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Unmanned Aerial Vehicle Path Planning for Exploration Mapping

Unmanned Aerial Vehicle Path Planning for Exploration Mappin...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Respall, Victor Massague Devitt, Dmitry Fedorenko, Roman Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis420500 Russia

ISBN: (纸本)9781728187631

This paper presents a new path planner for the exploration of previously unknown environments. The proposed algorithm uses a Next-Best-View (NBV) fashion to decide the movements ahead. A Rapidly-Exploring Random Tree (RRT) is built and the node with the highest gain is the next configuration to execute, based on the amount of unmapped volume in the field of view (FoV) of the sensor employed. The proposed planner is able to send online a 3D occupancy map of the volume and work with a variety of different depth sensors. The performance is analyzed in various challenging simulations, such as exploration of a city street or a narrow tunnel. Moreover, real experiments indoor and outdoor were conducted to further validate the proposed approach results. In cases with large scale volumes, it can cover a wide range in affordable flight time. © 2020 IEEE.

关键词： Motion planning

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Exploration and mapping of an indoor environment using Multirotor Aerial Vehicle

Exploration and mapping of an indoor environment using Multi...

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Hassan, Mohamed Ahmed Kulathunga, Geesara Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781665424066

Self-exploration of unknown environments using mobile robots is an important aspect in order to achieve complete automation of the tasks done by robots. The key idea of the exploration is to find a pose at which the robot will gain more information about the environment. By moving from such a pose to another the robot builds a map using the information gained during motion. A frontier based exploration algorithm for 3D spaces is introduced. The algorithm is an extension of the classic frontier exploration algorithm. The space is represented in an octree structure for faster access and efficient memory management. At every iteration of the exploration algorithm, the Multirotor Aerial Vehicle (MAV) performs a 360° rotation to increase the information gain about the environment, this rotation is dependent on the sensor's field of view. If a rotating sensor which can cover a 360° of the environment is used, the 360° rotation can be skipped without affecting the methodology. The distance moved by the MAV is specified at each iteration of the exploration process depending on the environment. Simulations were conducted to compare the effect of different parameters in the algorithm. © 2021 IEEE.

关键词： Robots

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Tensegrity Topology Merging: Mixed-Integer Convex optimization-based Method

Tensegrity Topology Merging: Mixed-Integer Convex optimizati...

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Khafizov, Ramil Savin, Sergei Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis420500 Russia

ISBN: (纸本)9781665424066

This paper proposed a mixed-integer convex optimization-based method for merging multiple tensegrity structures. Merging is extremely useful in constructing complex structures, which consist of lots of cables and struts, whereas building such structures from scratch might be infeasible. In addition to that, merging procedure let's us use human-designed structures as elementary units of resulting object. The proposed method permits utilization of lots of constraints, used during tensegrity generation procedure. At the same time we also try to merge structures with as little additional connections as possible. In comparison to existing approaches, this method is a single-step algorithm and does not make any assumption on shape and relative position of merged structures. © 2021 IEEE.

关键词： Merging

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Workspace Analysis of Tensegrity Structures with an Iterative Energy-based Algorithm

Workspace Analysis of Tensegrity Structures with an Iterativ...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Savin, Sergei Balakhnov, Oleg Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis420500 Russia

ISBN: (纸本)9781728187631

The paper studies the use of energy-based forward and inverse kinematics procedures for calculation of operational space of tensegrity robotics structures. Tensegrity structures are compliant and highly dynamical, which makes them a favorable robotics component for a number of difficult tasks (such as collaborative robotics, space exploration and others), but at the same times make trajectory planning and control highly *** the paper it is demonstrated that the studied forward and inverse kinematics methods can be used to find workspaces of tensegrity structures, using six bar structure as an example. It is shown that the method can adjust to the choice of actuated and passive elastic elements, making it a design tool which maps the actuation pattern to the resulting workspace or to the law of change of the rest lengths of the actuated elastic elements. © 2020 IEEE.

关键词： Computational efficiency

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EEG features during maintaining a human body balance.

EEG features during maintaining a human body balance.

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Khorev, Vladimir Grubov, Vadim Badarin, Artem Maksimenko, Vladimir Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781728187631

We have conducted an experiment involving keeping balance on a platform to research the perception of maintaining body posture. The objective of the present work was to characterize the common features of cortical activity during postural control. Regarding the cortical basis of performance differences during unstable conditions, EEG analysis suggest that central-frontal areas may underlie the cortical interaction including oscillations in general, maybe underlie cortical monitoring of changes in postural state of the body. The obtained results show that the neuronal activity in the β-frequency band can be utilized as the neurophysiological marker of the subject's ability to maintain the equilibrium state. © 2020 IEEE.

关键词： activity balance EEG EMG posture

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Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)

Path Planning Followed by Kinodynamic Smoothing for Multirot...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Kulathunga, Geesara Devitt, Dmitry Fedorenko, Roman Savin, Sergei Klimchik, Alexandr Innopolis University Center for Technologies in Robotics and Mechatronics Components Russia

ISBN: (纸本)9781728187631

We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique "RRT*"for this purpose. In the proposed technique, we modified original RRT∗ introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT∗ which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments. © 2020 IEEE.

关键词： Motion planning

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Real-time static custom gestures recognition based on skeleton hand

Real-time static custom gestures recognition based on skelet...

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2021 International Conference "Nonlinearity, Information and robotics", NIR 2021

作者： Osipov, Alexander Ostanin, Mikhail Innopolis University Innopolis Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9781665424066

Gesture recognition is one of the natural ways of human-computer interaction (HCI) that will positively affect their use. This paper presents an approach for real-time static gestures recognition based on the skeleton of a hand using a MediaPipe framework and Support Vector Machine(SVM) classification. The approach demonstrated high accuracy of recognition gestures 98.74% on a dataset of sign-digit-gestures as well as runtime 71 fps. Moreover, the approach is required only one camera sensor for recognition. The proposed approach can be extended for dynamic gesture recognition and used to control robots and computer devices. © 2021 IEEE.

关键词： Support vector machines

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Segmification: Solving road segmentation and scene classification tasks for self-driving cars using one neural network 2020

Segmification: Solving road segmentation and scene classific...

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3rd International Conference on Applications of Intelligent Systems, APPIS 2020

作者： Ostankovich, Vladislav Yagfarov, Rauf Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

ISBN: (纸本)9781450376303

In this work we show our developed model for a self-driving car that solves a road segmentation task and at the same time classifies whether the vehicle is moving in or off the lane. We demonstrate how scene classifier can be efficiently embedded into a segmentation neural network model by the means of branching additional layers with small number of trainable parameters. The model was trained and tested on our own dataset with good accuracy performance. Experiment with external dataset proves efficiency of the proposed approach and shows reasonable results in both segmenation and classification tasks. © 2020 ACM.

关键词： Autonomous vehicles

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Interactive mobile robot in a dynamic environment1

Interactive mobile robot in a dynamic environment1

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作者： Rehman, Bakhtawar Yagfarov, Rauf Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

In this work we introduced a robotic system to work in a sociable environment alongside humans. The robot is able to recognize information through sound and it is capable to speak in order to response or provide significant information. We implemented and compared different simultaneous localization and mapping (SLAM) algorithms available in Robot Operating System (ROS). We compared their results and showed performance in real time in an indoor environment using lidars as the core sensing module. Thus we came up with a mobile robot autonomously navigating in a dynamic environment capable of interaction and manipulation intelligently. © 2016

关键词： Mobile robots

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Explicit Model Predictive Control Design based on Constrained Zonotope Propagation 7

Explicit Model Predictive Control Design based on Constraine...

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7th Scientific School: Dynamics of Complex Networks and their Applications, DCNA 2023

作者： Jnadi, Ali Khusainov, Ramil Nedelchev, Simeon Savin, Sergei Innopolis University Institute of Robotics and Computer Vision Innopolis Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

ISBN: (纸本)9798350305746

Zonotopes have become a widely used tool in control design, demonstrating their effectiveness in various applications ranging from state estimation to explicit model predictive control. However, the traditional use of zonotopes is limited by a set certain geometric shapes that restrict the range of state sets that can be considered. This paper proposes a novel approach to control design using constrained zonotopes that can encode arbitrary polytopes. We present a propagation scheme and an affine approximation of the exact control law for this representation, and discuss issues related to center identification for constrained zonotopes. A fast method for detecting set membership is also proposed based on lifting the constrained zonotopes into a higher dimensional space. The proposed method extends the range of shapes that can be considered in control design and offers a promising alternative to the limitations of regular zonotopes. It has the potential for wide-ranging impact in various areas of control, providing a valuable tool for solving complex control problems. © 2023 IEEE.

关键词： Convex optimization

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