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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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Optimizing Very Large Scale ITS Applications with Fast Fitness Evaluation

Optimizing Very Large Scale ITS Applications with Fast Fitne...

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IEEE Conference on Wireless Communications and Networking

作者： Nagacharan Teja Tangirala Rouven Rischert Christoph Sommer Alois Knoll Chair of Robotics Artificial Intelligence and Real-time Systems Technical University of Munich Munich Germany Faculty of Computer Science TU Dresden Germany

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

As wireless communication technology advances, the complexity of Vehicular Ad-hoc Network (VANET) simulations increases. This, however, is at odds with the need for increasingly large-scale Intelligent Transportation systems (ITS) scenarios to satisfy the demands of increasingly Artificial Intelligence (AI) based solutions. This paper aims to demonstrate that a high-performance simplified VANET simulator can be used for fitness evaluation without loss in solution quality. As an example, we implement a Roadside Unit (RSU) deployment approach based on a genetic algorithm. Disolv, a simplified VANET simulator, is used as a fitness evaluation tool. To validate the solution quality, the best solutions of a few select generations are evaluated with a fully-featured ns-3 driven VANET simulation. From the comparison of fitness values, it can be observed that the values from Disolv allow us to predict those obtained via ns-3. Further, the execution time analysis showcases the substantial performance gains of using a more abstract VANET simulator. A 4.6-hour analysis with Disolv contrasts approximately 300 days with ns-3 for the given scenario and settings. Finally, the potential applications and limitations of using a simplified VANET simulator are discussed.

关键词： Wireless communication Vehicular ad hoc networks Performance gain Complexity theory Artificial intelligence Optimization Intelligent transportation systems Genetic algorithms

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DD-Net: Dynamic Network Architecture for Optimized Curve Segmentation and Reduce Computational Redundancy 27th

DD-Net: Dynamic Network Architecture for Optimized Curve Seg...

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Cao, Yunxiang Chen, Li Wang, Yubo Feng, Zhida Tian, Jing School of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Wuhan China Institute of Systems Science National University of Singapore Singapore Singapore

ISBN: (纸本)9783031783821

Curvilinear Structure segmentation has numerous applications in various fields, including providing a better understanding of defects such as cracks on roads or walls, thereby assessing the structural safety of buildings. Numerous curve segmentation methods based on Convolutional Neural Networks(CNN) have been developed in recent years. However, preserving feature integrity remains a challenge. To address this issue, this paper introduces a double dynamic network, called DD-Net, which consists of a dynamic structure for training and dynamic masking for inference. Firstly, to enhance the nonlinearity of the model, a paradigm to auto-adjust the CNN structure via a trainable module is formed for better fine-grained feature extraction. This dynamic structure (DS) paradigm enables a trade-off to extract or discard the feature data in the model training. Due to the data heterogeneity between the training and inference data, models may contain some useless nodes that are less effective during inference. The dynamic masking (DM) is proposed to omit the useless nodes based on the score difference between the train and inference feature statistics, thereby reducing redundant computations. To further improve the model’s performance on thin-curve segmentation and to preserve feature integrity, we introduce a non-curve suppression (NCS) module. This module focuses on background information while considering foreground prediction to address noisy conditions. The experimental results show that our DD-Net achieves promising results on three benchmark datasets and outperforms state-of-the-art curve segmentation models. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Convolutional neural networks

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Motion coordination and reactive control of autonomous multi-manipulator systems

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JOURNAL OF ROBOTIC systems 1996年第11期13卷 737-754页

作者： Nassal, UM Institute for Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany [*]Institute for Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany

The emerging field of service robots demands new systems with increased flexibility. The flexibility of a robot system can be increased in many different ways. Mobile manipulation-the coordinated use of manipulation capabilities and mobility-is an approach to increase robots flexibility with regard to their motion capabilities. Most mobile manipulators that are currently under development use a single arm on a mobile platform. The use of a two-arm manipulator system allows increased manipulation capabilities, especially when large, heavy, or non-rigid objects must be manipulated. This article is concerned with motion control for mobile two-arm systems. These systems require new schemes for motion coordination and control. A coordination scheme called transparent coordination is presented that allows for an arbitrary number of manipulators on a mobile platform. Furthermore, a reactive control scheme is proposed to enable the platform to support sensor-guided manipulator motion. Finally, this article introduces a collision avoidance scheme for mobile two-arm robots. This scheme surveys the vehicle motion to avoid platform collisions and arm collisions caused by self-motion of the robot. (C) 1996 John Wiley & Sons, Inc.

关键词： Reactive power control Motor Control Service robots Platform Robot System Mobile Robot Manipulators Collision avoidance

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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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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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Interactive control and environment modelling for a mobile robot based on multisensor perceptions

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robotics AND AUTONOMOUS systems 1996年第3期18卷 301-310页

作者： Lin, IS Wallner, F Dillmann, R Institute for Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Germany

This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is described. With multisensor on-board the robot at the remote site can adjust its path while continuously accepting commands from the human operator. Interactive modelling that allows the modelling of an unknown environment and makes landmarks known to the robot is introduced. A graphical user interface and a 3-D animation system are important elements in the teleoperation, they are integrated in this system to help the operator by task analysis, off-line teaching and on-line monitoring. Experiments performed with the mobile robot PRIAMOS are discussed.

关键词： mobile robot telerobotics multisensor man-machine systems

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Hierarchical refinement of skills and skill application for autonomous robots

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robotics AND AUTONOMOUS systems 1997年第3-4期19卷 259-271页

作者： Kaiser, M Dillmann, R University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany

One of the major goals in designing learning robots is to let these robots develop useful skills over time. These skills are not only related to physical actions of the robot, but also to the coordination of activities, communication with humans, and active sensing. Throughout this paper, the interdependency between these different kinds of skills is analyzed. For the case of elementary action skills and coordination skills, methods for inegration of skill application and refinement are developed. It is shown that this integration has the potential to support long-term learning and autonomous experimentation.

关键词： Refining Autonomous robots Robot

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AN INTEGRATED APPROACH TO SOFTWARE systems PLANNING AND SELECTION BASED ON CIMOSA MODELS

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CONTROL ENGINEERING PRACTICE 1995年第1期3卷 97-103页

作者： NAEGER, G REMBOLD, U Department of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

Strong international competition forces enterprises to reduce organizational overhead and cost. Today's industrial practices allow, in general, only the selection of whole planning and control systems for CIM (e.g., CAD systems, PP&C systems,...). These systems can be adapted only in a limited range to the user requirements. With the introduction of executable enterprise models to the industrial environment, it is expected that it will be possible to design tailored CIM systems built of standardized software modules which will lead to higher complexity of the planning process for software systems. Thus, today's planning and selection approaches will face more and more problems. In order to master the increasing complexity of the planning of software systems for enterprises, new planning methods and tools are required. An integrated approach to software system planning and selection based on CIMOSA enterprise models was developed. The underlying idea of the approach is the conversion of the planning problem into an equivalent constraint satisfaction problem. The conversion process can be accomplished fully automatically.

关键词： ENTERPRISE MODELING CIMOSA RESOURCE SELECTION

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