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International Conference on Intelligent Systems Design and Applications (ISDA)

作者： R. Domínguez E. Onieva J. Alonso J. Villagra C. González AUTOPύA Program Center of Automation and Robotics (UPM-CSIC) Madrid Spain

In this work, a solution for clustering and tracking obstacles in the area covered by a LIDAR sensor is presented. It is based on a combination of simple artificial intelligence techniques and it is conceived as an initial version of a detection and tracking system for objects of any shape that an autonomous vehicle might find in its surroundings. The proposed solution divides the problem into three consecutive phases: 1) segmentation, 2) fragmentation detection and clustering and 3) tracking. The work done has been tested with real world LIDAR scan samples taken from an instrumented vehicle.

关键词： Laser radar Vehicles Shape Tracking Cameras Clustering algorithms Intelligent systems

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Modilar robot system for maintenance tasks in large scientific facilities

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International Journal of Advanced Robotic Systems 2013年 10卷

作者： Pagala, Prithvi Sekhar Baca, José Ferre, Manuel Aracil, Rafael Center for Automation and Robotics UPM-CAR-CSIC Spain University of Nebraska Omaha United States

Large scientific facilities such as particle accelerators are scenarios that require continuous maintenance and specific type of interventions. The intervening personnel are sometimes required to work exposed to residual radiation. The inclusion of robotic systems into these environmental conditions are being encouraged to increase the availability of the facility and reduce personal radiation doses. However, this scenario presents challenging conditions for robotic systems in terms of structural, equipment and environmental conditions. This paper addresses the design of a modular robotic system as an alternative to conventional robots to overcome the challenges. This work also explores the various capabilities of the design along with its future possibilities. The SMART heterogeneous modular robot systems, prototype and simulation results are presented. © 2013 Uddin et al.;licensee InTech.

关键词： Fault tolerance

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Model-free control techniques for Stop & Go systems

Model-free control techniques for Stop & Go systems

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International Conference on Intelligent Transportation

作者： Jorge Villagrá Vicente Milanés Joshué Pérez Carlos González Robotics and Automation Center (CSIC-UPM) CSIC Madrid Spain Carretera de Campo Real UPM Madrid Spain

This paper presents a comparison of Stop & Go control algorithms, which deal with car following scenarios in urban environments. Since many vehicle/road interaction factors (road slope, aerodynamic forces) and actuator dynamics are very poorly known, two robust control strategies are proposed: an intelligent PID controller and a fuzzy controller. Both model-free techniques will be implemented and compared in simulation to show their suitability for demanding scenarios.

关键词： Vehicles Vehicle dynamics Acceleration Aerodynamics Engines Roads Lead

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A fleet of aerial and ground robots: A scalable approach for autonomous site-specific herbicide application 10

A fleet of aerial and ground robots: A scalable approach for...

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10th European Conference on Precision Agriculture, ECPA 2015

作者： Ribeiro, A. Fernandez-Quintanilla, C. Dorado, J. Lopez-Granados, F. Pena, J.M. Rabatel, G. Perez-Ruiz, M. Conesa-Munoz, J. De Santos, P. Gonzalez Center for Automation and Robotics CSIC-UPM Arganda del Rey Madrid Spain CSIC Institute of Agricultural Science Madrid Spain Institute of Sustainable Agriculture CSIC Cordoba Spain Irstea-Center de Montpellier Montpellier Cedex France Department of Aerospace and Fluid Mechanics University of Seville Seville Spain

ISBN: (纸本)9789086862672

The RHEA project (Robot Fleets for Highly Effective Agriculture and Forestry Management), funded by the 7th EC Framework Programme, focused on the configuration of a new generation of automated and robotic systems for both chemical and physical management of pests including weed control. RHEA addresses the crop treatments by a reconfigurable fleet of robots composed of unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV) equipped with advanced perception systems, improved end-effectors and enhanced decision-making algorithms. This paper describes the most important aspects of the modules that integrate RHEA and gives some performance results extracted from the trials conducted at the csic Experimental Farm (Madrid, Spain), in particular the weed treatment in two winter wheat fields.

关键词： Crops

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Advanced Co-simulation Framework for Cooperative Maneuvers Among Vehicles

Advanced Co-simulation Framework for Cooperative Maneuvers A...

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International Conference on Intelligent Transportation

作者： Antonio Artunedo Jorge Godoy Rodolfo Haber Jorge Villagra Raul M. del Toro Center for Automation and Robotics CSIC UPM Arganda del Rey Spain Center for Autom. & Robot. UPM Spain

In this work we propose a tool for simulation of cooperative maneuvers among autonomous vehicles in which virtual and real vehicles can conjunctively interact. It is a generic simulation platform where the user can define the desired scenario using a graphical user interface. This interface facilitates insertion of controllers and models for different parts of vehicles and some elements of the infrastructure. Furthermore, vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications are available in the framework. The simulator also enables the 3D rendering of simulation and monitoring of several variables at runtime. The main advantage of the proposed framework relies on the use of hybrid simulation by combining real and virtual vehicles for studying their dynamic behavior and interaction without the need of real expensive equipment or vehicles. Therefore, the emulation of experimental tests based on data sets from the vehicle sensors serves as a powerful tool for designing and evaluation new ADAS.

关键词： Vehicles Solid modeling Three-dimensional displays Sensors Graphical user interfaces Vehicle dynamics Visualization

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Follow-the-leader formation marching through a scalable O(log2n) Parallel Architecture.

Follow-the-leader formation marching through a scalable O(lo...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： J. Colorado A. Barrientos C. Rossi J. del Cerro Robotics and Cybernetics Group Robotics and Automation Center UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

An important topic in the field of Multi Robot Systems focuses on motion coordination and synchronization for formation keeping. Although several works have addressed such problem, little attention has been devoted to study the computational complexity within the framework of large-scale systems. This paper presents our current work on how to achieve high computational performance for systems composed by a large number of robots that must fulfill with a marching and formation task. A scalable Multi-Processor Parallel Architecture is introduced with the purpose of achieving scalability, i.e., computation time of O(log 2 n) for a n-robots system. Our architecture has been tested onto a multi-processor system and validated against several simulations testing.

关键词： Force Computational modeling Robot kinematics Dynamics Joints Navigation

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Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control

Extended Predictive Model-Mediated Teleoperation of Mobile R...

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IEEE Intelligent Vehicles Symposium

作者： Michael Panzirsch Harsimran Singh Martin Stelzer Martin J. Schuster Christian Ott Manuel Ferre Institute for Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Universidad Politecnica de Madrid Centre for Automation and Robotics (CAR) UPM-CSIC

ISBN: (纸本)9781538644539

Despite the substantial progression of autonomous driving systems, their application is often limited e.g. due to safety margins which can be caused by uncertainties in the environment reconstruction. Then, via teleoperation as a fallback solution, a human-in-the-loop can be introduced as the main decision maker. However, high delay in the communication channel distorts the performance of direct force feedback teleoperation for example in space or disaster scenarios. On the other hand, model-mediated teleoperation can provide instantaneous and even predictive force feedback to the user, but the performance is limited due to state mismatches, incomplete models, model errors and the modeling challenges of complex wheel-ground contacts. Therefore, in this paper we introduce the concept of extended model-mediated teleoperation with a car like interface for mobile robots by fusing local fictitious and remote force feedback, which can be measured, computed or fictitious. We provide a method to guarantee stability of the extended model-mediated teleoperation (involving time delay, multilateral coupling, fictitious force feedback and permanent updates of the local model) based on the passivity theorem. The benefits of the approach are highlighted by human-in-the-loop experiments with a wheeled mobile robot.

关键词： Model-mediated teleoperation Time delay Force feedback fusion TDPA

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A flexible and dynamic mission planning architecture for UAV swarm coordination

A flexible and dynamic mission planning architecture for UAV...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Carlos Sampedro Hriday Bavle Jose Luis Sanchez-Lopez Ramon A. Suárez Fernández Alejandro Rodríguez-Ramos Martin Molina Pascual Campoy Computer Vision Group Center for Automation and Robotics (UPM-CSIC) Madrid Spain Department of Artificial Intelligence Technical University of Madrid (UPM) Spain

ISBN: (纸本)9781467393355

In this paper a scalable and flexible Architecture for real-time mission planning and dynamic agent-to-task assignment for a swarm of Unmanned Aerial Vehicles (UAV) is presented. The proposed mission planning architecture consists of a Global Mission Planner (GMP) which is responsible of assigning and monitoring different high-level missions through an Agent Mission Planner (AMP), which is in charge of providing and monitoring each task of the mission to each UAV in the swarm. The objective of the proposed architecture is to carry out high-level missions such as autonomous multi-agent exploration, automatic target detection and recognition, search and rescue, and other different missions with the ability of dynamically re-adapt the mission in real-time. The proposed architecture has been evaluated in simulation and real indoor flights demonstrating its robustness in different scenarios and its flexibility for real-time mission re-planning and dynamic agent-to-task assignment.

关键词： Computer architecture Planning Robot kinematics Monitoring Real-time systems Trajectory

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Fine-grained acoustic positioning with compensation of CDMA interference

Fine-grained acoustic positioning with compensation of CDMA ...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Fernando Seco Antonio R. Jiménez Francisco Zampella Localization and Exploration for Intelligent Systems (LOPSI) group Center for Automation and Robotics (CSIC-UPM) Arganda del Rey Madrid Spain

ISBN: (纸本)9781479978014

In this communication we study the accuracy of an acoustic positioning system operating in a robotic cell, and working in sequential (Time-Division Multiple Access, TDMA) and simultaneous (Code-Division Multiple Access, CDMA) operations. In normal room conditions, and operating in TDMA mode with 7 acoustic beacons and 32 bits long binary phase modulated signals, the system achieves a location accuracy (reproducibility) of 2 mm for 90% of measurements in the complete work area, and 1 mm repeatability over small areas and short periods of time. This performance is degraded in CDMA mode, as the interference between the emitted signals causes outliers in the times-of-flight (TOF) of the weaker signals, and, consequently, large positioning errors. We demonstrate that the application of signal processing algorithms that cancel Multiple Access (MAI) and Intersymbol (ISI) Interference effects manages to eliminate most of the TOF outliers, and, as a consequence, the system can nearly replicate the TDMA positioning accuracy in CDMA operation, with the advantage of higher position update rates.

关键词： Temperature measurement Accuracy Acoustics Robots Time division multiple access Dispersion

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Low Speed Control of an Autonomous Vehicle by Using a Fractional PI Controller

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IFAC Proceedings Volumes 2011年第1期44卷 15025-15030页

作者： Inés Tejado Vicente Milanés Jorge Villagrá Jorge Godoy Hassan HosseinNia Blas M. Vinagre Industrial Engineering School University of Extremadura 06006 Badajoz Spain AUTOPIA Program Center for Automation and Robotics (CAR UPM-CSIC) 28500 Arganda del Rey Madrid Spain

Abstract Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during navigation. This paper focuses on the design and experimental implementation of a fractional PI α controller for the low speed control problem in an autonomous prototype Citroen vehicle. Experimental tests at low speeds, obtained with a real vehicle on a real circuit at the center for automation and robotics facilities, show the effectiveness of the proposed controller.

关键词： Road Vehicle Control Linear Model Longitudinal Control PI α

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