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European Control Conference (ECC)

作者： Akshit Saradagi Scott Fredriksson Anton Koval George Nikolakopoulos Department of Computer Science Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Sweden

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this article, we propose a body-aware local navigation strategy for asymmetric holonomic robots for collision-free navigation in narrow pathways with sharp turns. In such scenarios, a robot with non-circular or asymmetric footprint that is comparable to the dimension of the pathways collides with walls when tracking Voronoi paths or risk-aware paths. This problem is addressed in this article through a novel multi-control barrier functions (CBF) based control strategy that achieves the objective of safe collision-free maneuvering at sharp turns. The proposed method is significantly computationally light in comparison to approaches based on model predictive control and online occupancy-grid based free-space and collision detection. In the proposed approach, a minimal set of parameters that characterize a sharp turn and the robot footprint are used to define six control barrier functions that define safe and unsafe regions of operation for a robot. A quadratic programming based CBF safety filter is designed that takes a nominal goal-reaching control as input and returns a minimally-deviating output that enforces the control barrier constraints and renders the safe set forward invariant throughout the turning maneuver. The three kinematic control inputs of the holonomic robot are shared in a conflict-free manner among the six control barrier constraints. The proposed local navigation approach was thoroughly validated in multiple scenarios in a simulated environment, where a robot with asymmetric footprint achieves collision-free maneuvering along multiple sharp turns, while respecting the safety and actuation constraints.

关键词： Laser radar Navigation Kinematics Turning Safety Quadratic programming Mobile robots

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Integration of human skeleton posture models into REACTiON for realizing dynamic risk management

Integration of human skeleton posture models into REACTiON f...

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7th International Commercial Vehicle Technology Symposium, ICVTS 2022

作者： Jan, Qazi Hamza Wolf, Patrick Berns, Karsten Reich, Jan Wellstein, Marc Robotics Research Lab Dep. of Computer Science TU Kaiserslautern Germany Fraunhofer IESE Kaiserslautern Germany

ISBN: (纸本)9783658407827

Autonomous driving enables future mobility-of-demand services, especially for the last mile between service or shopping centers and residential areas. However, the deployment of self-driving systems in pedestrians zones is associated with enormous risks: Often the driving conditions are cramped, and numerous people move close to the vehicle. Therefore, risk management is essential to avoid harming the surroundings and control hazards emanating from the robot. Additionally, there are increased requirements for the robustness and adaptability of the control approach due to high dynamics and versatility resulting from the environment. Therefore, this contribution uses human skeleton posture models to simultaneously estimate nearby pedestrians’ current and future actions to increase availability and safety simultaneously. Tests use an autonomous shuttle bus in a campus environment and prove the feasibility of the concept. © Der/die Autor(en), exklusiv lizenziert an Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2022.

关键词： Musculoskeletal system

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Entropy-Guided Reinforced Open World Active 3D Object Detection Learning

Entropy-Guided Reinforced Open World Active 3D Object Detect...

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2024 China Automation Congress, CAC 2024

作者： Zhang, Haozhe Ma, Liyan Ying, Shihui Institute of Artificial Intelligence Shanghai University Shanghai200444 China School of Computer Engineering and Science School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200444 China Department of Mathematics School of Science Shanghai University Shanghai200444 China

ISBN: (纸本)9798350368604

Traditional fully annotated closed set 3D object detection methods improve model performance but are impractical in real-world settings due to the emergence of new categories and the complexity of 3D annotations. Open-World Object Detection (OWOD) addresses these issues but relies heavily on manual labeling, which is costly. This paper focuses on open world active learning and proposes an entropy-guided reinforced open world active 3D object detection (EROA). EROA regards active learning as a reinforcement learning problem tailored for open driving scenarios. We use entropy as a reward metric for efficient reinforcement learning. We also leverage knowledge from the 2D domain using object-level large-scale vision-language models to enhance sample selection. Extensive experiments evidence that the proposed EROA meets the dynamic and cost-sensitive requirements of autonomous driving, enabling real-time detection of both known and unknown objects. © 2024 IEEE.

关键词： Active learning

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Development of Assistance System for Online Dispute Resolution and Legal Advice Using AIML

Development of Assistance System for Online Dispute Resoluti...

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Computational, Communication and Information Technology (ICCCIT), International Conference on

作者： Neelesh Kumar Sahu Rishabh Soni Priyanshu Namdeo Nikhil Mishra P Humanshu Naidu Priyansh Pawar Artificial Intelligence and Robotics Gyan Ganga Institute of Technology and Science Jabalpur India Computer Science and Engineering Gyan Ganga Institute of Technology and Science Jabalpur India

ISBN: (数字)9798331512965

ISBN: (纸本)9798331512972

In the present work, the main goal is to reduce the downsides of litigation and other traditional conflict resolution procedures. Many people and corporations avoid litigation due to its high costs, extended timelines, and mental stress. This methodology presents a fresh perspective on conflict resolution, one that makes use of technology to simplify the process and provides an affordable and easily accessible option. At the heart of this strategy is an Online Dispute Resolution (ODR) platform that allows for the digital resolution of disputes, doing away with the necessity for physical presence and the expenses that come along with it. Everyone from sole proprietors to large corporations, regardless of their level of legal knowledge, may utilize the platform because to its intuitive design. Eventually, this initiative seeks to enable individuals and companies to confidently and easily manage legal difficulties by reshaping the landscape of legal dispute resolution with an emphasis on speed, accessibility, and openness. Reduced legal fees, reduced time to resolution, and less emotional toll on parties are just a few of the many advantages of this strategy. People with private legal issues and small and medium-sized businesses (SMEs) resolving business conflicts are among our project's intended users.

关键词： Heart Costs Law Navigation Human factors Companies Information and communication technology Artificial intelligence Business

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Radar and Fuzzy Systems Technologies for Monitoring and Management of Vehicle Traffic and Pedestrian Flow 24

Radar and Fuzzy Systems Technologies for Monitoring and Mana...

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24th International Conference on Control Systems and computer science, CSCS 2023

作者： Pruteanu, Eusebiu Nitu, Costica Puiu, Petru University Vasile Alecsandri of Bacau Department of Energy and Computer Science Calea Marasesti 157 Bacǎu Romania Polytechnic University Department of Intelligent Robotics Splaiul Independenei 313 Bucharest Romania

ISBN: (纸本)9798350313390

Smart traffic lights can be adaptive, with neural networks and associated with smart cameras and microwave sensors. Real-time determinations offer the possibility for specialists to intervene in real-time and collect traffic data for modeling, planning and other training studies of the expert system for traffic light management of large star intersections. When the usual approach is employed during peak hours, traffic congestion arises, hence it is suggested to enhance high-level management of intersections and fuzzy control of traffic signals. The membership functions (μR(u,v)) of both input and output fuzzy variables used to control the traffic lights in the intersection are defined, as well as the main fuzzy rules for the operation of each car and pedestrian traffic light in the intersection. In situations of heavy car and pedestrian traffic, a fuzzy logic-based operation model and routing algorithm for pedestrian traffic signals are suggested. Fuzzy set theory is used for modelling, allowing decisions to be made regarding the modification of the waiting time of the pedestrian phase. The advantages of the proposed method are obvious compared to the conventional regulation. © 2023 IEEE.

关键词： Traffic signals

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Simultaneous pectoral muscle and nipple location in MLO mammograms, considering image quality assumptions 16

Simultaneous pectoral muscle and nipple location in MLO mamm...

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16th International Workshop on Breast Imaging, IWBI 2022

作者： Garcí, E. Martí, R. Martí, J. Del Riego, J. Aynes, C. Oliver, A. Diaza, O. Dep. of Mathematics and Computer Science University of Barcelona Spain Institute of Computer Vision and Robotics University of Girona Spain Universitat Autónoma de Barcelona Sabadell Spain

ISBN: (纸本)9781510655843

Feature-based registration algorithms can be used to establish spatial correspondence between two image. Therefore, anatomical landmarks such as the breast boundary, pectoral muscle, nipple, duct and vessels need to be considered. The aim of this paper is to introduce a new approach which combine the pectoral muscle segmentation and nipple location, considering mammography quality assumptions. Pectoral muscle is initialized as a straight line from the top of the image to the nipple level. Afterwards, both pectoral muscle boundary and nipple position are optimized using an iterative approach. The results show that the nipple is localized on the contour of the corresponding area (error smaller than 10 mm) while the Dice's coefficient of the pectoral muscle segmentation is equal to 0.84 ± 0.12 using a straight line which is improved using a Chan-Vese active contour approach, reaching 0.87 ± 0.13. Our algorithm is easily generalized and portable to a different mammographic system since it barely depends on images statistics -i.e. pixel intensity values-, and is just based on geometrical considerations. © 2022 SPIE.

关键词： Location

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Robotic Exploration through Semantic Topometric Mapping

arXiv

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arXiv 2024年

作者： Fredriksson, Scott Saradagi, Akshit Nikolakopoulos, George Robotics and AI group The Department of Computer Science Electrical and Space Engineering Luleå University of Technology Sweden

In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently explored parts of the environment into regions, such as intersections, pathways, dead-ends, and unexplored frontiers, which constitute the structural semantics of an environment. The proposed exploration strategy leverages metric information of the frontier, such as distance and angle to the frontier, similar to existing frameworks, with the key difference being the additional utilization of structural semantic information, such as properties of the intersections leading to frontiers. The algorithm for generating semantic topometric mapping utilized by the proposed method is lightweight, resulting in the method’s online execution being both rapid and computationally efficient. Moreover, the proposed framework can be applied to both structured and unstructured indoor and outdoor environments, which enhances the versatility of the proposed exploration algorithm. We validate our exploration strategy and demonstrate the utility of structural semantics in exploration in two complex indoor environments by utilizing a Turtlebot3 as the robotic agent. Compared to traditional frontier-based methods, our findings indicate that the proposed approach leads to faster exploration and requires less computation time. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics

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Token Transformation Matters: Towards Faithful Post-Hoc Explanation for Vision Transformer

Token Transformation Matters: Towards Faithful Post-Hoc Expl...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Junyi Wu Bin Duan Weitai Kang Hao Tang Yan Yan Department of Computer Science Illinois Institute of Technology USA Robotics Institute Carnegie Mellon University USA

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

While Transformers have rapidly gained popularity in various computer vision applications, post-hoc explanations of their internal mechanisms remain largely unexplored. Vision Transformers extract visual information by representing image regions as transformed tokens and integrating them via attention weights. However, existing post-hoc explanation methods merely consider these attention weights, neglecting crucial information from the transformed tokens, which fails to accurately illustrate the rationales behind the models' predictions. To incorporate the influence of token transformation into interpretation, we propose TokenTM, a novel post-hoc explanation method that utilizes our introduced measurement of token transformation effects. Specifically, we quantify token transformation effects by measuring changes in token lengths and correlations in their directions pre- and post-transformation. Moreover, we develop initialization and aggregation rules to integrate both attention weights and token transformation effects across all layers, capturing holistic token contributions throughout the model. Experimental results on segmentation and perturbation tests demonstrate the superiority of our proposed TokenTM compared to state-of-the-art Vision Transformer explanation methods.

关键词： computer vision Visualization Correlation Computational modeling Perturbation methods Predictive models Length measurement

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FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection

arXiv

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arXiv 2023年

作者： Zhang, Harry Eisner, Ben Held, David Robotics Institute School of Computer Science Carnegie Mellon University United States

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after training on other articulated objects. Previous approaches for articulated object manipulation rely on either modular methods which are brittle or end-to-end methods, which lack generalizability. This paper presents FlowBot++, a deep 3D vision-based robotic system that predicts dense per-point motion and dense articulation parameters of articulated objects to assist in downstream manipulation tasks. FlowBot++ introduces a novel per-point representation of the articulated motion and articulation parameters that are combined to produce a more accurate estimate than either method on their own. Simulated experiments on the PartNet-Mobility dataset validate the performance of our system in articulating a wide range of objects, while real-world experiments on real objects' point clouds and a Sawyer robot demonstrate the generalizability and feasibility of our system in real-world scenarios. Videos are available on our anonymized website here. © 2023, CC BY.

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Design of an Automatic Price Tag System for Web-Based Retail Business

Design of an Automatic Price Tag System for Web-Based Retail...

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International Conference on Information Management and Technology (ICIMTech)

作者： Suryadiputra Liawatimena Devina Gunawan Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Computer Science Deparment BINUS Graduate Program Master of Computer Science Bina Nusantara University Jakarta Indonesia Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798350390025

ISBN: (纸本)9798350390032

Modern retail businesses face a significant challenge with the inefficiency of manually changing price labels on shelves. This manual process not only consumes valuable time and resources but also increases the likelihood of errors, leading to potential inaccuracies in pricing and a less streamlined shopping experience for customers. The proposed solution is the implementation of an Electronic Shelf Label (ESL) system that automatically displays the prices of goods on retail business shelves. This system connects a website (front end and back end) to e-paper via a Wi-Fi network and microcontroller, allowing retail business owners to update prices more easily. Additionally, buyers can search for desired items through the website. The results are the time to send data from the website to the e-paper, namely, to know the performance of the e-paper used. The average time required from 10 attempts to send data from the website to the e-paper is 20.935 seconds. Since the data is connected to the server and will be updated automatically, using this system will be more efficient than manually changing the price label, although it takes time to transfer data from the website to the e-paper.

关键词： Electric potential Microcontrollers Pricing Manuals Information management Servers Wireless fidelity Faces Business

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