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Correction to: SwarmCity project: monitoring traffic, pedestrians, climate, and pollution with an aerial robotic swarm

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Personal and Ubiquitous Computing 2020年第4期26卷 1169-1169页

作者： Roldán-Gómez, Juan Jesús Garcia-Aunon, Pablo Mazariegos, Pablo Barrientos, Antonio Centre for Automation and Robotics (UPM-CSIC) Universidad Politécnica de Madrid José Gutiérrez Abascal Madrid Spain Department of Computer Engineering Autonomous University of Madrid Madrid Spain

A Correction to this paper has been published: https://***/10.1007/s00779-020-01504-1

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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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Location of Persons Using Binary Sensors and BLE Beacons for Ambient Assitive Living

Location of Persons Using Binary Sensors and BLE Beacons for...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： A.R. Jiménez F. Seco P. Peltola M. Espinilla Centre for Automation and Robotics (CAR) CSIC-UPM Madrid Spain Departament of Computer Science Campus Las Lagunillas Jan Spain

In ambient assistive living (AAL) it is of a paramount importance to be able to detect, localize and estimate the activities of persons living at their homes. Specially, estimating an accurate person's localization and detailed movement patterns in everyday activities, are very valuable for health monitoring and safety assessment. The indoor positioning and navigation (IPIN) research community mainly concentrates on the use of radio beaconing for trilateration with WiFi, Bluetooth or UWB, acoustic beaconing, inertial pedestrian dead-reckoning, and the fusion of several approaches, using fingerprinting or Bayesian estimators. In the area of activity recognition (AR) authors use different kind of sensors such as smart floors, binary sensors attached to common objects, or infer the proximity to objects using Bluetooth beacons. In this paper we want to join these two different field approaches (IPIN and AR) by proposing an indoor localization method that make use of smart floor information, binary sensors, and the signal strength received at a smartwatch coming from BLE beacons deployed in a smarlab. We use the smart floor as a ground truth in order to estimate location accuracy of persons in a totally unobtrusive way. The localization results, for a person moving in the smart livinglab during 10 days, showing accuracies below 1.5 meter in 80% of the cases. The proposed approach can help the tracking of multiple persons living together and also serve as a complement to improve the performance of location-aware activity recognition algorithms.

关键词： Intelligent sensors Meters Activity recognition Bluetooth Indoor navigation Sensor phenomena and characterization

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The role of massive morphing wings for maneuvering a bio-inspired bat-like robot

The role of massive morphing wings for maneuvering a bio-ins...

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IEEE International Conference on robotics and automation

作者： J. Colorado C. Rossi A. Barrientos A. Parra C. Devia D. Patino Department of Electronics Engineering at Pontificia Universidad Javeriana School of Engineering Bogota Centre for Automation and Robotics at Technical University of Madrid (UPM-CSIC) Madrid Spain

In this paper we present an approach for analyzing the inertial effects of changing the wing shape for steering a bat-like robot. Using BaTboT, a robotic platform with massive morphing-wings, we have estimated the generation of pitching and rolling torques, which are directly related to forward and turning maneuvers. Results let us conclude that faster retraction of the wings during the upstroke, and slower extension during the downstroke increase both pitching and rolling torques in about 50% compared to those wingbeats with equal periods for retraction/extension. Also, we determined that the pitch torque generation is proportional to 0.6m~(1/f), whereas the rolling torque is promotional to 0.1m~(1/f), being m the mass of the robot and f the flapping frequency of the wings.

关键词： Robots Aerodynamics Trajectory Heuristic algorithms Elbow

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3D monitoring of woody crops using an unmanned ground vehicle

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Advances in Animal Biosciences 2017年第2期8卷 210-215页

作者： A. Ribeiro J.M. Bengochea-Guevara J. Conesa-Muñoz N. Nuñez K. Cantuña D. Andújar Centre for Automation and Robotics CSIC-UPM Arganda del Rey Madrid 28500 Spain

This paper presents an inspection system integrated into an on-ground autonomous platform with range of approximately 80 km. The vehicle is prepared to autonomously cover a field following a predefined route plan. Two types of cameras were integrated in the platform. An RGB-D sensor and a reflex camera were placed in a fixture and connected to a high-performance computer. The heterogeneous information acquired from the RGB-D was later integrated to automatically generate 3D maps of the crops by using custom software developed in the authors’ previous work. The inspection system performance was tested in actual vineyards by conducting several samplings in 2016. Results show that the proposed technology is viable and can provide complementary information to other inspection alternatives.

关键词： 3D woody crop reconstruction canopy volume estimation RGB-D sensor

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Goal recognition with noisy observations 31

Goal recognition with noisy observations

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31st AAAI Conference on Artificial Intelligence, AAAI 2017

作者： E-Martin, Yolanda Smith, David E. Centre for Automation and Robotics CSIC-UPM Madrid28500 Spain NASA Ames Research Center Intelligent Systems Division Moffett FieldCA94035-1000 United States

ISBN: (纸本)9781577357865

Goal recognition is an important technological capability for applications that involve cooperation between agents. Many goal recognition techniques allow the sequence of observa-tions to be incomplete, but few consider the possibility of noisy observations. In this paper, we describe a planning- based goal recognition approach that deals with both missing observations and probabilistic noise in the observations. To do this, we first use a Bayesian network to infer action probabilities based on the observation model and the current observation sequence. We then use this information to estimate the expected cost of reaching the different possible goals. Comparing these costs to the a priori costs for the goals allows us to infer a probability distribution over the possible goals. © 2017, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Bayesian networks

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Smooth path planning for urban autonomous driving using OpenStreetMaps

Smooth path planning for urban autonomous driving using Open...

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IEEE Intelligent Vehicles Symposium

作者： Antonio Artunedo Jorge Godoy Jorge Villagra Centre for Automation and Robotics (UPM-CSIC) Carretera de Campo Real

ISBN: (纸本)9781509048052

Safe and human-like path planning in urban environments remain one of the most challenging problems for autonomous driving. This paper proposes a solution to plan traffic-free optimal and smooth paths using the most spread open source navigation data structure, OpenStreetMaps. To that end, a procedure to automatically transform raw OSM data into the drivable space is combined with a MINLP optimization algorithm that finds the most suitable position of intermediate waypoints to connect Bezier primitive curves. The proposed planner is validated in a real complex roundabout, for which very smooth paths are generated, even considering obstacles.

关键词： Path planning urban environment Automobile driving Safes Navigation data Paths Roundabout

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A fully-autonomous aerial robotic solution for the 2016 International Micro Air Vehicle competition

A fully-autonomous aerial robotic solution for the 2016 Inte...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Carlos Sampedro Hriday Bavle Alejandro Rodríguez-Ramos Adrian Carrio Ramon A. Suárez Fernández Jose Luis Sanchez-Lopez Pascual Campoy Computer Vision and Aerial Robotics (CVAR) Group Centre for Automation and Robotics (UPM-CSIC) Madrid Spain

ISBN: (纸本)9781509044962

In this paper, a fully-autonomous quadrotor aerial robot for solving the different missions proposed in the 2016 International Micro Air Vehicle (IMAV) Indoor Competition is presented. The missions proposed in the IMAV 2016 competition involve the execution of high-level missions such as entering and exiting a building, exploring an unknown indoor environment, recognizing and interacting with objects, landing autonomously on a moving platform, etc. For solving the aforementioned missions, a fully-autonomous quadrotor aerial robot has been designed, based on a complete hardware configuration and a versatile software architecture, which allows the aerial robot to complete all the missions in a fully autonomous and consecutive manner. A thorough evaluation of the proposed system has been carried out in both simulated flights, using the Gazebo simulator in combination with PX4 Software-In-The-Loop, and real flights, demonstrating the appropriate capabilities of the proposed system for performing high-level missions and its flexibility for being adapted to a wide variety of applications.

关键词： Sensors Unmanned aerial vehicles Cameras Feature extraction Robots Navigation Planning

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Natural user interfaces for human-drone multi-modal interaction

Natural user interfaces for human-drone multi-modal interact...

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2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016

作者： Fernandez, Ramon A. Suarez Sanchez-Lopez, Jose Luis Sampedro, Carlos Bavle, Hriday Molina, Martin Campoy, Pascual Computer Vision Group Centre for Automation and Robotics CSIC-UPM Spain Spain

ISBN: (纸本)9781467393331

Personal drones are becoming part of every day life. To fully integrate them into society, it is crucial to design safe and intuitive ways to interact with these aerial systems. The recent advances on User-Centered Design (UCD) applied to Natural User Interfaces (NUIs) intend to make use of human innate features, such as speech, gestures and vision to interact with technology in the way humans would with one another. In this paper, a Graphical User Interface (GUI) and several NUI methods are studied and implemented, along with computer vision techniques, in a single software framework for aerial robotics called Aerostack which allows for intuitive and natural human-quadrotor interaction in indoor GPS-denied environments. These strategies include speech, body position, hand gesture and visual marker interactions used to directly command tasks to the drone. The NUIs presented are based on devices like the Leap Motion Controller, microphones and small size monocular on-board cameras which are unnoticeable to the user. Thanks to this UCD perspective, the users can choose the most intuitive and effective type of interaction for their application. Additionally, the strategies proposed allow for multi-modal interaction between multiple users and the drone by being able to integrate several of these interfaces in one single application as is shown in various real flight experiments performed with non-expert users. © 2016 IEEE.

关键词： Drones

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Haptic intention augmentation for cooperative teleoperation

Haptic intention augmentation for cooperative teleoperation

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IEEE International Conference on robotics and automation (ICRA)

作者： Michael Panzirsch Ribin Balachandran Jordi Artigas Cornelia Riecke Manuel Ferre Alin Albu-Schaeffer Insitute for Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany Centre for Automation and Robotics (CAR) Universidad Politécnica de Madrid UPM-CSIC Madrid Spain

Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate to achieve a common objective more effectively. Tasks using robotic manipulators can be eased and improved in terms of reliability, adaptability and ergonomics via robot cooperation. In spite of visual and haptic feedback, cooperative telemanipulation of multiple robots by distant operators can still be challenging due to practical limitations in synchronisation and supervision. This paper presents a new control approach for haptic intention augmentation between two human operators handling objects via teleoperation in a cooperative manner. The force feedback to each operator is enhanced by information on the motion intention of the other operator observed by a force sensor at the input devices. Besides on-ground experiments, an experiment is presented that involves the cooperative teleoperation of an on-ground robot by a cosmonaut on the International Space Station and another distant operator on ground.

关键词： Force Delay effects Force feedback Robot kinematics Aerospace electronics

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