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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Ha, Jin-Ung Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Department of Computer Science and Networks Fukuoka Iizuka820-8502 Japan School of ICT Robotics and Mechanical Engineering Iitc Hankyong National University Kyonggi-do Anseong17579 Korea Republic of

ISBN: (纸本)9788993215274

In this paper, we propose a method to improve the recognition rate of ArUco markers under photon-starved conditions by using preprocessing such as photon counting algorithm and histogram equalization to estimate the exact three-dimensional(3D) location of improved objects. In the conventional ArUco marker recognition technology, the recognition rate of ArUco markers decreases under photon-starved conditions, and the exact 3D location of the object cannot be estimated. In the conventional ArUco marker recognition technology, the photon counting algorithm can be used to estimate the 3D location of objects by recognizing ArUco markers under photon-starved conditions. However, the photon counting algorithm has the problem that the computation speed is slowed down when there are many photons to estimate, and the recognition rate of the ArUco marker is reduced when there are few photons to estimate. To solve these problems of the photon counting algorithm and improve the recognition rate of ArUco markers, we apply histogram equalization to ArUco markers with the photon counting algorithm. To verify the feasibility of the proposed method, we implement simulations using the Open Manipulator-X platform and show performance metrics such as Peak Signal-to-Noise Ratio (PSNR). © 2023 ICROS.

关键词： Photons

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Exploiting autoencoder’s weakness to generate pseudo anomalies

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Neural Computing and Applications 2024年第23期36卷 14075-14091页

作者： Astrid, Marcella Zaheer, Muhammad Zaigham Aouada, Djamila Lee, Seung-Ik Department of Artificial Intelligence University of Science and Technology Daejeon34113 Korea Republic of Field Robotics Research Section Electronics and Telecommunications Research Institute Daejeon34129 Korea Republic of Interdisciplinary Centre for Security Reliability and Trust University of Luxembourg Luxembourg1855 Luxembourg Department of Computer Vision Mohamed Bin Zayed University of Artificial Intelligence Abu Dhabi United Arab Emirates

Due to the rare occurrence of anomalous events, a typical approach to anomaly detection is to train an autoencoder (AE) with normal data only so that it learns the patterns or representations of the normal training data. At test time, the trained AE is expected to well reconstruct normal but to poorly reconstruct anomalous data. However, contrary to the expectation, anomalous data are often well reconstructed as well. In order to further separate the reconstruction quality between normal and anomalous data, we propose creating pseudo anomalies from learned adaptive noise by exploiting the aforementioned weakness of AE, i.e., reconstructing anomalies too well. The generated noise is added to the normal data to create pseudo anomalies. Extensive experiments on Ped2, Avenue, ShanghaiTech, CIFAR-10, and KDDCUP datasets demonstrate the effectiveness and generic applicability of our approach in improving the discriminative capability of AEs for anomaly detection. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Anomaly detection

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RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning

arXiv

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arXiv 2024年

作者： Memmesheimer, Raphael Nogga, Jan Pätzold, Bastian Kruzhkov, Evgenii Bultmann, Simon Schreiber, Michael Bode, Jonas Karacora, Bertan Park, Juhui Savinykh, Alena Behnke, Sven Autonomous Intelligent Systems Computer Science Institute VI Lamarr Institute for Machine Learning and Artificial Intelligence Center for Robotics University of Bonn Germany

We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we describe our hardware setup and give an overview of the results for the task stages and the final demonstration. For this year's competition, we put a special emphasis on open-vocabulary object segmentation and grasping approaches that overcome the labeling overhead of supervised vision approaches, commonly used in RoboCup@Home. We successfully demonstrated that we can segment and grasp non-labeled objects by text descriptions. Further, we extensively employed Large Language Models (LLMs) for natural language understanding and task planning. Throughout the competition, our approaches showed robustness and generalization capabilities. A video of our performance can be found online. Copyright © 2024, The Authors. All rights reserved.

关键词： Anthropomorphic robots

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Learning-on-the-Drive: Self-supervised Adaptive Long-range Perception for High-speed Offroad Driving

Learning-on-the-Drive: Self-supervised Adaptive Long-range P...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Eric Chen Cherie Ho Mukhtar Maulimov Chen Wang Sebastian Scherer Department of Computer Science and Mathematics Harvey Mudd College USA Robotics Institute Carnegie Mellon University USA Spatial AI & Robotics Lab University at Buffalo NY USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Autonomous offroad driving is essential for applications like emergency rescue, military operations, and agriculture. Despite progress, systems struggle with high-speed vehicles exceeding 10m/s due to the need for accurate long-range (> 50m) perception for safe navigation. Current approaches are limited by sensor constraints; LiDAR-based methods offer precise short-range data but are noisy beyond 30m, while visual models provide dense long-range measurements but falter with unseen scenarios. To overcome these issues, we introduce ALTER, a learning-on-the-drive perception framework that leverages both sensor types. ALTER uses a self-supervised visual model to learn and adapt from near-range LiDAR measurements, improving long-range prediction in new environments without manual labeling. It also includes a model selection module for better sensor failure response and adaptability to known environments. Testing in two real-world settings showed on average 43.4% better traversability prediction than LiDAR-only and 164% over non-adaptive state-of-the-art (SOTA) visual semantic methods after 45 seconds of online learning.

关键词： Adaptation models Visualization Laser radar Accuracy Soft sensors Semantics Predictive models Robot sensing systems Robustness Testing

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Protein-Folding Inspired Programmable Control System for Robot Swarms

Protein-Folding Inspired Programmable Control System for Rob...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhang, Feng Gu, Yuping Wang, Zebin Yuan, Shuai Yang, Yongliang School of Electrical and Control Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110106 China School of Computer Science and Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China

ISBN: (纸本)9781665481090

In swarm robotics, most of the control algorithms are inspired by the behaviors of animal swarms. The capability gap between robots and animals, however, hinders the reliability of these algorithms. Toward developing reliable algorithms of robot swarms, a promising solution is learning from the collective behaviors of low-intelligent natural swarms, such as cell collectives and molecular assemblies. Here, we proposed a programmable control system inspired by protein folding. Using our homemade RoboFold platform, we demonstrated a protein-folding inspired programmable control method for robot swarms. By programming and designing the sequence of a thread of protein-like robots, the developed system can mimic the formation of hierarchical structures in robot swarms as the three-level of protein structures. We quantitatively characterized the specific features of self-organized morphologies. The experimental results together demonstrated the feasibility of this method. To summarize, this work successfully translated the principles of protein-folding into programming methods to control the morphology of robot swarms. Considering that the protein folding problem is essentially a physicochemical problem, this system is not only beneficial for the control of swarm robots but also has the potential to develop into a tool for studying the protein folding problem. © 2024 IEEE.

关键词： Robot programming

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Future Communication Technology Using Huge Millimeter Waves - An Overview 1

Future Communication Technology Using Huge Millimeter Waves ...

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1st International Conference on Computational Intelligence, Communication Technology and Networking, CICTN 2023

作者： Salama, Ramiz Al-Turjman, Fadi Chaudhary, Preeti Banda, Latha Near East University Ai and Robotics Institute Research Center for Ai and IoT Department of Computer Engineering Nicosia Turkey Near East University Ai and Robotics Institute Artificial Intelligence Engineering Dept. Nicosia Turkey University of Kyrenia Research Center for Ai and IoT Faculty of Engineering Kyrenia Turkey Graphic Era Hill University Computer Science and Engineering Dehradun India Abes Engineering College Ghaziabad India

ISBN: (纸本)9798350338027

Frequency selective surface (FSS) was first created by G. Marconi and C. S. Franklin in 1919 and is known as the "Reflector for Wireless Telegraph and Telephone,"making a significant contribution to our way of life. In terms of the 1960s, it is impossible to overlook the success attained with the employment of regularly selective surfaces in military intelligence units. These structures, which were occasionally applied to land, air, and sea platforms, displayed low pass, high pass, band pass, or band stop characteristics for particular frequencies and served as electromagnetic filters. Many accomplishments have been made, particularly with platforms that are invisible to target detection systems. The geometry and arrangement of the unit cell in these structures, which are successfully used in many fields such as wireless communication systems, radars, and microwaves, allows for the reflection or transmission of the incoming electromagnetic wave. This is made possible by the advancement of technology. High-speed internet connectivity is possible using millimeter wave, a frequency spectrum between 30 GHz and 300 GHz. Its significance has grown in the fields of radio astronomy, radar, remote sensing, and wireless communications. © 2023 IEEE.

关键词： Millimeter waves

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Enhancing Multi-Drone Coordination for Filming Group Behaviours in Dynamic Environments

arXiv

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arXiv 2023年

作者： Rauniyar, Aditya Li, Jiaoyang Scherer, Sebastian The Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA United States

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics and AI, with numerous applications in real-world scenarios. One such scenario is filming scenes with multiple actors, where the goal is to capture the scene from multiple angles simultaneously. Here, we present a formation-based filming directive of task assignment followed by a Conflict-Based MAPF algorithm for efficient path planning of multiple agents to achieve filming objectives while avoiding collisions. We propose an extension to the standard MAPF formulation to accommodate actor-specific requirements and constraints. Our approach incorporates Conflict-Based Search, a widely used heuristic search technique for solving MAPF problems. We demonstrate the effectiveness of our approach through experiments on various MAPF scenarios in a simulated environment. The proposed algorithm enables the efficient online task assignment of formation-based filming to capture dynamic scenes, making it suitable for various filming and coverage applications. Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

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Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Control

arXiv

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arXiv 2025年

作者： Wang, Haochen Shi, Zhiwei Zhu, Chengxi Qiao, Yafei Zhang, Cheng Yang, Fan Ren, Pengjie Lu, Lan Xuan, Dong School of Computer Science and Technology Shandong University China Robotics Institute Carnegie Mellon University United States DeepCode Robotics China Department of Sports Shanghai Jiao Tong University China

Learning-based methods, such as imitation learning (IL) and reinforcement learning (RL), can produce excel control policies over challenging agile robot tasks, such as sports robot. However, no existing work has harmonized learning-based policy with model-based methods to reduce training complexity and ensure the safety and stability for agile badminton robot control. In this paper, we introduce Hamlet, a novel hybrid control system for agile badminton robots. Specifically, we propose a model-based strategy for chassis locomotion which provides a base for arm policy. We introduce a physics-informed "IL+RL" training framework for learning-based arm policy. In this train framework, a model-based strategy with privileged information is used to guide arm policy training during both IL and RL phases. In addition, we train the critic model during IL phase to alleviate the performance drop issue when transitioning from IL to RL. We present results on our self-engineered badminton robot, achieving 94.5% success rate against the serving machine and 90.7% success rate against human players. Our system can be easily generalized to other agile mobile manipulation tasks such as agile catching and table tennis. Our project website: https://***/HAMLET/. Copyright © 2025, The Authors. All rights reserved.

关键词： Reinforcement learning

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Augmented Feature Representation with Parallel Convolution for Cross-domain Facial Expression Recognition 16th

Augmented Feature Representation with Parallel Convolution ...

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16th Chinese Conference on Biometric Recognition, CCBR 2022

作者： Yang, Fan Xie, Weicheng Zhong, Tao Hu, Jingyu Shen, Linlin Computer Vision Institute School of Computer Science and Software Engineering Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen China

ISBN: (纸本)9783031202322

Facial expression recognition (FER) has made significant progress in the past decade, but the inconsistency of distribution between different datasets greatly limits the generalization performance of a learned model on unseen datasets. Recent works resort to aligning feature distributions between domains to improve the cross-domain recognition performance. However, current algorithms use one output each layer for the feature representation, which can not well represent the complex correlation among multi-scale features. To this end, this work proposes a parallel convolution to augment the representation ability of each layer, and introduces an orthogonal regularization to make each convolution represent independent semantic. With the assistance of a self-attention mechanism, the proposed algorithm can generate multiple combinations of multi-scale features to allow the network to better capture the correlation among the outputs of different layers. The proposed algorithm achieves state-of-the-art (SOTA) performances in terms of the average generalization performance on the task of cross-database (CD)-FER. Meanwhile, when AFED or RAF-DB is used for the training, and other four databases, i.e. JAFFE, SFEW, FER2013 and EXPW are used for testing, the proposed algorithm outperforms the baselines by the margins of 5.93% and 2.24% in terms of the average accuracy. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Convolution

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Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images

IEEE Transactions on Field Robotics

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IEEE Transactions on Field robotics 2024年 1卷 131-160页

作者： Philip Huang Tony Wang Florian Shkurti Timothy D. Barfoot Robotics Institute Carnegie Mellon University Pittsburgh PA USA Division of Engineering Science University of Toronto Toronto ON Canada Department of Computer Science University of Toronto Toronto ON Canada Institute for Aerospace Studies University of Toronto Toronto ON Canada

We introduce a multisensor navigation system for autonomous surface vessels (ASVs) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite imagery as a prior map, formulating offline a mission-level policy for global navigation of the ASV and enabling autonomous online execution via local perception and local planning modules. A significant challenge is posed by the inconsistencies in traversability estimation between satellite images and real lakes, due to environmental effects such as wind, aquatic vegetation, shallow waters, and fluctuating water levels. Hence, we specifically modeled these traversability uncertainties as stochastic edges in a graph and optimized for a mission-level policy that minimizes the expected total travel distance. To execute the policy, we propose a modern local planner architecture that processes sensor inputs and plans paths to execute the high-level policy under uncertain traversability conditions. Our system was tested on 3 km-scale missions on a Northern Ontario lake, demonstrating that our GPS-, vision-, and sonar-enabled ASV system can effectively execute the mission-level policy and disambiguate the traversability of stochastic edges. Finally, we provide insights gained from practical field experience and offer several future directions to enhance the overall reliability of ASV navigation systems.

关键词： Stochastic processes Planning Satellite images Robot sensing systems Satellite navigation systems Image edge detection Uncertainty

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