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IEEE International Conference on robotics and automation (ICRA)

作者： Miguel Á ngel Muñ oz-Bañ ó n Jan-Hendrik Pauls Haohao Hu Christoph Stiller Group of Automation Robotics and Computer Vision (AUROVA) University of Alicante Alicante Spain Institute of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe Germany

While complete localization approaches are widely studied in the literature, their data association and data representation subprocesses usually go unnoticed. However, both are a key part of the final pose estimation. In this work, we present DA-LMR (Delta-Angle Lane Marking Representation), a robust data representation in the context of localization approaches. We propose a representation of lane markings that encodes how a curve changes in each point and includes this information in an additional dimension, thus providing a more detailed geometric structure description of the data. We also propose DC-SAC (Distance-Compatible Sample Consensus), a data association method. This is a heuristic version of RANSAC that dramatically reduces the hypothesis space by distance compatibility restrictions. We compare the presented methods with some state-of-the-art data representation and data association approaches in different noisy scenarios. The DA-LMR and DC-SAC produce the most promising combination among those compared, reaching 98.1 % in precision and 99.7% in recall for noisy data with 0.5 m of standard deviation.

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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

Assisted Physical Interaction: Autonomous Aerial Robots with...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Andrea Berra Viswa Narayanan Sankaranarayanan Achilleas Santi Seisa Julien Mellet Udayanga G.W.K.N. Gamage Sumeet Gajanan Satpute Fabio Ruggiero Vincenzo Lippiello Silvia Tolu Matteo Fumagalli George Nikolakopoulos Miguel Ángel Trujillo Soto Guillermo Heredia CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Electrical and Space Engineering Robotics and AI Team Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance.

关键词： Visualization Pose estimation Neural networks Lighting Object detection Autonomous aerial vehicles Aircraft navigation

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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

arXiv

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arXiv 2024年

作者： Berra, Andrea Sankaranarayanan, Viswa Narayanan Seisa, Achilleas Santi Mellet, Julien Gamage, Udayanga G.W.K.N. Satpute, Sumeet Gajanan Ruggiero, Fabio Lippiello, Vincenzo Tolu, Silvia Fumagalli, Matteo Nikolakopoulos, George Soto, Miguel Ángel Trujillo Heredia, Guillermo CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

关键词： Unmanned aerial vehicles (UAV)

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Design of a Flexible Robot Arm for Safe Aerial Physical Inte...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Julien Mellet Andrea Berra Achilleas Santi Seisa Viswa Sankaranarayanan Udayanga G.W.K.N. Gamage Miguel Ángel Trujillo Soto Guillermo Heredia George Nikolakopoulos Vincenzo Lippiello Fabio Ruggiero Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Robotics and AI Team Electrical and Space Engineering LuleåUIniversity of Technology Luleå Sweden Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction.

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

arXiv

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arXiv 2024年

作者： Mellet, Julien Berra, Andrea Seisa, Achilleas Santi Sankaranarayanan, Viswa Gamage, Udayanga G.W.K.N. Soto, Miguel Ángel Trujillo Heredia, Guillermo Nikolakopoulos, George Lippiello, Vincenzo Ruggiero, Fabio PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors’ integrity. Notably, the arm’s damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction. © 2024, CC BY.

关键词： End effectors

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Micro UAV Swarm for industrial applications in indoor environment – A Systematic Literature Review

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Logistics Research 2023年第1期16卷

作者： Awasthi, Shrutarv Fernandez-Cortizas, Miguel Reining, Christopher Arias-Perez, Pedro Luna, Marco Andres Perez-Saura, David Roidl, Moritz Gramse, Nils Klokowski, Patrick Campoy, Pascual Material Handling and Warehousing Technical University Dortmund Joseph-von-Fraunhofer-Straße 2-4 Dortmund44227 Germany Computer Vision and Aerial Robotics Group Centre for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Calle José Gutiérrez Abascal 2 Madrid28006 Spain Joseph-von-Fraunhofer-Straße 2-4 Dortmund Germany

This contribution provides a systematic literature review of micro aerial vehicle (MAV) swarms for indoor industrial applications. First, an initial list of 1997 publications that complies with predefined inclusion criteria was surveyed by reviewers. Next, 185 publications that comply with the Selection Process were analyzed based on localization, control, guidance system, safety and security, MAV charging, communication, artificial intelligence, and applications. The analyzed researches could possibly be deployed in the industrial application of production, logistics and supply chain or transferable into this field. The publications encompassed within this study can be classified under Technology Readiness Level (TRL) 4. Some works do strive to offer solutions tailored to industrial tasks, the validation of their findings predominantly occurs through simulations or controlled laboratory environments. The findings provide an overview of the state-of-the-art specifications, the technologies used by MAVs, trends and outline a future road map for further research from a practitioner’s perspective. © The Author(s) 2023.

关键词： Supply chains

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Spiral coverage path planning for Multi-UAV photovoltaic panel inspection applications

Spiral coverage path planning for Multi-UAV photovoltaic pan...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Marco Andrés Luna Mohammad Sadeq Ale Isaac Miguel Fernandez-Cortizas Carlos Santos Ahmed Refaat Ragab Martin Molina Pascual Campoy Computer Vision and Aerial Robotics Group (CVAR) Centre for Automation and Robotics (C.A.R.) Universidad Politécnica de Madrid (UPM-CSIC) Madrid Spain Department of Signal Theory and Communications University of Alcala (UAH) Madrid Spain Department of Network Faculty of Information Systems and Computer Science October 6 University Giza Egypt Department of Artificial Intelligence Universidad Politécnica de Madrid Madrid Spain

This paper deals with the problem of coverage path planning for multiple UAVs in disjoint regions. For this purpose, a spiral-coverage path planning algorithm is proposed. Additionally, task assignment methods for multi-region inspection with a swarm of UAVs are applied. The centralized system architecture is described, and an adaptive sliding mode controller is designed. Furthermore, we evaluate the performance of the proposed techniques by obtaining numerical results and simulations with the controller. The results show that the spiral pattern optimizes the cost of the mission and improves the task distribution of the mission planning system. Additionally, the performance of the proposed controller is robust to simulated disturbances.

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Integration of online Laboratories in Learning Platforms

Integration of online Laboratories in Learning Platforms

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Technologies Applied to Electronics Teaching (TAEE)

作者： Ildefonso Ruano Ruano Elísabet Estévez Estévez Alejandro Sánchez García Javier Gámez García Juan Gómez Ortega Group of Robotics Automation and Computer Vision (GRAV) Universidad de Jaén Jaén Spain

ISBN: (数字)9781728167329

ISBN: (纸本)9781728167336

This work dials with the integration of online laboratories into Learning Management Systems. In fact, this work emphasizes the pedagogical advantages that could be achieved with this integration as well as the involved actors, being mainly: students, lecturers and laboratory owners. It also makes an analysis of each actor's requirements and how they can be satisfied by the integration. To achieve this, the use of standards is essential. Authors use an example of online laboratory and integrate it into LMSs by different paths but using the more widespread standards. Finally, the achieved advantages are discussed.

关键词： Laboratories Standards Electronic learning Software Robots automation

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Errata: Mathematical Modeling and Designing a Heavy Hybrid-Electric Quadcopter, Controlled by Flaps

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Unmanned Systems 2024年第1期12卷 183-183页

作者： Mohammad Sadeq Ale Isaac Ahmed Refaat Ragab Enrique Caballero Garcés Marco Andres Luna Pablo Flores Peña Pascual Campoy Cervera Drone Hopper Company Spain Computer Vision and Aerial Robotics Group at Universidad Politécnica de Madrid (CVAR-UPM) at Centre for Automation and Robotics C.A.R. (UPM-CSIC) Spain University of Carlos III of Madrid Spain UC3M and Aerodynamics Engineer at Drone Hopper Spain

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REFUGE2 CHALLENGE: A TREASURE TROVE FOR MULTI-DIMENSION ANALYSIS AND EVALUATION IN GLAUCOMA SCREENING

arXiv

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arXiv 2022年

作者： Fang, Huihui Li, Fei Wu, Junde Fu, Huazhu Sun, Xu Son, Jaemin Yu, Shuang Zhang, Menglu Yuan, Chenglang Bian, Cheng Lei, Baiying Zhao, Benjian Xu, Xinxing Li, Shaohua Fumero, Francisco Sigut, José Almubarak, Haidar Bazi, Yakoub Guo, Yuanhao Zhou, Yating Baid, Ujjwal Innani, Shubham Guo, Tianjiao Yang, Jie Orlando, José Ignacio Bogunović, Hrvoje Zhang, Xiulan Xu, Yanwu The REFUGE2 Challenge Australia State Key Laboratory of Ophthalmology Zhongshan Ophthalmic Center Sun Yat-Sen University Guangdong Provincial Key Laboratory of Ophthalmology and Visual Science Guangzhou China Intelligent Healthcare Unit Baidu Inc. Beijing China The Institute of High Performance Computing Agency for Science Technology and Research Singapore Yatiris Group PLADEMA Institute CONICET UNICEN Tandil Argentina Christian Doppler Lab for Artificial Intelligence in Retina Department of Ophthalmology and Optometry Medical University of Vienna Vienna Austria VUNO Inc Seoul Korea Republic of Tencent HealthCare Tencent Shenzhen China Computer Vision Institute College of Computer Science and Software Engineering of Shenzhen University Shenzhen China School of Biomedical Engineering Health Science Center Shenzhen University China Xiaohe Healthcare ByteDance Guangdong Guangzhou510000 China School of Biomedical Engineering Shenzhen University China College of Computer Science & Software Engineering Shenzhen University China Department of Computer Science and Systems Engineering Universidad de La Laguna Spain Saudi Electronic University Saudi Arabia King Saud University Saudi Arabia Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China SGGS Institute of Engineering and Technology India Institute of Medical Robotics Shanghai Jiao Tong University China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University China

With the rapid development of artificial intelligence (AI) in medical image processing, deep learning in color fundus photography (CFP) analysis is also evolving. Although there are some open-source, labeled datasets of CFPs in the ophthalmology community, large-scale datasets for screening only have labels of disease categories, and datasets with annotations of fundus structures are usually small in size. In addition, labeling standards are not uniform across datasets, and there is no clear information on the acquisition device. Here we release a multi-annotation, multi-quality, and multi-device color fundus image dataset for glaucoma analysis on an original challenge-Retinal Fundus Glaucoma Challenge 2nd Edition (REFUGE2). The REFUGE2 dataset contains 2000 color fundus images with annotations of glaucoma classification, optic disc/cup segmentation, as well as fovea localization. Meanwhile, the REFUGE2 challenge sets three sub-tasks of automatic glaucoma diagnosis and fundus structure analysis and provides an online evaluation framework. Based on the characteristics of multi-device and multi-quality data, some methods with strong generalizations are provided in the challenge to make the predictions more robust. This shows that REFUGE2 brings attention to the characteristics of real-world multi-domain data, bridging the gap between scientific research and clinical application. © 2022, CC BY-NC-ND.

关键词： Color

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