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12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011

作者： Price, Michael J. Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

The accelerating development and usage of autonomous robots has led to increased interest in decentralised systems and the cooperation of individual elements within a swarm, in particular the ability to self-organise and form patterns or self-segregate. Such segregation is readily exhibited in nature, as highlighted by prior work looking at the collective sorting of brood items by ant colonies [1,3]. This work focuses on the ability of robots to spatially segregate themselves. In particular, it takes inspiration primarily from the Brazil nut effect [6], which is responsible for the emergent striped patterns observed when a container holding particles of different sizes is agitated. © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Robots

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Survey of video streaming grabbing methods in real time for uav movement control

Survey of video streaming grabbing methods in real time for ...

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作者： Badera, Marek Gawliczek, Pawel Daniec, Krzysztof Nawrat, Aleksander Silesian University of Technology Department of Automatic Control and Robotics Akademicka 16 44-100 Gliwice Poland

ISBN: (纸本)9783902661258

This paper presents a comparison of different real time image grabbing methods using fire wire interface from HDV Sony camera. The techniques are designed to run in real-time using off-the-shelf hardware for use on an unmanned vehicle - helicopter. Our methodology is to know the limitations of the streaming grabbing because in further implementation we have to quickly detect candidate locations using our target localization methods which of course use the CPU time. The proposed techniques have been tested on a set of imagery from a live - test range with outstanding results. © 2007 IFAC.

关键词： Video streaming

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Environment-Driven Online LiDAR-Camera Extrinsic Calibration

arXiv

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arXiv 2025年

作者： Huang, Zhiwei Li, Jiaqi Zhong, Ping Fan, Rui The Department of Control Science & Engineering The College of Electronics & Information Engineering Tongji University Shanghai201804 China The School of Computer Science and Engineering Central South University Hunan Changsha410083 China The National Key Laboratory of Science and Technology on Automatic Target Recognition National University of Defense Technology Hunan Changsha410073 China The Department of Control Science & Engineering The College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China The National Key Laboratory of Human-Machine Hybrid Augmented Intelligence Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China

LiDAR-camera extrinsic calibration (LCEC) is the core for data fusion in computer vision. Existing methods typically rely on customized calibration targets or fixed scene types, lacking the flexibility to handle variations in sensor data and environmental contexts. This paper introduces EdO-LCEC, the first environment-driven, online calibration approach that achieves human-like adaptability. Inspired by the human perceptual system, EdO-LCEC incorporates a generalizable scene discriminator to actively interpret environmental conditions, creating multiple virtual cameras that capture detailed spatial and textural information. To overcome cross-modal feature matching challenges between LiDAR and camera, we propose dual-path correspondence matching (DPCM), which leverages both structural and textural consistency to achieve reliable 3D-2D correspondences. Our approach formulates the calibration process as a spatial-temporal joint optimization problem, utilizing global constraints from multiple views and scenes to improve accuracy, particularly in sparse or partially overlapping sensor views. Extensive experiments on real-world datasets demonstrate that EdO-LCEC achieves state-of-the-art performance, providing reliable and precise calibration across diverse, challenging environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Spatio-temporal data

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Cooperative Multi-robot Box Pushing Inspired by Human Behaviour

Cooperative Multi-robot Box Pushing Inspired by Human Behavi...

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12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011

作者： Chen, Jianing Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

This paper investigates mechanisms underlying cooperative behaviour in a group of miniature mobile robots around the problem of coordinating a group of robots to push collectively a heavy object. Numerous solutions to this problem have been proposed [5,7,4]. The performance of these however typically deteriorates as the number of robots increases to more than a dozen. The cause of this is often said to be robot interference—there are many robots but insufficient space to manipulate the object effectively. The situation is particular difficult when the object itself occludes the view of robots [3]. In this case, robots can benefit from division of labour (e.g., see [2]). Here, we take inspiration of the division of labour in teams of humans pushing a large object towards a target location: persons who can see the target push the box only when the transporting direction needs to be corrected, while all other persons simply push the box forward. The two roles in this cooperation are indicated in Fig. 1(a). © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Behavioral research

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Segregation in swarms of e-puck robots based on the Brazil nut effect

Segregation in swarms of e-puck robots based on the Brazil n...

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11th International Conference on Autonomous Agents and Multiagent Systems 2012: Innovative Applications Track, AAMAS 2012

作者： Chen, Jianing Gauci, Melvin Price, Michael J. Groß, Roderich Natural Robotics Lab. Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781627481564

When a mixture of particles with different attributes undergoes vibration, a segregation pattern is often observed. For example, in muesli cereal packs, the largest particles-the Brazil nuts-tend to end up at the top. For this reason, the phenomenon is known as the Brazil nut effect. In previous research, an algorithm inspired by this effect was designed to produce segregation patterns in swarms of simulated agents that move on a horizontal plane. In this paper, we adapt this algorithm for implementation on robots with directional vision. We use the e-puck robot as a platform to test our implementation. In a swarm of e-pucks, different robots mimic disks of different sizes (larger than their physical dimensions). The motion of every robot is governed by a combination of three components: (i) attraction towards a point, which emulates the effect of a gravitational pull, (ii) random motion, which emulates the effect of vibration, and (iii) repulsion from nearby robots, which emulates the effect of collisions between disks. The algorithm does not require robots to discriminate between other robots;yet, it is capable of forming annular structures where the robots in each annulus represent disks of identical size. We report on a set of experiments performed with a group of 20 physical e-pucks. The results obtained in 100 trials of 20 minutes each show that the percentage of incorrectly-ordered pairs of disks from different groups decreases as the size ratio of disks in different groups is increased. In our experiments, this percentage was, on average, below 0.5% for size ratios from 3.0 to 5.0. Moreover, for these size ratios, all segregation errors observed were due to mechanical failures that caused robots to stop moving. Copyright © 2012, International Foundation for Autonomous Agents and Multiagent Systems (***). All rights reserved.

关键词： Multipurpose robots

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Forming Nested 3D Structures Based on the Brazil Nut Effect

Forming Nested 3D Structures Based on the Brazil Nut Effect

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12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011

作者： Foster, Stephen Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

This study investigates the formation of nested structures in swarms of intelligent agents that can freely move in three dimensions. The underlying segregation mechanism is inspired by the Brazil nut effect, which occurs when granular mixtures are subjected to vibrations [6,1]. Similar effects were reported for brood items sorted by ants [3]. This sorting behaviour was validated with swarms of mobile robots [7,5]. Different from these studies we are concerned with sorting the agents themselves. In [4], we proposed a controller based on the Brazil nut effect that was capable of segregating groups of simulated e-puck robots reliably in two dimensions. In the present study, we investigate a 3D particle system implemented in NetLogo1. The agentsmimic the behaviour of particles of distinct sizes. The motion of each agent is determined by three types of vectors [4]: (i) a repulsion vector for every agent that intrudes the particle’s virtual body, (ii) a random vector simulating vibrations, (iii) and a "gravitational" vector that points to a "centre" location. The agents do not communicate. However, the repulsion behaviour requires them to sense each others’ relative positions within their particle range. The segregation quality is measured as the percentage of pairs of particles from different groups that are segregated correctly (based on distance to centre) [4]. A value of 100% corresponds to perfect structures with all large agents surrounding the small agents, 50% corresponds to purely random structures, whereas 0% corresponds to perfect but inverted structures. © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Vectors

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Quadrotor Multi-model for control Purposes 7

Quadrotor Multi-model for Control Purposes

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7th International Conference on Mathematical Modeling in Physical Sciences, IC-MSQUARE 2018

作者： Grau, Antoni Bolea, Yolanda Sanfeliu, Alberto Technical University of Catalonia Automatic Control Department Barcelona Spain Robotics Industrial Institute Barcelona Spain

In this work, a multi-model of a quadrotor is developed in order to control this system. The kinematic model of each part of the quadrotor will be derived using the Euler angles, and also the dynamics model of the quadrotor will be calculated based on the first principles of a rigid body using the Newton-Euler formulation. Furthermore, the following assumptions are used :1) The structure is completely rigid and perfectly symmetric. 2) The center of mass is in the origin of the quadrotor fixed frame. 3) The thrusts are proportional to the square of the motors rotational speed. A state-space model (kinematics and dynamics) is developed by physical laws. But, this deduced model presents several no linearities that are produced by three factors: the orientation (Pitch, Roll and Yaw), the control action and the angular velocities. To be able to control the quadrotor system in simple, linear and manageable way, it is necessary to linearize the system. Two method are possible: a classical linearization around several set-points and a multi-model linearization. In this case, a multi-model linearization is proposed due to the obtained control model will be used to compute a multi-model controller using fuzzy techniques. Fuzzy control techniques are suitable for linear parameter varying systems with no linearities, as our quadrotor. © 2018 Institute of Physics Publishing. All rights reserved.

关键词： Fuzzy control

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Vertical movement control of quad-thrust aerial robot: Design, analysis and experimental validation

Vertical movement control of quad-thrust aerial robot: Desig...

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作者： Czyba, Roman Szafranski, Grzegorz Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice Poland

ISBN: (纸本)9789898425751

In this paper we focus on the problem of the vertical movement control and approach to control algorithm implementation for unmanned aerial vehicle (UAV), known as a quadrotor. The most important control subsystems for the VTOL (Vertical Take-Off and Landing) are the attitude stabilization and the altitude regulation. Both systems are presented in this paper. However, the vertical movement of the platform has been confined to precise operations such as taking-off and landing. These actions demand high reliability and they are very crucial for autonomous flights. The design, analysis and the validation tests have been undertaken on the experimental aerial platform.

关键词： Altitude control

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Stabilizability of Linear Discrete Time-Varying Systems 20th

Stabilizability of Linear Discrete Time-Varying Systems

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20th Polish control Conference, PCC 2020

作者： Babiarz, Artur Czornik, Adam Department of Automatic Control and Robotics Silesian University of Technology Akademicka 2A Gliwice44-100 Poland

ISBN: (纸本)9783030509354

For linear discrete time-varying systems we discuss the relation between stabilizability, controllability and finiteness of quadratic cost functional. The role of the existence of global and bounded solutions of the discrete time-varying Riccati equation for stabilizability is also explained. © 2020, Springer Nature Switzerland AG.

关键词： Riccati equations

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control of the Inverted Pendulum Using Quickly Adjustable, Discrete FOPID controller 20th

Control of the Inverted Pendulum Using Quickly Adjustable, ...

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20th Polish control Conference, PCC 2020

作者： Oprzędkiewicz, Krzysztof Dziedzic, Klaudia Rosól, Maciej Żegleń, Jakub Department of Automatic Control and Robotics AGH University Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783030509354

In the paper the control of inverted pendulum by discrete, Quickly Adjustable Fractional Order PID (QAFOPID) controllers is addressed. The fractional order parts of the both controllers are approximated using CFE approximation. The fractional orders can be easily switched using predefined CFE coefficients loaded from memory. The QAFOPIDs were tuned using GWO optimizer and simulations. Results of simulations and experiments show that the use of QAFOPID controllers allows one to obtain good control performance in the sense of the considered cost function. © 2020, Springer Nature Switzerland AG.

关键词： Real time systems

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