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International Conference on Intelligent Transportation

作者： Iago Pachêco Gomes Cristiano Premebida Denis Fernando Wolf Institute of Mathematics and Computer Science University of São Paulo Brazil Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

This paper addresses the task of predicting the behavior of traffic participants, which involves complexities such as road geometry and agent interactions. To overcome these challenges, this paper presents a novel framework called AIMP (Attention-based Interaction-aware Maneuver Prediction). AIMP utilizes interaction graphs to extract intricate interaction features from traffic scenes. The framework incorporates a Gated Mixture-of-Experts Attention Mechanism, which combines information from road geometry, interaction patterns, and motion dynamics. This fusion process also considers prior maneuver intention estimations, enhancing both explainability and informativeness. Experimental results highlight a performance enhancement (approximately 2% ∼ 9% of accuracy) of the proposed AIMP framework compared to alternative fusion methods.

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Virtual Reality-Based Teleoperation System for Robot Forklifts 25

Virtual Reality-Based Teleoperation System for Robot Forklif...

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25th IEEE International Conference on Autonomous Robot systems and Competitions, ICARSC 2025

作者： Couto, Manuel B. Petry, Marcelo R. Mendes, Abel Silva, Manuel F. INESC TEC - Institute for Systems and Computer Engineering Technology and Science CRIIS - Centre for Robotics in Industry and Intelligent Systems Porto 4200-465 Portugal University of Porto FEUP - Faculty of Engineering Porto 4200-465 Portugal Flowbotic Coimbra 3030-199 Portugal ISEP - Instituto Superior de Engenharia do Porto Instituto Politécnico do Porto Porto 4249-015 Portugal

ISBN: (纸本)9798331538606

The growing reliance on e-commerce and the demand for efficient intralogistics operations have increased the need for automation, while labour shortages continue to pose significant challenges. When combined with the inherent risks of forklift operation, this circumstance prompted businesses to look for robotic solutions for intralogistics tasks. However, robots are still limited when they come across situations that are outside of their programming scope and often need assistance from humans. To achieve the long-term goal of enhancing intralogistics operation, we propose the development of a virtual reality-based teleoperation system that allows remote operation of robot forklifts with minimal latency. Considering the specificities of the teleoperation process and network dynamics, we conduct detailed modelling to analyse latency factors, optimise system performance, and ensure a seamless user experience. Experimental results on a mobile robot have shown that the proposed teleoperation system achieves an average glass-to-glass latency of 368 ms, with capturing latency contributing to approximately 60% of the total delay. The results also indicate that network os-cillations significantly impact image quality and user experience, emphasising the importance of a stable network infrastructure. © 2025 IEEE.

关键词： low-latency communication robot forklifts teleoperation virtual reality

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A Robotic Framework for the Robot@Factory 4.0 Competition

A Robotic Framework for the Robot@Factory 4.0 Competition

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Ricardo B. Sousa Cláudia D. Rocha João G. Martins João Pedro Costa João Tomás Padrão José Maria Sarmento José Pedro Carvalho Maria S. Lopes Paulo G. Costa António Paulo Moreira Faculty of Engineering University of Porto (FEUP) Porto Portugal CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal C2SR - Cyber-Physical Control Systems and Robotics SYSTEC - Research Center for Systems and Technologies Porto Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robotic competitions stand as platforms to propel the forefront of robotics research while nurturing STEM education, serving as hubs of both applied research and scientific innovation. In Portugal, the Portuguese robotics Open (FNR) is an event with several robotic competitions, including the Robot@Factory 4.0 competition. This competition presents an example of deploying autonomous robots on a factory shop floor. Although the literature has works proposing frameworks for the original version of the Robot@Factory competition, none of them proposes a system framework for the Robot@Factory 4.0 version that presents the hardware, firmware, and software to complete the competition and achieve autonomous navigation. This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions. This work is the culmination of all the knowledge acquired by winning the 2022 and 2023 editions of the competition.

关键词： Technological innovation Education Propulsion Production facilities Software Hardware Autonomous robots

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A multiplexed reconfigurable modular FBG based sensor platform for flow and temperature measurements in the North Sea 26

A multiplexed reconfigurable modular FBG based sensor platfo...

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Remote Sensing for Agriculture, Ecosystems, and Hydrology XXVI Conference 2024

作者： Dzipalski, A. Morton, J.A.S. Papachristou, N. Maier, R.R.J. MacPherson, W.N. Ristolainen, A. Reilent, E. Kruusmaa, M. Wolf, B.J. Pirih, P. van Netten, S.M. Shuhova, I. Lips, U. McFarlane, N. Macleod, R. Hendry, M. Sheehy, J. Almoghayer, M. Rojas, N. Davies, G. Hakim, A. Ng, A. Heriot-Watt University Institute of Photonics and Quantum Sciences Edinburgh United Kingdom Tallinn Institute of Technology Centre for Bio Robotics Tallinn Estonia University of Groningen Groningen Netherlands Tallinn Institute of technology Department of Marine Systems Tallinn Estonia Hydrobond Engineering Aberdeen Energy Park Aberdeen United Kingdom Aquatera Ltd The Charles Coulson Building Stromness United Kingdom Orcades Marine Warness Park Kirkwall United Kingdom

ISBN: (纸本)9781510680906

In this work a multiplexed multi-parameter marinized sensory array is described. This was deployed in 2 different array configurations across 3 different marine sites in Orkney. The chosen deployment sites were to test the sensory array response to long period oceanic waves, the effects of passing marine traffic for harbor security, and highly energetic tidal flow generation. The sensor array is made up of 4 measurement stations which are connected in series. Across these measurement stations, a total of 16 temperature sensors, 4 attitude sensors (each consisting of 3 individual fiber sensors) and 16 flow sensors were successfully deployed. A total of 86 FBGs were interrogated simultaneously. They were addressed over 0.25 km via 20 single-mode (SMF-28e) optical fibers contained in a single marine compliant ruggedized umbilical. The bio-inspired fiber optic flow sensors are designed to mimic the behavior of the superficial neuromasts naturally found as part of the lateral line sensory organ present in fish. The sensor is composed of optical fibers inscribed with Fiber Bragg Gratings glued together in a polymer matrix which are then encapsulated in a polyurethane shell. The sensors response has been tested in DC flows in a tow tank and have demonstrated the ability of measuring flow speed from 0.05 ms-1 to 2.5 ms-1. The main aim of the deployment was to demonstrate the capabilities of fiber sensor technology for oceanographic applications. The measurement periods described lasted over 1 day and the sensor system performed well in comparison with data gathered from commercial instrumentation. © 2024 SPIE.

关键词： Fiber Bragg gratings

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An Effective Two-time Scale Composite Control Contraction Based Chaotic Trajectory Tracking of Two-link Flexible Manipulator

An Effective Two-time Scale Composite Control Contraction Ba...

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IEEE Conference on Decision and Control

作者： Kshetrimayum Lochan Asim Khan Binoy Krishna Roy Bidyadhar Subudhi Lakmal Seneviratne Irfan Hussain Department of Mechanical Engineering Khalifa University Center for Robotics and Autonomous Systems (KUCARS) Khalifa University United Arab Emirates Department of Electrical Engineering National Institute of Technology Silchar India Department of Electrical Engineering National Institute of Technology Warangal India

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, a two-link flexible manipulator n-dimensional model is developed using the assumed modes method. Based on this model, the manipulator dynamics are segregated into two subsystems by the two-time scale decomposition method of singular perturbation. Subsequently, a contraction-based control theory and a backstepping control of composite controller are investigated for the desired chaotic trajectory tracking along with tip deflection vibration suppression. In the two subsystems, the slow subsystem is involved in the modelling of the joint angles, and the fast subsystem is for corrected flexible modes of vibration suppression. In order to guarantee strict stability, Lyapunov’s stability is realized for closed-loop system uniform boundedness. Thus, by choosing the control parameters appropriately, the system states converge to a neighborhood of asymptotic stability. Eventually, extensive validation by comparative simulations of the Quanser model of the two-link flexible manipulator is carried out to demonstrate and indicate the effectiveness of the proposed composite controller in terms of faster tip deflection vibration suppression and better trajectory tracking.

关键词： Vibrations Asymptotic stability Backstepping Trajectory tracking Perturbation methods Stability analysis Robustness Control theory Complexity theory Manipulator dynamics

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AR/VR Digital Twin for Simulation and Data Collection of Robotic Environments 25

AR/VR Digital Twin for Simulation and Data Collection of Rob...

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25th IEEE International Conference on Autonomous Robot systems and Competitions, ICARSC 2025

作者： Martins, João G. Nutonen, Karle Costa, Paulo Kuts, Vladimir Otto, Tauno Sousa, Armando Petry, Marcelo R. CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto 4200-465 Portugal University of Porto (FEUP) Faculty of Engineering Porto 4200-465 Portugal ViruTech - Virumaa innovation center of digitalization and green technologies Taltech Virumaa College Kohtla-Jarve 30322 Estonia Taltech Department of Mechanical and Indusrial Tallinn 19086 Estonia

ISBN: (纸本)9798331538606

Digital twins enable real-time modeling, simulation, and monitoring of complex systems, driving advancements in automation, robotics, and industrial applications. This study presents a large-scale digital twin-testing facility for evaluating mobile robots and pilot robotic systems in a research laboratory environment. The platform integrates high-fidelity physical and environmental models, providing a controlled yet dynamic setting for analyzing robotic behavior. A key feature of the system is its comprehensive data collection framework, capturing critical parameters such as position, orientation, and velocity, which can be leveraged for machine learning, performance optimization, and decision-making. The facility also supports the simulation of discrete operational systems, using predictive modeling to bridge informational gaps when real-time data updates are unavailable. The digital twin was validated through a matrix manufacturing system simulation, with an Augmented Reality (AR) interface on the HoloLens 2 to overlay digital information onto mobile platform controllers, enhancing situational awareness. The main contributions include a digital twin framework for deploying data-driven robotic systems and three key AR/VR integration optimization methods. Demonstrated in a laboratory setting, the system is a versatile tool for research and industrial applications, fostering insights into robotic automation and digital twin scalability while reducing costs and risks associated with real-world testing. © 2025 IEEE.

关键词： Augmented Reality Digital Twin Industrial Metaverse robotics Virtual Reality

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Hybrid Path-lifting Algorithm and Equivalence of Stability Results for MRP-based Control Strategies

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IEEE Transactions on Automatic Control 2025年

作者： Martins, Luis Cardeira, Carlos Oliveira, Paulo Universidade de Lisboa Institute of Mechanical Engineering Instituto Superior Técnico Lisboa Portugal Universidade de Lisboa Institute of Mechanical Engineering Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal

This paper proposes an innovative hybrid dynamic mechanism to uniquely and robustly lift a path from the three-dimensional special orthogonal group to the modified Rodrigues parameters (MRP) space. The path-lifting mechanism leverages the unique properties of the MRP representation and is crucial for developing a novel framework for the equivalence of stability results between these topological spaces. The new hybrid methodology allows the design and analysis of an attitude feedback controller in the topologically less complex MRP space with the guarantee that its asymptotic and exponential stability properties directly translate to the attitude dynamics in the base space. Furthermore, the resulting interconnection is impervious to the unwinding phenomenon. The design and evaluation of an MRP-based controller demonstrate the application, practical relevance, and advantages of the proposed algorithm alongside the novel results for equivalence of stability between spaces. The solution renders the attitude space dynamics robustly globally asymptotically stable and robustly semi-globally exponentially stable, illustrating the potential of this novel approach. © 1963-2012 IEEE.

关键词： Asymptotic Stability Attitude Control Exponential Stability Hybrid systems Modified Rodrigues parameters Unwinding

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Diffusion-based learning of contact plans for agile locomotion

Diffusion-based learning of contact plans for agile locomoti...

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IEEE-RAS International Conference on Humanoid Robots

作者： Victor Dh´Edin Adithya Kumar Chinnakkonda Ravi Armand Jordana Huaijiang Zhu Avadesh Meduri Ludovic Righetti Bernhard Schölkopf Majid Khadiv Munich Institute of Robotics and Machine Intelligence Technical University of Munich Germany Tandon School of Engineering New York University USA Max-Planck Institute for Intelligent Systems Tübingen Germany

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

Legged robots have become capable of performing highly dynamic maneuvers in the past few years. However, agile locomotion in highly constrained environments such as stepping stones is still a challenge. In this paper, we propose a combination of model-based control, search, and learning to design efficient control policies for agile locomotion on stepping stones. In our framework, we use nonlinear model predictive control (NMPC) to generate whole-body motions for a given contact plan. To efficiently search for an optimal contact plan, we propose to use Monte Carlo tree search (MCTS). While the combination of MCTS and NMPC can quickly find a feasible plan for a given environment (a few seconds), it is not yet suitable to be used as a reactive policy. Hence, we generate a dataset for optimal goal-conditioned policy for a given scene and learn it through supervised learning. In particular, we leverage the power of diffusion models in handling multi-modality in the dataset. We test our proposed framework on a scenario where our quadruped robot Solo12 successfully jumps to different goals in a highly constrained environment (video).

关键词： Legged locomotion Monte Carlo methods Supervised learning Humanoid robots Diffusion models Quadrupedal robots Predictive control

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Digital Twin Development for a Quality Control Cell

Digital Twin Development for a Quality Control Cell

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Marcella Cavalcanti Hugo Costelha Carlos Neves André Martins Luís Perdigoto School of Technology and Engineering Polytechnic of Leiria Leiria Portugal Institute for Systems Engineering and Computers - Coimbra (INESCC) Leiria Portugal Technological University of the Shannon: Midlands Midwest Limerick Ireland Institute of Systems and Robotics (ISR) Coimbra Portugal

The Digital Twin is one of the enabling technologies of Industry 4.0, Cyber-Physical systems and Smart Factories. In this context, Digital Twins can be developed for being employed through the entire lifecycle of a system, for design, operation, monitoring, maintenance, and even fault prediction and reconfiguration. This paper describes the development of a Digital Twin for a Quality Control cell that is part of a larger manufacturing process in the automotive industry. The virtual environment was built using ABB RobotStudio, the communication between devices in the cell was implemented with OPC UA (UA. NET and open62541), and the process data are registered in a database using MySQL. The results show a fully functional simulation of the cell's behaviour and future development will include the connection of the Digital Twin with the real system.

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Implementation and Validation of the CautiousBug Algorithm in ROS Noetic

Implementation and Validation of the CautiousBug Algorithm i...

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Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Roman Mishenin Alexander Eryomin Tatyana Tsoy Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environments without relying on pre-existing maps or constructing new ones. These algorithms utilize odometry data, operate without a map, require minimal computational resources, and can be implemented on relatively simple hardware. A C++ software application was created to simulate a behavior of the CautiousBug algorithm in various environments within the Gazebo simulator. This application allows for an analysis of key metrics, including accumulated yaw, distance traversed and algorithm's runtime. We conducted a set of virtual experiments in the Gazebo to evaluate the CautiousBug performance.

关键词： Runtime Navigation Software architecture Working environment noise Operating systems Software algorithms Software Robustness Path planning Robots

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