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Are You With Me? Determining the Association of Individuals and the Collective Social Space

Are You With Me? Determining the Association of Individuals ...

引用

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Alan D. G. Silva Douglas G. Macharet Computer Vision and Robotics Laboratory (VeRLab) Universidade Federal de Minas Gerais MG Brazil

The increasing use of autonomous mobile robots in different parts of society, and not restricted only to industrial environments, makes it important to propose techniques that will allow them to behave in the most socially acceptable way as possible. In most real-world scenarios, individuals in the environment are interacting with each other and are arranged into groups. Therefore, it is paramount the proposition of techniques to efficiently and correctly identify and represent such groups. This information can be useful in different tasks such as approaching and initiating an interaction, escorting, and the navigation itself. In this work, we propose a novel graph-based approach to evaluate the possible association of individuals in the environment based on their position and body orientation. Next, based on this association, we propose a representation of the combined social space of individuals in the same group. The methodology was evaluated using synthetic and real-world datasets, showing that it achieves results comparable to or better than the state-of-the-art.

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Minimal 3D Dubins Path with Bounded Curvature and Pitch Angle

Minimal 3D Dubins Path with Bounded Curvature and Pitch Angl...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Petr Váňa Armando Alves Neto Jan Faigl Douglas G. Macharet Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Department of Electronic Engineering Universidade Federal de Minas Gerais MG Brazil Computer Vision and Robotics Laboratory (VeRLab) Universidade Federal de Minas Gerais MG Brazil

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this paper, we address the problem of finding cost-efficient three-dimensional paths that satisfy the maximum allowed curvature and the pitch angle of the vehicle. For any given initial and final configurations, the problem is decoupled into finding the horizontal and vertical parts of the path separately. Although the individual paths are modeled as two-dimensional Dubins curves using closed-form solutions, the final 3D path is constructed using the proposed local optimization to find a cost-efficient solution. Moreover, based on the decoupled approach, we provide a lower bound estimation of the optimal path that enables us to determine the quality of the found heuristic solution. The proposed solution has been evaluated using existing benchmark instances and compared with state-of-the-art approaches. Based on the reported results and lower bounds, the proposed approach provides paths close to the optimal solution while the computational requirements are in hundreds of microseconds. Besides, the proposed method provides paths with fewer turns than others, which make them easier to be followed by the vehicle's controller.

关键词： Three-dimensional displays Two dimensional displays Turning Path planning Atmospheric modeling Space vehicles Optimization

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Multi-robot On-line Sampling Scheduler for Persistent Monitoring

Multi-robot On-line Sampling Scheduler for Persistent Monito...

引用

International Conference on Advanced robotics (ICAR)

作者： Douglas G. Macharet Armando Alves Neto Computer Vision and Robotics Laboratory (VeRLab) Universidade Federal de Minas Gerais MG Brazil Universidade Federal de Minas Gerais MG Brazil

The employment of autonomous agents for persistent monitoring tasks has significantly increased in recent years. In this sense, the data collection process must take into account limited resources, such as time and energy, whilst acquiring a sufficient amount of data to generate accurate models of underlying phenomena. Many different schedulers in the literature act in an off-line manner, which means they define the sequence of visit and generate a set of paths before any observations are made. However, on-line approaches can adapt their behavior based on previously collected data, allowing to obtain more precise models. In this paper, we propose an on-line scheduler which evaluates the sampling rate of the signals being measured to assign different priorities to different Points-of-Interest (PoIs). Next, according to this priority, it is determined if a region must be visited more or less frequently to increase our knowledge of the phenomenon. Our methodology was evaluated through several experiments in a simulated environment.

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Augmented Vector Field Navigation Cost Mapping using Inertial Sensors

Augmented Vector Field Navigation Cost Mapping using Inertia...

引用

International Conference on Advanced robotics (ICAR)

作者： Felipe G. Oliveira Armando Alves Neto Paulo Borges Mario F. M. Campos Douglas G. Macharet Institute of Exact Sciences and Technology Universidade Federal do Amazonas AM Brazil Universidade Federal de Minas Gerais Universidade Federal de Minas Gerais MG Brazil Data 61 Commonwealth Scientific and Industrial Research Organization Brisbane Queensland Australia Computer Vision and Robotics Laboratory (VeRLab) Universidade Federal de Minas Gerais MG Brazil

In outdoor field robotics, considering the environmental characteristics is key to improving the efficiency of autonomous navigation. In this context, identifying rough terrain can significantly increase the reliability of operations. This paper addresses the problem of mapping the navigation cost associated with uneven outdoor terrains. We propose an augmented vector field representation obtained only with the use of inertial sensors. The map is determined considering characteristics such as roughness and slope. Experiments were carried out with different robots in real-world environments presenting different terrain characteristics to analyze the quality and efficiency of the mapping process. Results show that the obtained navigation cost maps provide a reliable indication of the ground characteristics of outdoor environments and can be used in the path planning stage.

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Dynamic perimeter surveillance with a team of robots

Dynamic perimeter surveillance with a team of robots

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： David Saldaña Reza Javanmard Alitappeh Luciano C. A. Pimenta Renato Assunção Mario F. M. Campos Universidade Federal de Minas Gerais (UFMG) MG Brazil Computer Science Department Computer Vision and Robotics Laboratory (VeRLab)

In this paper, we propose a motion planning method to escort a set of agents from one place to a goal in an environment with obstacles. The agents are distributed in a finite area, with a time-varying perimeter, in which we put multiple robots to patrol around it with a desired velocity. Our proposal is composed of two parts. The first one generates a plan to move and deform the perimeter smoothly, and as a result, we obtain a twice differentiable boundary function. The second part uses the boundary function to compute a trajectory for each robot, we obtain each resultant trajectory by first solving a differential equation. After receiving the boundary function, the robots do not need to communicate among themselves until they finish their trajectories. We validate our proposal with simulations and experiments with actual robots.

关键词： Shape Planning Trajectory Robot kinematics Dynamics Surveillance

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Efficient Target Visiting Path Planning for Multiple Vehicles with Bounded Curvature

Efficient Target Visiting Path Planning for Multiple Vehicle...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Douglas G. Macharet Armando Alves Neto Vilar F. da Camara Neto Mario F. M. Campos Computer Vision and Robotics Laboratory (VeRLab) Computer Science Department Universidade Federal de Minas Gerais MG Brazil. Telecommunication and Mechatronic Department Universidade Federal de S?o Jo?o del-Rei MG Brazil. Funda??o Centro de Análise Pesquisa e Inova??o Tecnológica (FUCAPI) Manaus AM Brazil.

ISBN: (纸本)9781467363563

In this paper, we introduce the k-Dubins Traveling Salesman Problem with Neighborhoods (k-DTSPN), the problem of planning efficient paths among target regions for multiple robots with bounded curvature constraints (Dubins vehicles). This paper presents two approaches for the problem. Firstly, we present a heuristic that solves it in two steps, based on classical techniques found in the literature. Secondly, we employ a Memetic Algorithm to solve both combinatorial and continuous phases of the problem in a combined manner. We provide formal analysis about both proposed techniques, presenting upper bounds to the length of the longest tour. Numerous trials in simulated environments were executed, providing statistical examination of the final results.

关键词： Bounded Curvature k-DTSPN bounded curvature constraints (Dubins vehicles) Cooperating robots vehicle formal analysis Curvature Bounded Path planning Upper bound Heuristics Targets travelling salesman problems

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Planning for Simultaneous Localization and Mapping Using Topological Information

Planning for Simultaneous Localization and Mapping Using Top...

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IEEE Latin American robotics Symposium, LARS

作者： Rafael Gonçalves Colares Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University of Minas Gerais Brazil

This paper presents a novel approach for augmenting simultaneous localization and mapping (SLAM) with planning. We use dynamically generated topological maps in conjunction with a utility function to decide which actions the robot should perform in order to improve mapping efficiency. We execute a series of simulated and real experiments in order to study the performance of the proposed approach and results show a significant improvement of mapping efficiency.

关键词： Navigation Simultaneous localization and mapping Robot kinematics Planning Skeleton

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Mobile Robot Localization in Indoor Environments Using Multiple Wireless Technologies

Mobile Robot Localization in Indoor Environments Using Multi...

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IEEE Latin American robotics Symposium, LARS

作者： Moisés Lisboa Rodrigues Luiz Filipe M. Vieira Mario F. M. Campos Vision and Robotics Laboratory (VerLab) Computer Science Department Universidade Federal de Minas Gerais Brazil

Localization is a fundamental problem that arises in many potential applications. The use of wireless technologies to perform localization has been a trend in recent years. Most existing approaches use the received signal strength indication (RSSI) to localize. In general, one of the several existing wireless standards such as ZigBee, Bluetooth or Wi-Fi, is chosen as the target standard. In this paper we present an experimental study on the use of multiple wireless technologies to perform mobile robot localization in indoor environments. We use real ZigBee and Wi-Fi compliant devices. In our study we analyse results obtained by fusing robot odometry data with distance estimations between the robot and wireless beacons. These distances are estimated based on the RSSI obtained from radio frequency (RF) signals received from those technologies compliant devices. The extended kalman filter (EKF) is used to fuse these information. We show that robots equipped with multiple wireless interfaces from different technologies can achieve better localization in regions where the coverage of one technology is reduced (e.g., we show that the robot can maintain a reasonable localization accuracy even in areas where Wi-Fi coverage is very poor, due to the presence of Zigbee sensor nodes). We also present a discussion of advantages and challenges of using multiple wireless technologies to perform localization in indoor environments.

关键词： IEEE 802.11 Standards Wireless communication Wireless sensor networks Robot sensing systems Zigbee Mathematical model

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Hierarchical congestion control for robotic swarms

Hierarchical congestion control for robotic swarms

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Vinicius Graciano Santos Luiz Chaimowicz Vision and Robotics Laboratory (VeRLab) Computer Science Department Federal University Minas Gerais Brazil

Safe and efficient navigation of robotic swarms is an important research problem. One of the main challenges in this area is to avoid congestion, which usually happens when large groups of robots share the same environment. In this paper, we propose the use of hierarchical abstractions in conjunction with simple traffic control rules based on virtual forces to avoid congestion in swarm navigation. We perform simulated and real experiments in order to study the feasibility and effectiveness of the proposed algorithm. Results show that our approach allows the swarm to navigate without congestions in a smooth and coherent fashion, being suitable for large groups of robots.

关键词： Robot kinematics Robot sensing systems Collision avoidance Navigation Force Aerospace electronics

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Feasible RRT-based path planning using seventh order Bézier curves

Feasible RRT-based path planning using seventh order Bézier...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Armando A. Neto Douglas G. Macharet Mario F. M. Campos Computer Vision and Robotics Laboratory (Verlab) Computer Science Department Federal University of Minas Gerais Brazil

This paper presents a methodology based on a variation of the Rapidly-exploring Random Trees (RRTs) that generates feasible trajectories for autonomous vehicles with holonomic constraints in environments with obstacles. Our approach is based on seventh order Bézier curves to connect vertexes of the tree, generating paths that do not violate the main kinematic constraints of the vehicle. The methodology also does not require complex kinematic and dynamic models of the vehicle. The smoothness of the acceleration profile of the entire path is directly guaranteed by controlling the curvature values at the extreme points of each Bézier that composes the tree. The proposed algorithm provides fast convergence to the final result with several other advantages, such as the reduction in the number of vertexes of the tree because the method enable connections between vertexes of the tree with unlimited range. In an environment with few obstacles, a very small quantity of vertexes (sometimes only two) is sufficient to take the robot between two points. The properties of the seventh order Bézier formulation are also used to avoid collisions with static obstacles in the environment.

关键词： Vehicles Robots Vehicle dynamics Mathematical model Kinematics Trajectory

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