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Geographical group-based fastSLAM algorithm for maintenance of the diversity of particles

Journal of Institute of Control, robotics and Systems 2013年第10期19卷 907-914页

作者： Jang, June-Young Ji, Sang-Hoon Park, Hong Seong Department of Electronic and Communication Engr Kangwon National University Korea Republic of Department of Applied Robot Technology Korea Institute of Industrial Technology Korea Republic of

A FastSLAM is an algorithm for SLAM (Simultaneous Localization and Mapping) using a Rao-Blackwellized particle filter and its performance is known to degenerate over time due to the loss of particle diversity, mainly caused by the particle depletion problem in the resampling phase. In this paper, the GeSPIR (Geographically Stratified Particle Information-based Resampling) technique is proposed to solve the particle depletion problem. The proposed algorithm consists of the following four steps: the first step involves the grouping of particles divided into K regions, the second obtaining the normal weight of each region, the third specifying the protected areas, and the fourth resampling using regional equalization weight. Simulations show that the proposed algorithm obtains lower RMS errors in both robot and feature positions than the conventional FastSLAM algorithm. © ICROS 2013.

关键词： Bandpass filters

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Dependable grasping strategy for service robots using fine approaching positions and adaptive hands

Dependable grasping strategy for service robots using fine a...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Choi, Moosung Hwang, Byunghun Shin, Eun-Cheol Yang, Kwang-Woong Kim, Hong-Seok Department for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

Grasping strategies to grasp various shapes and postures of objects for service robots are presented in this paper. Because the performance of algorithms for the grasp problem is closely connected with the structure and functions of hands, both of these should be considered simultaneously. It is our procedure that searching the optimal approaching position using objects and shapes database in the first place, and then grasping the real objects using adaptive hands. The optimal FAPs (Fine Approaching Positions) generated by solving the problems of collision and variety of postures are verified by simulation. © 2009 SICE.

关键词： Mobile robots

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The energy minimization algorithm using foot rotation for hydraulic actuated quadruped walking robot with redundancy

The energy minimization algorithm using foot rotation for hy...

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Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, robotIK 2010

作者： Kim, Tae-Ju So, Byungrok Kwon, Ohung Park, Sangdoek Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9781617387197

In a stand-Alone hydraulic power system for quadruped walking robot, the hydraulic flow consumption is an important parameter during walking. An inefficient large displacement of each angular joint motion caused by foot rotational trajectory without considering kinetic energy increases hydraulic flow consumption. And it requires the higher capacity of power system and it will be a burden on walking robot. In this paper, we proposes a redundancy resolution algorithm that minimized the hydraulic flow consumption for hydraulic actuated quadruped walking robot with redundancy resolution. And the performance of the proposed algorithm is tested using computer simulations.

关键词： Kinetic energy

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Framework of grasping planning for multi-fingered robot hands

Framework of grasping planning for multi-fingered robot hand...

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2011 8th International Conference on Ubiquitous robots and Ambient Intelligence, URAI 2011

作者： Park, Jae-Han Bae, Ji-Hun Shin, Yong-Deuk Park, Sung-Woo Baeg, Moon-Hong Department for Applied Robot Technology KITECH Ansan 426-791 Korea Republic of

ISBN: (纸本)9781457707223

In this paper, we present a framework of grasping planning for multi-fingered robot hands which is based on the planning scheme of human. Structure of the proposed grasping planner is composed of three sub planners: grasping type planner, opposition parameter planner and approach vector planner. This planner is based on the way of human's grasping plan, so it is suitable for learning of intelligences for grasping of human. Using this framework of grasping planning, we would like to utilize to study for robot's imitating of human's grasping plan intelligence. © 2011 IEEE.

关键词： Intelligent robots

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Real-time 3D multiple occluded object detection and tracking

Real-time 3D multiple occluded object detection and tracking

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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Cho, Kuk Baeg, Seungho Park, Sangdeok Intelligent Robot Engineering University of Science and Technology Deajeon Korea Republic of Department of Applied Robot Technology KITECH Ansan Korea Republic of

ISBN: (纸本)9781479911738

This paper describes a real-time object detection and tracking method which is improved to occluded measurements. 3D point cloud data describes surrounding objects on one measurement frame. If two objects cross in front of an observing system, equipped 3D LIDAR on a vehicle, the object recognition mechanism has inherent problems. In this paper, we define that the system process consists of a detection part and a tracking part. The first problem occurs on the clustering process in the detection part. Two objects are liked as one object by a neighbor point approach. In our case, RBNN (Radial Bounded Nearest Neighbor) clustering method works with two parameters, radial bounded range and point number. The second problem happens on the tracking process. The previous detection process hands on wrong the object number. The tracking system also shows the ambiguity results with the fault tracking. It is frequently happened on occluded measurements. We proposed the enhanced object detection and tracking method using an object class and relative position. In this paper, we propose the system which has an enhanced tracking mechanism for approaching successful object tracking which prevents wrong detection and tracking. In experiment, we implement two humans and an autonomous ground vehicle to achieve a leader-following system. © 2013 IEEE.

关键词： Object recognition

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Implementation of reactive behaviors for an industrial manipulator based on OPRoS

Implementation of reactive behaviors for an industrial manip...

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2011 8th International Conference on Ubiquitous robots and Ambient Intelligence, URAI 2011

作者： Ji, Sang-Hoon Park, Tae-Dong Lee, Sang-Moo Shin, Eun-Cheol Choi, Byung-Wook Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of

ISBN: (纸本)9781457707223

It is important that robots in a factory execute its mission exactly in a structured environment and handle many types of events in dynamic real world. The former is related to punctuality and the latter is related to reactivity or dependability. But it is very difficult to prepare robot S/W with dependability and punctuality at the same time for the industrial manipulators because general S/W fails to meet real-time requirements. Therefore, we suggest a method how to make industrial robot software have reactive semantics. For this aim, we use OPRoS (Open software Platform for robotic Services) and application centric language interpreter. In this framework, state machine component connected abstracted sensor model components invoke signal to an interpreter component in order handle various external operation conditions. And the interpreter determines which robot behaviors will executed for the signals and make suitable robot behavior components work. Finally, we implement our robot software on mulit-core system in order to meet real-time needs including low-latency and strict period time. © 2011 IEEE.

关键词： Industrial manipulators

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A composite algorithm for flow rate and ground reaction force reduction in a hydraulic actuated quadruped robot with kinematic redundancy

A composite algorithm for flow rate and ground reaction forc...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Kim, Taeju Park, Sangdeok Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi Province Korea Republic of

ISBN: (纸本)9781467312776

A hydraulic actuator has merits of high torque and small size. So it is very useful for a standalone type walking robot. But this hydraulic actuator needs a hydraulic power pack which supplies pressure and flow rate to generate the torque. The weight of the hydraulic power pack is in proportion to the supply pressure and the supply flow. Therefore to generate high torque and large flow, a big and heavy power pack is needed. Especially this hydraulic power pack is a burden to the standalone type walking robot. So a lightweight hydraulic power pack is required for the standalone type walking robot. Also ground reaction force is a major reason to make balancing of the robot unstable in walking robot. In this paper, we propose a redundantly actuated quadruped robot which is actuated by hydraulic actuator. Using the kinematic redundancy of each leg mechanism, flow rate and ground reaction force reduction algorithm is proposed simultaneously. We demonstrate the reduction of the flow rate and ground reaction force of the robot through simulation and experiment. © 2012 IEEE.

关键词： Redundancy

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Development of a robot behavior controller for an r-learning system using OPRoS

Development of a robot behavior controller for an r-learning...

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2011 8th International Conference on Ubiquitous robots and Ambient Intelligence, URAI 2011

作者： Ji, Sang-Hoon Han, Jae-Seong Lee, Sang-Moo Choi, Byung-Wook Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of

ISBN: (纸本)9781457707223

In this paper, we suggest an r-learning (robot-learning) system for children who are unfamiliar with educational tools. Our system is characterized with the following features. Firstly, the system provides children with personalized educational instructions considering their learning ability. In our system, learning contents for them are selected according to their learning history extracted from human-robot interaction data. Secondly, our system helps them learn educational contents easily and joyfully through various behavioral interactions with a robot. Third, r-learning scenarios are modeled with Petri-net to handle exception during learning and robot contents can be composed by use of predefined robot behaviors. Finally, we implement these system S/W using OPRoS which is a software platform for robotic services. © 2011 IEEE.

关键词： Petri nets

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3D localization system for indoor flying robot using ultrasonic and RF

3D localization system for indoor flying robot using ultraso...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Cho, Kuk Shin, JinOk Shon, WoongHee Park, SangDeok Department of Robot Intelligent Engineering University of Science and Technology Deajeon Korea Republic of Division of Applied Robot Technology KITECH Ansan Korea Republic of

ISBN: (纸本)9784907764296

This paper describes the development of our 3D indoor positioning system, UPS(Ultrasonic Positioning System), for a flying robot. The system consists of three parts of nodes: a transmitter, several receivers, and a server. The transmitter is on the flying robot, the receiver are around circumference, and the server is on the user. Each of the transmitter and receiver node has an ultrasonic sensor module and an RF device module, and the server node has only a RF device module. It sequentially estimates the distance between a transmitter and a receiver node by TDOA(Time Difference of Arrival) with an ultrasonic signal and a RF signal. With these distances, we estimate a flying robot's position using the multi-dimensional Newton Rapshon. Sigma-cutting and extrapolation methods are applied to the system for improving performance. We focus on small size, light weight, non-wire, portable, reasonable accuracy and high response time. Finally, our method was evaluated by experimenting on a flying robot with the 3D indoor positioning system and a motion capture device. © 2009 SICE.

关键词： Transmitters

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A Multiagent Path Search Algorithm for Large-Scale Coalition Structure Generation

arXiv

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arXiv 2025年

作者： Taguelmimt, Redha Aknine, Samir Boukredera, Djamila Changder, Narayan Sandholm, Tuomas Clermont Auvergne University Clermont Auvergne INP CNRS LIMOS Clermont-FerrandF-63000 France Univ Lyon UCBL CNRS INSA Lyon Centrale Lyon Univ Lyon 2 LIRIS UMR5205 Lyon France Laboratory of Applied Mathematics Faculty of Exact Sciences University of Bejaia Bejaia Algeria TCG Centres for Research and Education in Science and Technology Kolkata India Carnegie Mellon University Computer Science Department Pittsburgh United States Strategy Robot Inc. Strategic Machine Inc. Optimized Markets Inc.

Coalition structure generation (CSG), i.e. the problem of optimally partitioning a set of agents into coalitions to maximize social welfare, is a fundamental computational problem in multiagent systems. This problem is important for many applications where small run times are necessary, including transportation and disaster response. In this paper, we develop SALDAE, a multiagent path finding algorithm for CSG that operates on a graph of coalition structures. Our algorithm utilizes a variety of heuristics and strategies to perform the search and guide it. It is an anytime algorithm that can handle large problems with hundreds and thousands of agents. We show empirically on nine standard value distributions, including disaster response and electric vehicle allocation benchmarks, that our algorithm enables a rapid finding of high-quality solutions and compares favorably with other state-of-the-art *** Codes 93A16, 68T01 Copyright © 2025, The Authors. All rights reserved.

关键词： Heuristic algorithms

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