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16th International Conference on Social robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

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Deep reinforcement learning for path planning of autonomous mobile robots in complicated environments

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Complex and Intelligent systems 2025年第6期11卷 1-15页

作者： Zhang, Zhijie Fu, Hao Yang, Juan Lin, Yunhan School of Computer Science and Technology Wuhan University of Science and Technology No. 947 Heping Avenue Hubei Wuhan 430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System No. 947 Heping Avenue Hubei Wuhan 430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology No. 947 Heping Avenue Hubei Wuhan 430081 China

In complicated environments, which include dynamic and narrow areas, the path planning of Autonomous Mobile Robots (AMRs) encounters challenges, like slow model convergence and limited representational capabilities, often resulting in the robot taking longer, less efficient paths or even colliding with obstacles. To tackle these challenges, the Gated Attention Prioritized Experience Replay Soft Actor-Critic (GAP_ SAC) algorithm is proposed. Key improvements include expanding the state space for better perception, designing a dynamic heuristic reward function to more effectively guide the AMR in achieving its path planning objectives and integrating Prioritized Experience Replay (PER) to improve sample efficiency and accelerate convergence. Additionally, a gated attention mechanism is also introduced to focus on critical environmental features, enhancing the models’ perception capability. Comparative experiments validate that the proposed GAP_SAC algorithm outperforms TD3, SAC and SAC’s variant, demonstrating superior robustness and generalization in complicated environments. © The Author(s) 2025.

关键词： Autonomous mobile robot (AMR) Deep reinforcement learning (DRL) Dynamic and narrow areas Gated attention mechanism Path planning

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Exploring Children’s Strategies in Response to Robot’s Advice During a Group Task with iCub and Nao 16th

Exploring Children’s Strategies in Response to Robot’s A...

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16th International Conference on Social robotics, ICSR + AI 2024

作者： Pusceddu, Giulia Sangineto, Mariapia Cocchella, Francesca Bogliolo, Michela Belgiovine, Giulia Lastrico, Linda Casadio, Maura Rea, Francesco Gena, Cristina Sciutti, Alessandra Robotics Brain and Cognitive Science Department Italian Institute of Technology Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Department of Computer Science University of Turin Turin Italy Cognitive Architecture for Collaborative Technologies Unit Italian Institute of Technology Genoa Italy Scuola di Robotica Genoa Italy

ISBN: (纸本)9789819635184

This study investigates children’s trust in two humanoid robots, Nao and iCub, through a cooperative game designed to elicit spontaneous behaviors and group dynamics. We investigate whether participants change their choices after hearing advice from a robot, considering rounds where the advice is correct or incorrect, with the robot apologizing for its mistakes. Results reveal that, in most cases, participants prefer not to change their moves after the robot’s advice. Additionally, after the robots made mistakes, participants are less likely to actively follow their advice and more likely to reject it. No significant differences in strategies among the iCub and Nao samples are evidenced. Furthermore, we examine the influence of group dynamics, identifying "Proactive Players" who consistently initiated moves. A significant association between the strategies of this player and their teammates is found, suggesting potential influence. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Adversarial machine learning

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Blockchain-Enabled Secure Offloading for VEC: A Multi-Agent Reinforcement Learning Approach

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IEEE Transactions on Dependable and Secure Computing 2025年第3期22卷 2978-2995页

作者： Lu, Xiaozhen Xiao, Liang Xiao, Yilin Xiong, Zehui Liu, Zhe Zhang, Yanyong Zhuang, Weihua Nanjing University of Aeronautics and Astronautics College of Computer Science and Technology Nanjing211106 China Xiamen University Department of Information and Communication Engineering Xiamen361005 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518172 China Singapore University of Technology and Design Pillar of Information Systems Technology and Design 487372 Singapore Zhejiang Lab Hangzhou310027 China University of Science and Technology of China School of Computer Science and Technology Hefei230026 China University of Waterloo Department of Electrical and Computer Engineering WaterlooONN2L 3G1 Canada

Vehicular edge computing (VEC) helps improve the task computational performance of vehicles on roads but has difficulty in defending against eavesdropping and selfish attacks simultaneously. In this paper, we design a reputation-based smart contract with blockchain and propose a multi-agent reinforcement learning (RL) based secure offloading scheme for VEC against both eavesdropping and selfish attacks. This scheme has a three-level hierarchical structure for each vehicle and uses the reputations obtained from the blockchain as the basis to optimize the edge node selection, offloading ratio, and power allocation, which aims to reduce the task computational latency, the vehicle energy consumption and eavesdropping rate. By using a punishment function based on the constraints, this scheme avoids exploring dangerous policies that can cause task failure or severe data leakage. A multi-agent deep RL-based secure offloading scheme is proposed for vehicles with sufficient resources, which evaluates the long-term risk rather than the punishment function to further improve the secure offloading performance. The regret bound is analyzedand the cumulative reward upper bound is provided. Simulation results verify the effectiveness of our schemes as compared with the benchmark. © 2004-2012 IEEE.

关键词： Computation offloading

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Empowering Dysarthric Communication: Hybrid Transformer-CTC-Based Speech Recognition System

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IEEE Access 2025年 13卷 82479-82491页

作者： Vinotha, R. Hepsiba, D. Anand, L. D. Vijay Bruntha, P. Malin Dinh, Linh Dang, Hien Karunya Institute of Technology and Sciences Department of Robotics Engineering Tamil Nadu Coimbatore641114 India Karunya Institute of Technology and Sciences Department of Biomedical Engineering Tamil Nadu Coimbatore641114 India Karunya Institute of Technology and Sciences Department of Electronics and Communication Engineering Tamil Nadu Coimbatore641114 India Suffolk University Department of Information Systems BostonMA02108 United States Thuyloi University Faculty of Computer Science and Engineering Hanoi116705 Viet Nam Molloy University Department of Mathematics and Computer Science Rockville CentreNY11570 United States

Dysarthria, a motor speech disorder, impairs the muscles involved in speech production, leading to challenges in articulation, pronunciation, and overall communication. This results in slow, slurred speech that is difficult to understand. Augmentative and Alternative Communication (AAC) aids integrated with speech recognition technology offer a promising solution for individuals with dysarthria. However, Automatic Speech Recognition (ASR) systems trained on typical speech data often struggle to recognize dysarthric speech due to its unique speech patterns and limited training data. To address these challenges, a hybrid Transformer-CTC model has been proposed for improving ASR performance on dysarthric speech. The Transformer architecture employs a self-attention mechanism that models complex dependencies between speech features, enabling it to identify and emphasize important patterns even when training data is limited. This ability is particularly crucial for dysarthric speech, where speech signals often exhibit high variability. On the other hand, Connectionist Temporal Classification (CTC) acts as an effective transcription layer. It aligns speech features with character sequences without requiring precise input-output alignment, making it well-suited for handling the inconsistencies and distortions present in dysarthric speech. The integration of these components creates a powerful architecture capable of learning nuanced speech patterns and delivering accurate transcriptions for dysarthric speech. The model was trained using the UA speech corpus, containing 13 hours of speech from 15 speakers with varying dysarthria levels. The proposed hybrid system achieves an impressive Word Recognition Accuracy (WRA) of 89%, demonstrating its effectiveness in accurately transcribing dysarthric speech. This innovative approach significantly advances the development of ASR technologies tailored to diverse and variable speech patterns, ultimately enhancing communication for in

关键词： Speech analysis

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II-NVM: Enhancing Map Accuracy and Consistency With Normal Vector-Assisted Mapping

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IEEE robotics and Automation Letters 2025年第6期10卷 5465-5472页

作者： Zhao, Chengwei Li, Yixuan Jian, Yina Xu, Jie Wang, Linji Ma, Yongxin Jin, Xinglai Xi'an Jiaotong University Institute of Artificial Intelligence and Robotics Xi'an710049 China Hangzhou Qisheng Intelligent Techology Company Ltd Hangzhou311217 China Columbia University in the City of New York Department of Computer Science New YorkNY10027 United States Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150001 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore

SLAM technology plays a crucial role in indoor mapping and localization. A common challenge in indoor environments is the "double-sided mapping issue", where closely positioned walls, doors, and other surfaces are mistakenly identified as a single plane, significantly hindering map accuracy and consistency. To addressing this issue this letter introduces a SLAM approach that ensures accurate mapping using normal vector consistency. We enhance the voxel map structure to store both point cloud data and normal vector information, enabling the system to evaluate consistency during nearest neighbor searches and map updates. This process distinguishes between the front and back sides of surfaces, preventing incorrect point-to-plane constraints. Moreover, we implement an adaptive radius KD-tree search method that dynamically adjusts the search radius based on the local density of the point cloud, thereby enhancing the accuracy of normal vector calculations. To further improve real-time performance and storage efficiency, we incorporate a Least Recently Used (LRU) cache strategy, which facilitates efficient incremental updates of the voxel map. The code is released as open-source and validated in both simulated environments and real indoor scenarios. Experimental results demonstrate that this approach effectively resolves the "double-sided mapping issue" and significantly improves mapping precision. Additionally, we have developed and open-sourced the first simulation and real-world dataset specifically tailored for the "double-sided mapping issue". © 2016 IEEE.

关键词： Mapping

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Design and Development of a Fixed-Wing Tail-Sitter Tethered VTOL Drone with Custom Autopilot and Robust Control Techniques 16th

Design and Development of a Fixed-Wing Tail-Sitter Tether...

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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Safaee, Ahmad Aguiar, A. Pedro Santos, Filipe Neves Moreira, Antonio Paulo SYSTEC-ARISE Research Center for Systems and Technologies Faculty of Engineering University of Porto Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering Technology and Science CRIIS-Centre for Robotics in Industry and Intelligent Systems Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering and DEEC/FEUP - Department of Electrical and Computer Engineering Faculty of Engineering of the University of Porto Porto4200-465 Portugal

ISBN: (纸本)9783031817236

The need for aerial platforms capable of sustained operation is critical in fields such as surveillance, agricultural monitoring, disaster response, and temporary telecommunication systems. Traditional unmanned aerial vehicles (UAVs) are hampered by limited battery capacity and inefficient energy utilization. This paper introduces an autonomous vertical flight drone tethered to a ground-based platform, which overcomes these limitations. The drone is designed to optimize its position and energy usage by harnessing wind currents, functioning similarly to a kite when conditions permit. This is enabled by a custom-designed autopilot system comprising both hardware and software tailored for this application. We detail the model identification process for three vertical take-off and landing (VTOL) drone systems, employing authentic data that measures lateral positional errors from the tether. Robust mixed sensitivity controllers are developed and implemented. The effectiveness of these controllers is validated through simulations showing their capability to handle uncertainties. Furthermore, the practical application and robust performance of the system are confirmed by a real-world case study, highlighting its potential in real operational environments. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： VTOL/STOL aircraft

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Automated Parts Segmentation of Sperm via a Contrastive Learning-Based Part Matching Network

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IEEE Transactions on Automation science and Engineering 2025年 22卷 15314-15325页

作者： Chen, Wenyuan Song, Haocong Shan, Guanqiao Dai, Changsheng Liu, Hang Jiang, Aojun Sun, Chen Ru, Changhai Librach, Clifford Zhang, Zhuoran Sun, Yu University of Toronto Department of Computer Science TorontoONM5S 2E4 Canada University of Toronto Department of Mechanical and Industrial Engineering TorontoONM5S 3G8 Canada Dalian University of Technology Institute of Robotics and Intelligent Systems Liaoning Dalian China Suzhou University of Science and Technology School of Electronic and Information Engineering Suzhou215009 China CReATe Fertility Centre TorontoONM5G 1N8 Canada

Sperm morphology measurement is vital for diagnosing male infertility, which involves quantification of multiple subcellular parts for each sperm. Instance-aware part segmentation networks have been introduced to address this task by automatically identifying individual sperm and segmenting their subcellular parts. However, major limitations of state-of-the-art instance-aware part segmentation networks include: 1) they are time-consuming and computational expensive due to sequential processing and multi-stage frameworks;2) they perform poorly for densely packed sperm that overlap or cross over one another. To overcome these challenges, this paper proposes 1) integrating instance identification and subcellular part segmentation within a single-stage framework to save inference time and memory usage;2) dividing a sperm target into simpler components (head and tail) to improve prediction accuracy, followed by a contrastive learning-based matching method to pair the head and tail. Experimental results on our clinically collected human sperm dataset demonstrated that the proposed network not only outperformed state-of-the-art CP-Net (by 3.5% APpvol) but also achieved realtime inference (48.0 frames per second), effectively meeting the clinical requirements for automated parts segmentation of sperm. © 2004-2012 IEEE.

关键词： Image segmentation

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APPLICATIONS OF FUZZY-LOGIC CONTROL IN AUTONOMOUS ROBOT systems

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INTERNATIONAL JOURNAL OF systems science 1993年第10期24卷 1885-1904页

作者： ZHANG, JW Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

The development of autonomous robots involves the imitation of human decision-making abilities with the aid of diverse sensor information. Fuzzy logic, which is based on fuzzy modelling and approximate reasoning, can be applied in different levels of control tasks. We first present the research results of applying fuzzy logic control in the motion execution of mobile systems and sensor-guided fine-motion of a manipulator. To realize real-time 'reactive' control, suitable hardware which supports the acceleration of fuzzy inference should be developed. The design and development of a VME-bus compatible fuzzy co-processor is also described.

关键词： Fuzzy inference

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Model-based process redesign

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JOURNAL OF INTELLIGENT MANUFACTURING 1997年第5期8卷 345-356页

作者： Janusz, B Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

A method is presented for the model-based redesign of enterprises. It consists of two main steps, the initialization step and the optimization step. During the initialization step, the processes are modelled and analysed. During the optimization step, the optimal configuration is found for the possible modifications of the processes. Emphasis is placed on the process analysis. The proposed approach is based on activity chains which describe the set of activities needed for the achievement of a given gear, and their execution order necessary to guarantee a low processing time. An algorithm is presented for filtering such activity chains from an enterprise model. It is based on graph theory and corresponds to the solution of an optimization problem, whereby the sum of weights of ail edges belonging to the solution graph should be maximized under some given constraints. Because of the high complexity of the problem, some complexity-reducing measures are presented, measures that arise from the earlier problem analysis.

关键词： process redesign process analysis activity chain graph theory

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