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arXiv 2025年

作者： Ge, Yixiao Pearce, Arthur van Goor, Pieter Mahony, Robert Systems Theory and Robotics Group School of Engineering Australian National University ACT Australia Group EEMCS Faculty University of Twente Enschede Netherlands

Range-only Simultaneous Localisation and Mapping (RO-SLAM) is of interest due to its practical applications in ultra-wideband (UWB) and Bluetooth Low Energy (BLE) localisation in terrestrial and aerial applications and acoustic beacon localisation in submarine applications. In this work, we consider a mobile robot equipped with an inertial measurement unit (IMU) and a range sensor that measures distances to a collection of fixed landmarks. We derive an equivariant filter (EqF) for the RO-SLAM problem based on a symmetry Lie group that is compatible with the range measurements. The proposed filter does not require bootstrapping or initialisation of landmark positions, and demonstrates robustness to the no-prior situation. The filter is demonstrated on a real-world dataset, and it is shown to significantly outperform a state-of-the-art EKF alternative in terms of both accuracy and robustness. Copyright © 2025, The Authors. All rights reserved.

关键词： Mobile robots

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Tracking control on homogeneous spaces: the Equivariant Regulator (EqR) 22

Tracking control on homogeneous spaces: the Equivariant Regu...

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22nd IFAC World Congress

作者： Hampsey, Matthew van Goor, Pieter Mahony, Robert Systems Theory and Robotics Group School of Engineering Australian National University Australia

ISBN: (纸本)9781713872344

Accurate tracking of planned trajectories in the presence of perturbations is an important problem in control and robotics. Symmetry is a fundamental mathematical feature of many dynamical systems and exploiting this property offers the potential of improved tracking performance. In this paper, we investigate the tracking problem for input-affine systems on homogeneous spaces: manifolds which admit symmetries with transitive group actions. We show that there is natural manner to lift any desired trajectory of such a system to a lifted trajectory on the symmetry group. This construction allows us to define a global tracking error and apply LQR design to obtain an approximately optimal control in a single coordinate chart. The resulting control is then applied to the original plant and shown to yield excellent tracking performance. We term the resulting design methodology the Equivariant Regulator (EqR). We provide an example input-affine system posed on a homogeneous space, derive the trajectory linearisation in error coordinates and demonstrate the effectiveness of EqR compared to standard approaches in simulation. Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Application of nonlinear analysis and design Guidance navigation and control Mechatronic systems Mobile Robots Tracking

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Spatial group error and synchrony for tracking control of left-invariant kinematic systems on Lie groups 63

Spatial group error and synchrony for tracking control of le...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Hampsey, Matthew Van Goor, Pieter Mahony, Robert Australian National University Systems Theory and Robotics Group School of Engineering Australia

ISBN: (纸本)9798350316339

Trajectory tracking for underactuated systems has been heavily studied for several decades. When the system statespace is a Lie group, the group multiplication can be used to define a global error. In this paper, we consider the spatial, or right-invariant, group error in the design of a tracking controller for left-invariant systems. This choice of error is shown to exhibit synchrony;that is, the error kinematics depend linearly on the control input difference. In particular, if the actual system is driven by the desired control signal, then the error is constant. This property is used to propose a simple nonlinear tracking control scheme that is globally stable and locally exponentially stable for a class of persistently exciting trajectories for left-invariant systems on Lie-groups. We explore the example system of a mobile robot and show that in this particular case, the proposed control scheme is almost-globally asymptotically stable. © 2024 IEEE.

关键词： Lie groups

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Including the virtual laboratory concept in an on-line collaborative environment

Including the virtual laboratory concept in an on-line colla...

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作者： Candelas, F.A. Torres, F. Gil, P. Puente, S. Pomares, J. Automatics Systems Engineering and Signal Theory Department Robotics and Computer Vision Group Physics University of Alicante Spain

ISBN: (纸本)9783902661074

With the aim of combining the main advantages of the virtual laboratories and the collaborative learning environments, a new on-line collaborative environment is proposed in this paper. This environment includes, in addition to other common tools, simulation applets in the user interface. To make possible the collaborative learning, the simulations work in a synchronized way for the users of a same group. The main features of the first prototype of the environment and its architecture are described. This prototype has been developed as a module for the popular CMS Moodle. Copyright © 2006 IFAC.

关键词： User interfaces

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A method for fast computation of collision-free robot movements in configuration-space

A method for fast computation of collision-free robot moveme...

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1990 IEEE International Workshop on Intelligent Robots and systems, IROS 1990

作者： Adolphs, Peter Nafziger, Dirk Technical University of Darmstadt. Control Systems Theory and Robotics Group Schlossgrabcn 1 DarmstadtD-6100 Germany

Some algorithms for a fast and efficient computation of collision-free robot gross-motions are presented. First a technique based on a look-up-table for mapping obstacles into configuration-space is shown. In the second part of the paper some algorithms for the generation of a distance-field in configuration-space, which we derived from well-known methods but adapted for the here used c-space, are described and compared with respect to their effectiveness. © 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Table lookup

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An Asynchronous Kalman Filter for Hybrid Event Cameras

An Asynchronous Kalman Filter for Hybrid Event Cameras

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International Conference on Computer Vision (ICCV)

作者： Ziwei Wang Yonhon Ng Cedric Scheerlinck Robert Mahony Systems Theory and Robotics Group The Australian National University

ISBN: (纸本)9781665428132

Event cameras are ideally suited to capture HDR visual information without blur but perform poorly on static or slowly changing scenes. Conversely, conventional image sensors measure absolute intensity of slowly changing scenes effectively but do poorly on high dynamic range or quickly changing scenes. In this paper, we present an event-based video reconstruction pipeline for High Dynamic Range (HDR) scenarios. The proposed algorithm includes a frame augmentation pre-processing step that deblurs and temporally interpolates frame data using events. The augmented frame and event data are then fused using a novel asynchronous Kalman filter under a unifying uncertainty model for both sensors. Our experimental results are evaluated on both publicly available datasets with challenging lighting conditions and fast motions and our new dataset with HDR reference. The proposed algorithm outperforms state-of-the-art methods in both absolute intensity error (48% reduction) and image similarity indexes (average 11% improvement).

关键词： Visualization Uncertainty Pipelines Lighting Dynamic range Sensor fusion Cameras

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Non-destructive disassembly robot cell for demanufacturing automation

Non-destructive disassembly robot cell for demanufacturing a...

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2003 IFAC Workshop on Intelligent Assembly and Disassembly, IAD 2003

作者： Puente, S.T. Torres, F. Aracil, R. Automatics Robotics and Computer Vision Group Dept. of Physics Systems Engineering and Signal Theory University of Alicante Spain DISAM Polytechnic University of Madrid Spain

Product disassembly for reusing or recycling can be done in a destructive or not-destructive way. Furthermore, to achieve an automatic disassembly, a robot arm has to be considered for doing the desired task. This paper presents the structure of a flexible au to matic-demanufac luring system which includes a robot arm for the disassembly tasks. This paper makes special emphasis on how the fusion of the information from the sequence planner with the information from the movement generator can be used to take a robot arm into consideration, which accomplishes the disassembly tasks. Finally, the automatic disassembly concepts are used for the disassembly of a laptop PC. © 2003 IFAC.

关键词： Data fusion

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Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter 08

Hybrid tracking of human operators using IMU/UWB data fusion...

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3rd ACM/IEEE International Conference on Human-Robot Interaction, HRI 2008

作者： Corrales, J.A. Candelas, F.A. Torres, F. Automatics Robotics and Computer Vision Group Physics Systems Engineering and Signal Theory Department University of Alicante 03690 San Vicente del Raspeig Alicante Spain

ISBN: (纸本)9781605580173

The precise localization of human operators in robotic workplaces is an important requirement to be satisfied in order to develop human-robot interaction tasks. Human tracking provides not only safety for human operators, but also context information for intelligent human-robot collaboration. This paper evaluates an inertial motion capture system which registers full-body movements of an user in a robotic manipulator workplace. However, the presence of errors in the global translational measurements returned by this system has led to the need of using another localization system, based on Ultra-WideBand (UWB) technology. A Kalman filter fusion algorithm which combines the measurements of these systems is developed. This algorithm unifies the advantages of both technologies: high data rates from the motion capture system and global translational precision from the UWB localization system. The developed hybrid system not only tracks the movements of all limbs of the user as previous motion capture systems, but is also able to position precisely the user in the environment. Copyright 2008 ACM.

关键词： Kalman filters

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2-D visual servoing with integration of multiple predictions of movement based on Kalman filter 15th

2-D visual servoing with integration of multiple predictions...

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Baeza, Jorge Pomares Medina, Fernando Torres Vázquez, Pablo Gil Automatics Robotics and Computer Vision Group Physics Systems Engineering and Signal Theory Department University of Alicante Crtra. San Vicente s/n Alicante03080 Spain

ISBN: (纸本)9783902661746

In this paper, a visual servoing for the tracking of objects in a plane using a fixed camera system is shown. The method proposed of tracking makes use of a variable number of trackers determined automatically. The integration of the predictions of each of them affords a flexible and robust system of tracking. The studies of efficiency carried out reflect that the delays produced are suitable for use in visual servoing. The proposed system can be generalized to tracking three-dimensional objects with movable cameras. Copyright © 2002 IFAC.

关键词： Motion estimation

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INCLUDING THE VIRTUAL LABORATORY CONCEPT IN AN ON-LINE COLLABORATIVE ENVIRONMENT

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IFAC Proceedings Volumes 2006年第6期39卷 571-576页

作者： F.A. Candelas F. Torres P. Gil S. Puente J. Pomares Robotics and Computer Vision Group Physics Systems Engineering and Signal Theory Department University of Alicante (Spain)

关键词： Education learning group work virtual user interfaces on-line laboratory

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