In this article, a novel approach for merging 3-D point cloud maps in the context of egocentric multirobot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place r...
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In this article, a novel approach for merging 3-D point cloud maps in the context of egocentric multirobot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned descriptors to efficiently detect overlap between maps, eliminating the need for the time-consuming global feature extraction and feature matching process. The estimated overlapping regions are used to calculate a homogeneous rigid transform, which serves as an initial condition for the general iterative closest point (GICP) point cloud registration algorithm to refine the alignment between the maps. The advantages of this approach include faster processing time, improved accuracy, and increased robustness in challenging environments. Furthermore, the effectiveness of the proposed framework is successfully demonstrated through multiple field missions of robot exploration in a variety of different underground environments.
As each cluster head(CH)sensor node is used to aggregate,fuse,and forward data from different sensor nodes in an underwater acoustic sensor network(UASN),guaranteeing the data security in a CH is very *** this paper,a...
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As each cluster head(CH)sensor node is used to aggregate,fuse,and forward data from different sensor nodes in an underwater acoustic sensor network(UASN),guaranteeing the data security in a CH is very *** this paper,a cooperative security monitoring mechanism aided by multiple slave cluster heads(SCHs)is proposed to keep track of the data security of a *** designing a low complexity“equilateral triangle algorithm(ETA)”,the optimal SCHs(named as ETA-based multiple SCHs)are selected from the candidate SCHs so as to improve the dispersion and coverage of SCHs and achieve largescale data security *** addition,by analyzing the entire monitoring process,the close form expression of the probability of the failure attack identification for the SCHs with respect to the probability of attack launched by ordinary nodes is *** simulation results show that the proposed optimal ETA-based multiple SCH cooperation scheme has lower probability of the failure attack identification than that of the existing *** addition,the numerical simulation results are consistent with the theoretical analysis results,thus verifying the effectiveness of the proposed scheme.
Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-...
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ISBN:
(数字)9798350373578
ISBN:
(纸本)9798350373585
Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility and payload capacity, excelling in diverse environments while maintaining efficiency in transporting heavy loads. However, planning and optimizing gaits and gait sequences for these robots presents significant challenges due to the complexity of their dynamic motion and the numerous optimization variables involved. Traditional trajectory optimization methods address these challenges by formulating the problem as an optimization task, aiming to minimize cost functions, and to automatically discover contact sequences. Despite their structured approach, optimization-based methods face substantial difficulties, particularly because such formulations result in highly nonlinear and difficult to solve problems. To address these limitations, we propose CrEGOpt, a bi-level optimization method that combines traditional trajectory optimization with a black-box optimization scheme. CrEGOpt at the higher level employs the Mixed Distribution Cross-Entropy Method to optimize both the gait sequence and the phase durations, thus simplifying the lower level trajectory optimization problem. This approach allows for fast solutions of complex gait optimization problems. Extensive evaluation in simulated environments demonstrates that CrEGOpt can find solutions for biped, quadruped, and hexapod robots in under 10 seconds. This novel bi-level optimization scheme offers a promising direction for future research in automatic contact scheduling.
Monocular RGB-based category-level object pose estimation is more practical and cost-effective for robotics. However, existing methods do not fully exploit the rich semantic and contextual information in multimodal da...
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To eliminate unnecessary background information,such as soft tissues in original CT images and the adverse impact of the similarity of adjacent spines on lumbar image segmentation and surgical path planning,a two‐sta...
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To eliminate unnecessary background information,such as soft tissues in original CT images and the adverse impact of the similarity of adjacent spines on lumbar image segmentation and surgical path planning,a two‐stage approach for localising lumbar segments is ***,based on the multi‐scale feature fusion technology,a non‐linear regression method is used to achieve accurate localisation of the overall spatial region of the lumbar spine,effectively eliminating useless background information,such as soft *** the second stage,we directly realised the precise positioning of each segment in the lumbar spine space region based on the non‐linear regression method,thus effectively eliminating the interference caused by the adjacent *** 3D Intersection over Union(3D_IOU)is used as the main evaluation indicator for the positioning *** an open dataset,3D_IOU values of 0.8339�0.0990 and 0.8559�0.0332 in the first and second stages,respectively is *** addition,the average time required for the proposed method in the two stages is 0.3274 and 0.2105 s ***,the proposed method performs very well in terms of both pre-cision and speed and can effectively improve the accuracy of lumbar image segmentation and the effect of surgical path planning.
In this paper, we present FEIF, a novel framework for 6D object pose estimation from a single RGBD image. Compared with previous approaches, this model fully leverages the complementary RGB and depth information throu...
For service robots, person re-identification (ReID) and multi-pedestrian tracking (MPT) are vital to get a person's location and link identities across frames. Though their accuracy keeps improving, most work lack...
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Control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, it provides a simple and computationally efficient way to obtain safe ...
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Due to communication latency with remote ground sites, automatic recognition of Mars terrain is essential for the path-planning of rovers. Currently, most vision-based terrain classification require thousands of fine-...
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Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based methods to systematically construct CBFs f...
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