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27th RoboCup International Symposium, 2024

作者： Tschesche, Matteo Hofmann, Till Ferrein, Alexander Lakemeyer, Gerhard Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Sciences Aachen Germany Knowledge-Based Systems Group RWTH Aachen University Aachen Germany

ISBN: (纸本)9783031858581

Visual servoing is a well-established technique for object grasping and controls the robot in a closed-loop fashion. It typically uses hand-crafted features or a neural network that directly learns the control output. We propose an alternative approach that uses an off-the-shelf neural network object classifier and can therefore compute target poses without manually selected features while also not requiring training from scratch. Instead, the object classifier only needs to be fine-tuned on a domain-specific dataset, significantly reducing the amount of required training data. We describe a task sequencing approach that can control a robot with a mobile base and an additional gripper, which is a typical setup in many robotics applications. We evaluate the approach in the RoboCup Logistics League and demonstrate the reliability and speed of the proposed approach. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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A ROS 2-based Navigation and Simulation Stack for the Robotino

A ROS 2-Based Navigation and Simulation Stack for the Rob...

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27th RoboCup International Symposium, 2024

作者： Borse, Saurabh Viehmann, Tarik Ferrein, Alexander Lakemeyer, Gerhard The Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Science Aachen52066 Germany Knowledge-Based Systems Group RWTH Aachen University Aachen52074 Germany

ISBN: (纸本)9783031858581

The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS 2 integration for the Robotino available. In this paper we describe our work on a Webots simulation environment for a Robotino platform extended by LIDAR sensors. A ROS 2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite is provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS 2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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Detecting spatio-temporal Relations by Combining a Semantic Map with a Stream Processing Engine

Detecting spatio-temporal Relations by Combining a Semantic ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Lennart Niecksch Henning Deeken Thomas Wiemann German Research Center for Artificial Intelligence (DFKI) DFKI Niedersachsen Plan-based Robot Control Group Osnabrück Germany Knowledge Based Systems and Autonomous Robotics groups Institute of Computer Science Osnabrück University Osnabrück Germany

Changes in topological spatial relations of objects are often strong indicators for state transitions in the underlying processes they are involved in. While various aspects of semantic mapping have been extensively researched, the reasoning about the temporal development of spatial relations of instances is often neglected. This paper presents a concept to combine a semantic map with a stream processing framework for live analysis of the spatio-temporal relation of objects, based on the map and information inferred from sensors streams. To demonstrate the functionality of our concept, we implemented a proof-of-concept system to track everyday events in an office environment. The presented application scenario clearly demonstrates the benefits of the proposed architecture for detecting and handling complex spatio-temporal events.

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A ROS~2-based Navigation and Simulation Stack for the Robotino

arXiv

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arXiv 2024年

The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS 2 integration for the Robotino available. In this paper we describe our work on a Webots simulation environment for a Robotino platform extended by LIght Detection And Ranging (LIDAR) sensors. A ROS 2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite is provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS 2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance. © 2024, CC BY.

关键词： Optical radar

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Portable high-level agent programming with golog++ 13

Portable high-level agent programming with golog++

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13th International Conference on Agents and Artificial Intelligence, ICAART 2021

作者： Mataré, Victor Viehmann, Tarik Hofmann, Till Lakemeyer, Gerhard Ferrein, Alexander Schiffer, Stefan Institute for Mobile Autonomous Systems and Cognitive Robotics FH Aachen University of Applied Sciences Aachen Germany Knowledge-based Systems Group RWTH Aachen University Aachen Germany

ISBN: (纸本)9789897584848

We present golog++, a high-level agent programming and interfacing framework that offers a temporal constraint language to explicitly model layer-penetrating contingencies in low-level platform behavior. It can be used to maintain a clear separation between an agent's domain model and certain quirks of its execution platform that affect problem solving behavior. Our system reasons about the execution of an abstract (i.e. exclusively domain-bound) plan on a particular execution platform. This way, we avoid compounding the complexity of the planning problem while improving the modularity of both golog++ and the user code. On a run-through example from the well-known blocksworld domain, we demonstrate the entire process from domain modeling and platform modeling to plan transformation and platform-specific plan execution. © 2021 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Robot programming

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Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Ray Tracing for Embedded Hardware on Mobile Robots

Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Ra...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Alexander Mock Thomas Wiemann Joachim Hertzberg Knowledge Based Systems Group Institute of Computer Science Osnabrück University Osnabrück Germany Autonomous Robotics Group Institute of Computer Science Osnabrück University Osnabrück Germany Plan-based Robot Control DFKI Niedersachsen Osnabrück Germany

Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking. However, commonly used simulators have high hardware requirements and are therefore used mostly on high-end computers. In this paper, we present an approach to simulate range sensors directly on embedded hardware of mobile robots that use triangle meshes as environment map. This library, called Rmagine, allows a robot to simulate sensor data for arbitrary range sensors directly on board via ray tracing. Since robots typically only have limited computational resources, Rmagine aims at being flexible and lightweight, while scaling well even to large environment maps. It runs on several platforms like Laptops or embedded computing boards like NVIDIA Jetson by putting an unified API over the specific proprietary libraries provided by the hardware manufacturers. This work is designed to support the future development of robotic applications depending on simulation of range data that could previously not be computed in reasonable time on mobile systems.

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Monocular Localization in Feature-Annotated 3D Polygon Maps

Monocular Localization in Feature-Annotated 3D Polygon Maps

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European Conference on Mobile Robots (ECMR)

作者： Alexander Mock Thomas Wiemann Joachim Hertzberg Knowledge Based Systems and Autonomous Robotics Groups at the Institute of Computer Science Osnabrück University Osnabrück Germany German Research Center for Artificial Intelligence (DFKI) Niedersachsen Lab Plan-Based Robot Control Group Osnabrück Germany

Localization in six degrees of freedom is becoming increasingly relevant, especially in indoor environments where GPS is not available. To localize autonomous vehicles like UAVs in such areas, reliable methods for self-localization with low-weight sensors are required. In this paper, we present an approach to precisely localize systems with monocular cameras in polygonal 3D maps annotated with keypoints and feature descriptors computed from LiDAR data and associated reference images. Our contribution consists of offline map computation from high resolution 3D point clouds with corresponding reference images as well as online localization within these maps using low cost sensors. During localization, features extracted from the vehicle’s camera image stream are matched against the reference map. The proposed method is capable of real-time localization and suitable for precise global localization. The evaluation shows comparable results to state of the art with high re-localization accuracy.

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Composing complex and hybrid AI solutions

arXiv

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arXiv 2022年

作者： Schüller, Peter Costeira, João Paulo Crowley, James Grosinger, Jasmin Ingrand, Félix Köckemann, Uwe Saffotti, Alessandro Welss, Martin Knowledge-based Systems Group Technische Universität Wien Vienna Austria Institute for Systems and Robotics Técnico Lisboa Lisbon Portugal Univ. Grenoble Alpes CNRS Inria Grenoble France Center for Applied Autonomous Sensor Systems Örebro University Sweden LAAS-CNRS University of Toulouse France Fraunhofer Institute for Intelligent Analysis and Information Systems IAIS Germany

Progress in several areas of computer science has been enabled by comfortable and efficient means of experimentation, clear interfaces, and interchangable components, for example using OpenCV for computer vision or ROS for robotics. We describe an extension of the Acumos system towards enabling the above features for general AI applications. Originally, Acumos was created for telecommunication purposes, mainly for creating linear pipelines of machine learning components. Our extensions include support for more generic components with gRPC/Protobuf interfaces, automatic orchestration of graphically assembled solutions including control loops, sub-component topologies, and event-based communication, and provisions for assembling solutions which contain user interfaces and shared storage areas. We provide examples of deployable solutions and their interfaces. The framework is deployed at http://***/ and its source code is managed as an open source Eclipse project. © 2022, CC BY.

关键词： User interfaces

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Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Raytracing for Embedded Hardware on Mobile Robots

arXiv

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arXiv 2022年

作者： Mock, Alexander Wiemann, Thomas Hertzberg, Joachim Knowledge Based Systems Group Institute of Computer Science Osnabrück University Berghoffstraße 11 Osnabrück49090 Germany Autonomous Robotics Group Institute of Computer Science Osnabrück University Berghoffstraße 11 Osnabrück49090 Germany DFKI Niedersachsen Plan-based Robot Control Berghoffstraße 11 Osnabrück49090 Germany

Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking. However, commonly used simulators have high hardware requirements and are therefore used mostly on high-end computers. In this paper, we present an approach to simulate range sensors directly on embedded hardware of mobile robots that use triangle meshes as environment map. This library called Rmagine allows a robot to simulate sensor data for arbitrary range sensors directly on board via raytracing. Since robots typically only have limited computational resources, the Rmagine aims at being flexible and lightweight, while scaling well even to large environment maps. It runs on several platforms like Laptops or embedded computing boards like Nvidia Jetson by putting an unified API over the specific proprietary libraries provided by the hardware manufacturers. This work is designed to support the future development of robotic applications depending on simulation of range data that could previously not be computed in reasonable time on mobile systems. Copyright © 2022, The Authors. All rights reserved.

关键词： Mobile robots

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Constraint-based online transformation of abstract plans into executable robot actions

Constraint-based online transformation of abstract plans int...

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2018 AAAI Spring Symposium

作者： Hofmann, Till Mataré, Victor Schiffer, Stefan Ferrein, Alexander Lakemeyer, Gerhard Knowledge-Based Systems Group RWTH Aachen University Aachen52056 Germany Mobile Autonomous Systems and Cognitive Robotics FH Aachen University of Applied Sciences Aachen52066 Germany

In this paper, we are concerned with making the execution of abstract action plans for robotic agents more robust. To this end, we propose to model the internals of a robot system and its ties to the actions that the robot can perform. based on these models, we propose an online transformation of an abstract plan into executable actions conforming with system specifics. With our framework, we aim to achieve two goals. First, modeling the system internals is beneficial in its own right in order to achieve long term autonomy, system transparency, and comprehensibility. Second, separating the system details from determining the course of action on an abstract level leverages the use of planning for actual robotic systems. © 2018 AI Access Foundation. All rights reserved.

关键词： Robot programming

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