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检索条件"机构=Department of Robotics Engineering Program"

共 422 条记录，以下是101-110 订阅

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AV Navigation in 3D Urban Environments with Curriculum-based Deep Reinforcement Learning

AV Navigation in 3D Urban Environments with Curriculum-based...

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2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023

作者： Braathen De Carvalho, Kevin De Oliveira, Iure Rosa L. Brandao, Alexandre S. Universidade Federal de Viçosa Nucleus of Specialization in Robotics Department of Electrical Engineering Graduate Program in Computer Science MG Viçosa36570-900 Brazil Federal University of Viçosa Department of Electrical Engineering MG Viçosa Brazil

ISBN: (纸本)9798350310375

Unmanned Aerial Vehicles (UAVs) are widely used in various applications, from inspection and surveillance to transportation and delivery. Navigating UAVs in complex 3D environments is a challenging task that requires robust and efficient decision-making algorithms. This paper presents a novel approach to UAV navigation in 3D environments using a Curriculum-based Deep Reinforcement Learning (DRL) approach. The proposed method utilizes a deep neural network to model the UAV's decision-making process and to learn a mapping from the state space to the action space. The learning process is guided by a reinforcement signal that reflects the performance of the UAV in terms of reaching its target while avoiding obstacles and with energy efficiency. Simulation results show that the proposed method has a positive trade off when compared to the baseline algorithm. The proposed method was able to perform well in environments with a state space size of 22 millions, allowing the usage in big environments or in maps with high resolution. The results demonstrate the potential of DRL for enabling UAVs to operate effectively in complex environments. © 2023 IEEE.

关键词： Reinforcement learning

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Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems

Visual motion observer-based pose control via obstacle avoid...

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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tsuruo, Yusei Murao, Toshiyuki Kawai, Hiroyuki Fujita, Masayuki Graduate Program in Mechanical Engineering Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781467324212

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations. © 2012 IEEE.

关键词： Visual communication

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Opportunistic Synthesis in Reactive Games under Information Asymmetry

Opportunistic Synthesis in Reactive Games under Information ...

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IEEE Annual Conference on Decision and Control

作者： Abhishek N. Kulkarni Jie Fu Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Faculty of the Department of Electrical and Computer Engineering with affiliation to Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Reactive synthesis is a class of methods to construct a provably-correct control system, referred to as a robot, with respect to a temporal logic specification in the presence of a dynamic and uncontrollable environment. This is achieved by modeling the interaction between the robot and its environment as a two-player zero-sum game. However, existing reactive synthesis methods assume both players to have complete and symmetrical information, which is not the case in many strategic interactions. In this paper, we use a variant of hypergames to model the interaction between the robot and its environment;where the latter has incomplete information about the specification of the robot. We propose a novel method of opportunistic synthesis defined over the hypergame model to identify a subset of hypergame states from where the robot can leverage the asymmetrical information to achieve a better outcome, which is not possible if both players have symmetrical and complete information. By assuming the environment to play a stochastic strategy in its perceived sure-winning and sure-losing regions of the game, we show that by following the opportunistic strategy, the robot is ensured to only improve the outcome of the game-measured by satisfaction of sub-specifications-whenever an opportunity becomes available. We demonstrate the correctness and optimality of this method using a robot motion planning example in the presence of an adversary.

关键词： Robots Games Task analysis Computational modeling Game theory Planning Stochastic processes

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A sensor-zone hierarchical topology for multi-robot exploration

A sensor-zone hierarchical topology for multi-robot explorat...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Nicholas Alunni Richard Goloski Andrew Haggerty Eric Jones Gregory S. Fischer Stephen S. Nestinger Department of Mechanical Engineering Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

Distributed computing is becoming more prevalent in engineering today. Multi-robot systems are simply an extension of that, not only dividing the computing power, but also the physical capabilities among multiple robots. This paper serves as a proof of concept investigation into a sensor-zone hierarchical topology by assessing its ability to autonomously explore an unknown area. This goal was approached by designing a three-tier robotic hierarchy as well as developing the concept of abstract robot sensor zones. Experiments were conducted by modifying the total number of robots in the system using a custom built simulation and experimentally verified using custom fabricated mobile robots. Results showed that different combinations of robots can yield positive results for heterogeneous multi-robot systems, allowing computational and physical resources to be tailored to specific scenarios.

关键词： Robot sensing systems Topology Robot kinematics Multirobot systems Abstracts Hardware

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A Composite Soft Bending Actuation Module with Integrated Curvature Sensing

A Composite Soft Bending Actuation Module with Integrated Cu...

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IEEE International Conference on robotics and Automation

作者： Selim Ozel Erik H. Skorina Ming Luo Weijia Tao Fuchen Chen Yixiao Pan Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781467380270

Soft robotics carries the promise of making robots as capable and adaptable as biological creatures, but this will not be possible without the ability to perform self-sensing and control with precision and repeatability. In this paper, we seek to address this need with the development of a new pneumatically-actuated soft bending actuation module with integrated curvature sensing. We designed and fabricated two different versions of this module: One with a commercially available resistive flex sensor and the other with a magnetic curvature sensor of our own design, and used an external motion capture system to calibrate and validate these two approaches. In addition, we used an iterative sliding mode controller to drive the modules through step curvature references to demonstrate the controllability of the modules as well as compare the usability of the two sensors. We found that the magnetic sensor returned noisy but accurate data, while the flex sensor had minor inaccuracies and it was subject to overshoot but did not exhibit notable noise. Experimental results show that this phenomenon of overshoot from the flex sensor causes active feedback control of the bending actuator to exhibit significant positioning errors. This work demonstrates that our soft bending actuator can be controlled with repeatability and precision, and that our magnetic curvature sensor represents an improvement for use in proprioception and closed-loop control of soft robotic devices.

关键词： Module Integrated Curvature

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Motion Control of a Soft-Actuated Modular Manipulator

Motion Control of a Soft-Actuated Modular Manipulator

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IEEE International Conference on robotics and Automation

作者： Erik H. Skorina Weijia Tao Fuchen Chen Ming Luo Cagdas D. Onal Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute MA 01609 USA

ISBN: (纸本)9781467380270

Soft pneumatic actuators can allow robotic manipulators to interact safely in complex environments in close proximity to humans, but work still needs to be done controlling them more effectively. We explore this area by introducing a 2-degree of freedom (DoF) universal joint module actuated by three reverse Pneumatic Artificial Muscles (rPAMs) and an associated geometric Jacobian-enhanced iterative sliding mode controller. After demonstrating the effectiveness of this controller, we combine two of these modules to form a 4-DoF soft actuated manipulator. To control this modular manipulation system, we propose two controllers: a direct inverse kinematic (IK) controller and an end-effector geometric Jacobian controller. Though both controllers were validated to function effectively, the Jacobian controller was more precise (especially under payload) while the IK controller was more accurate.

关键词： Control Soft-Actuated Modular

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Visual motion observer-based pose control with panoramic camera via passivity approach

Visual motion observer-based pose control with panoramic cam...

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作者： Kawai, Hiroyuki Murao, Toshiyuki Fujita, Masayuki Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781424474264

This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. After that, stability and L 2-gain performance analysis for the closedloop system are discussed. Finally, simulation and experimental results are shown in order to confirm the proposed method. © 2010 AACC.

关键词： Cameras

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Probabilistic voxel mapping using stereo matching confidence

Probabilistic voxel mapping using stereo matching confidence

引用

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

作者： Kim, Sijong Ahn, Seunguk Chung, Myung Jin Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of Robotics Program Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781457707223

There has been meaningful research into the development of 3D world modeling techniques that are important requisite for intelligent vehicle navigation. In this paper we describe a 3D probabilistic voxel mapping process using stereo matching confidence. Proposed 3D probabilistic voxel map is more reliable representation than general voxel map that just contains the occupancy information. To get the matching confidence value, we evaluate stereo matching costs and its propagation. We test the proposed method in large-scale outdoor environment. © 2011 IEEE.

关键词： Intelligent vehicle highway systems

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Applying CNN Models with Stereo Camera for Object Detection and Distance Estimation in Automatic Micro Electric Vehicle (MEVi) 1

Applying CNN Models with Stereo Camera for Object Detection ...

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1st International Conference on Smart Mechatronics, ICSMech 2024

作者： Harimanto, Farrell Putra Hasanah, Nurul Pradana, Muhammad Khristamto Aditya Puji, Muhammad Nurul Binus Aso School of Engineering Bina Nusantara University Automotive & Robotics Program Computer Engineering Department Jakarta11480 Indonesia National Research and Innovation Agency Kst Samaun Samadikun Research Center for Smart Mechatronics Bandung40135 Indonesia

ISBN: (纸本)9798350368918

Technological advancements in the automotive industry are currently focused on autonomous driving systems or driver assistance systems. Depth estimation is also an important feature of the autonomous driving system as it can accurately estimate the distance to the detected objects. In current developments technologies such as stereo cameras are more popular for a more accurate depth estimation. The process for object detection consists of a combination of classification, localization, and segmentation. Deep convolutional neural networks are the basis of object detection. The methods for object detection are divided into two categories namely the Region Proposal-based method such as RCNN, and the Classification-based method which provides for methods such as YOLO and MobileNet. As a part of the research conducted by the National Research and Innovation Agency (BRIN) on Automatic Micro Electric Vehicles or MEVi, this paper analyzed and compared the performance of several CNN models for object detection as well as the performance of depth sensing using ZED stereo camera which was used for the autonomous system in MEVi. Among several models that had been compared, YOLO v8 model demonstrates high accuracy and moderate speed as indicated by its high mAP (0.50) and FPS (38.46). Based on depth sensing results, the accuracy of distance measurement also depended on brightness and environment with the average of accuracy achieved indoors was 98.2% and outdoors was 96.3%. © 2024 IEEE.

关键词： Automotive industry

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Fuzzy gaze control-based navigational assistance system for visually impaired people in a dynamic indoor environment

Fuzzy gaze control-based navigational assistance system for ...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Beom Han Deok-Hwa Kim Jong-Hwan Kim Robotics Program KAIST Daejeon Korea Department of Electrical Engineering KAIST Daejeon Korea

285 million people are estimated to be visually impaired worldwide. Visually impaired people typically use a white cane or a guide dog or both of them to walk down the street. However, such as a cane and/or a dog are not enough to secure them from being collided with obstacles in a dynamic environment. This paper proposes a navigational assistance system based on fuzzy integral-based gaze control for visually impaired people in a dynamic indoor environment. It largely consists of an RGB-D camera and a vibrotactile vest interface. The RGB-D camera detects static and dynamic obstacles and obtains obstacle information on their center positions, sizes, and velocities. The fuzzy integral-based gaze control for obstacle detection is proposed to reduce a blind spot of the camera and obtain more information of the environment. The vibrotactile vest interface notifies a direction to avoid the obstacle using a fuzzy integral-based imminent-obstacle selection algorithm. To confirm the performance of the proposed assistance system for visually impaired people, experiments are carried out in an indoor dynamic environment.

关键词： Cameras 5G mobile communication Navigation Heuristic algorithms Indoor environments Visualization Size measurement

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