terrains and novel foot pad designs for efficient traverse of hopping rovers. Hopping rovers, called Hopper, are expected to explore scientific richness areas where wheeled vehicles are hard to traverse. In order to succeed in the robotic planetary exploration, optimization and efficient designs of rovers are essential. Almost all planetary surfaces are covered with sand, called regolith, which makes hopping efficiency bad. In this letter, we discover the hopping performance on three kinds of terrains. Moreover, we also propose the method of increasing hopping performance on soft soil. Inspired by the conventional wheeled vehicle design, treads, called grouser, are installed on the bottom of the foot pad. While grousers are effective on hard ground and soft soil, they are ineffective on bilayer terrain. Bilayer means that hard ground is covered with thin regolith. And the other novel grouser shape is designed based on the soil interaction model using a multi-objective evolutionary algorithm. The proposed design improves the hopping performance on soft soil in comparison with the straight grouser.

关键词： space robotics and automation mechanism design optimization and optimal control

来源：评论

学校读者我要写书评

暂无评论

Haptic Inspection of Planetary Soils With Legged Robots

引用

IEEE robotics AND automation LETTERS 2019年第2期4卷 1626-1632页

作者： Kolvenbach, Hendrik Bartschi, Christian Wellhausen, Lorenz Grandia, Ruben Hutter, Marco Swiss Fed Inst Technol Robot Syst Lab CH-8092 Zurich Switzerland

Planetary exploration robots encounter challenging terrain during operation. Vision-based approaches have failed to reliably predict soil characteristics in the past, making it necessary to probe the terrain tactilely. We present a robust, haptic inspection approach for a variety of fine, granular media, which are representative of Martian soil. In our approach, the robot uses one limb to perform an impact trajectory, while supporting the main body with the remaining three legs. The resulting vibration, which is recorded by sensors placed in the foot, is decomposed using the discrete wavelet transform and assigned a soil class by a support vector machine. We tested two foot designs and validated the robustness of this approach through the extensive use of an open-source dataset, which we recorded on a specially designed single-foot testbed. A remarkable overall classification accuracy of more than 98% could be achieved despite various introduced disturbances. The contributions of different sensors to the classification performance are evaluated. Finally, we test the generalization performance on unknown soils and show that the interaction behavior can be anticipated.

关键词： Force and tactile sensing space robotics and automation legged robots AI-based methods

来源：评论

学校读者我要写书评

暂无评论

Rover-IRL: Inverse Reinforcement Learning With Soft Value Iteration Networks for Planetary Rover Path Planning

引用

IEEE robotics AND automation LETTERS 2019年第2期4卷 1387-1394页

作者： Pflueger, Max Agha, Ali Sukhatme, Gaurav S. Univ Southern Calif Dept Comp Sci Los Angeles CA 90089 USA CALTECH Jet Prop Lab 4800 Oak Grove Dr Pasadena CA 91109 USA

Planetary rovers, such as those currently on Mars, face difficult path planning problems, both before landing during the mission planning stages as well as once on the ground. In this work, we present a new approach to these planning problems based on inverse reinforcement learning using deep convolutional networks and value iteration networks (VIN) as important internal structures. VIN are an approximation of the value iteration (VI) algorithm implemented with convolutional neural networks to make VI fully differentiable. We propose a modification to the value iteration recurrence, referred to as the soft value iteration network (SVIN). SVIN is designed to produce more effective training gradients through the VIN. It relies on an internal soft policy model, where the policy is represented with a probability distribution over all possible actions, rather than a deterministic policy that returns only the best action. We demonstrate the effectiveness of our proposed architecture in both a grid world dataset as well as a highly realistic synthetic dataset generated from currently deployed rover mission planning tools and real Mars imagery.

关键词： space robotics and automation deep learning in robotics and automation learning from demonstration

来源：评论

学校读者我要写书评

暂无评论

Everybody Needs Somebody Sometimes: Validation of Adaptive Recovery in Robotic space Operations

引用

IEEE robotics AND automation LETTERS 2019年第2期4卷 1216-1223页

作者： McGuire, Steve Furlong, P. Michael Fong, Terry Hecktnan, Christoffer Szafir, Daniel Julie, Simon J. Ahmed, Nisar Univ Colorado Dept Aerosp Engn Sci Boulder CO 80309 USA NASA Ames Res Ctr SGT Inc Moffett Field CA 94035 USA NASA Ames Res Ctr Moffett Field CA 94035 USA Univ Colorado Dept Comp Sci Boulder CO 80309 USA UCL Dept Comp Sci London WC1E 6BT England

This letter assesses an adaptive approach to fault recovery in autonomous robotic space operations, which uses indicators of opportunity, such as physiological state measurements and observations of past human assistant performance, to inform future selections. We validated our reinforcement learning approach using data we collected from humans executing simulated mission scenarios. We present a method of structuring human-factors experiments that permits collection of relevant indicator of opportunity and assigned assistance task performance data, as well as evaluation of our adaptive approach, without requiring large numbers of test subjects. Application of our reinforcement learning algorithm to our experimental data shows that our adaptive assistant selection approach can achieve lower cumulative regret compared to existing nonadaptive baseline approaches when using real human data. Our work has applications beyond space robotics to any application where autonomy failuresmay occur that require external intervention.

关键词： Human-centered robotics space robotics and automation learning and adaptive systems

来源：评论

学校读者我要写书评

暂无评论

Vision-Based Estimation of Driving Energy for Planetary Rovers Using Deep Learning and Terramechanics

引用

IEEE robotics AND automation LETTERS 2019年第4期4卷 3876-3883页

作者： Higa, Shoya Iwashita, Yumi Otsu, Kyohei Ono, Masahiro Lamarre, Olivier Didier, Annie Hoffmann, Mark CALTECH Jet Prop Lab 4800 Oak Grove Dr Pasadena CA 91109 USA Univ Toronto Inst Aerosp Studies STARS Lab Toronto ON M3H 5T6 Canada

This letter presents a prediction algorithm of driving energy for future Mars rover missions. The majority of future Mars rovers would be solar-powered, which would require energy-optimal driving to maximize the range with limited energy. The essential and arguably the most challenging technology for realizing energy-optimal driving is the capability to predict the driving energy, which is needed to construct an energy-aware cost function for path planning. In this letter, we propose vision-based algorithms to remotely predict the driving energy consumption using machine learning. Specifically, we develop and compare two machine-learning models in this letter, namely VeeGer-Energy Net and Veeger-TerramechanicsNet, respectively. The former is trained directly using recorded power, while the latter estimates terrain parameters from the images using a simplified-terramechanics model, and calculate the power based on the model. The two approaches are fully automated self-supervised learning algorithms. To combine RGB and depth images efficiently with high accuracy, we propose a new network architecture called Two-PNASNet-5, which is based on PNASNet-5. We collected a new dataset to verify the effectiveness of the proposed approaches. Comparison of the two approaches showed that Veeger-TerramechanicsNet had better performance than VeeGer-EnergyNet.

关键词： space robotics and automation wheeled robotics deep learning in robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Coordinated Control of spacecraft's Attitude and End-Effector for space Robots

引用

IEEE robotics AND automation LETTERS 2019年第2期4卷 2108-2115页

作者： Giordano, Alessandro Massimo Ott, Christian Albu-Schaeffer, Alin Univ Munich Dept Informat D-85748 Garching Germany German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany

This letter addresses the coordinated control of the spacecraft's attitude and the end-effector pose of a manipulator-equipped space robot. A controller is proposed to simultaneously regulate the spacecraft's attitude, the global center-of-mass, and the end-effector pose. The control is based on a triangular actuation decomposition that decouples the end-effector task from the spacecraft's force actuator, increasing fuel efficiency. The strategy is validated in hardware using a robotic motion simulator composed of a seven degrees-of-freedom (DOF) arm mounted on a six DOF base. The tradeoff between control requirements and fuel consumption is discussed.

关键词： space robotics and automation motion control dynamics compliance and impedance control

来源：评论

学校读者我要写书评

暂无评论

Material-Robot System for Assembly of Discrete Cellular Structures

引用

IEEE robotics AND automation LETTERS 2019年第4期4卷 4019-4026页

作者： Jenett, Benjamin Abdel-Rahman, Amira Cheung, Kenneth Gershenfeld, Neil MIT Ctr Bits & Atoms 77 Massachusetts Ave Cambridge MA 02139 USA NASA Ames Res Ctr Intelligent Syst Div Code TI Mountain View CA 94035 USA

We present a material-robot system consisting of mobile robots that can assemble discrete cellular structures. We detail themanufacturing of cuboctahedral unit cells, termed voxels, which passively connect to neighboring voxels with magnets. We then describe "relative" robots that can locomote on, transport, and place voxels. These robots are designed relative to and in coordination with the cellular structure-the geometry of the voxel informs the robot's global geometric configuration, local mechanisms, and end effectors, and robotic assembly features are designed into the voxels. We describe control strategies for determining build sequence, robot path planning, discretemotion control, and feedback, integrated within a custom software environment for simulating and executing a single or multi-robot construction. We use this material-robot system to build several types of structures, such as one-dimensional (1-D) beams, 2-D plates, and 3-D enclosures. The robots can navigate and assemble structures with minimal feedback, relying on voxel-sized resolution to achieve successful global positioning. We show a multi-robot assembly to increase the throughput and expand system capability using a deterministic centralized control strategy.

关键词： Assembly space robotics and automation path planning for multiple mobile robots or agents

来源：评论

学校读者我要写书评

暂无评论

Scene Modeling and Augmented Virtuality Interface for Telerobotic Satellite Servicing

引用

IEEE robotics AND automation LETTERS 2018年第4期3卷 4241-4248页

作者： Vagvolgyi, Balazs P. Pryor, Will Reedy, Ryan Niu, Wenlong Deguet, Anton Whitcomb, Louis L. Leonard, Simon Kazanzides, Peter Johns Hopkins Univ Dept Comp Sci Baltimore MD 21218 USA Univ Cent Florida Dept Mech Engn Orlando FL 32816 USA Chinese Acad Sci Natl Space Sci Ctr Beijing 100864 Peoples R China Johns Hopkins Univ Dept Mech Engn Baltimore MD 21218 USA

Teleoperation in extreme environments can be hindered by limitations in telemetry and in operator perception of the remote environment. Often, the primary mode of perception is visual feedback from remote cameras, which do not always provide suitable views and are subject to telemetry delays. To address these challenges, we propose to build a model of' the remote environment and provide an augmented virtuality visualization system that augments the model with projections of real camera images. The approach is demonstrated in a satellite servicing scenario, with a multisecond round-trip telemetry delay between the operator on Earth and the satellite on orbit. The scene modeling enables both virtual fixtures to assist the human operator and augmented virtuality visualization that allows the operator to teleoperate a virtual robot from a convenient virtual viewpoint, with the delayed camera images projected onto the three-dimensional model. Experiments on a ground-based telerobotic platform, with software-created telemetry delays, indicate that the proposed method leads to better teleoperation performance with 30% better blade alignment and 50% reduction in task execution time compared to the baseline case where visualization is restricted to the available camera views.

关键词： Telerobotics and teleoperation virtual reality and interfaces space robotics and automation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：