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Hardware-Agnostic Behavior Trees:Towards Generic Robot Behavior Design

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SSRN

SSRN 2022年

作者： El-Ariss, Wafic Daher, Naseem Elhajj, Imad H. Logistics Robotics BMW Group Petuelring 130 Munich80809 Germany Vision and Robotics Lab Department of Mechanical Engineering American University of Beirut Riad El-Solh Beirut1107 Lebanon Vision and Robotics Lab Department of Electrical and Computer Engineering American University of Beirut Riad El-Solh Beirut1107 Lebanon

Decision-Making (DM) algorithms are an essential component of autonomous agents that control the behavior of Non-Player Characters (NPCs) in computer games, as well as the behavior of autonomous robots. Behavior Trees (BTs) have gained significant traction in recent years for having facilitated the development of complex behaviors for autonomous robots and NPCs, by offering a simple, yet powerful, task-switching architecture that relies on composing modular and reusable unit behaviors to achieve the overall desired *** is well understood how to design BT leaves, the unit behavior of BTs, for them to be reused across the behavior of a single robot system, however, there is a need for these leaves to generalize across systems of differing hardware, thus achieving hardware abstraction, and producing what we call Hardware-Agnostic Behavior Tree Leaves that would reduce the development time and costs of new *** this paper, we address this goal by first presenting a new formulation for BTs that incorporates parameterization. Subsequently, we propose a method to specify DM behaviors in a hardware-agnostic manner. Then, we apply object-oriented design methods to specify BTs. We combine the three techniques to define Hardware-Agnostic Behavior Tree Leaves , and propose a method to design them so that these unit behaviors can be reused across systems of differing hardware. We demonstrate the applicability of our proposed method by designing a completely hardware-agnostic, and thus reusable, BT software that we then apply on two real robotic systems with differing hardware used at the BMW group, and we show that the BT software developed using our methods leads to higher reusability (as per Chidamber and Kemerer metrics) by conducting a comparison against a benchmark BT software built using state-of-the-art methods. Four out of the five used Chidamber and Kemerer metrics indicated that our method increased reusability, it resulted in software that is 7.7% shorter

关键词： Industrial robots

Towards a Unified Approach to Homography Estimation Using Image Features and Pixel Intensities

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arXiv 2022年

作者： Nogueira, Lucas de Paiva, Ely C. Silveira, Geraldo School of Mechanical Engineering University of Campinas Campinas SP Brazil Robotics and Computer Vision Research Group Center for Information Technology Renato Archer Campinas SP Brazil

The homography matrix is a key component in various vision-based robotic tasks. Traditionally, homography estimation algorithms are classified into feature- or intensity-based. The main advantages of the latter are their versatility, accuracy, and robustness to arbitrary illumination changes. On the other hand, they have a smaller domain of convergence than the feature-based solutions. Their combination is hence promising, but existing techniques only apply them sequentially. This paper proposes a new hybrid method that unifies both classes into a single nonlinear optimization procedure, applies the same minimization method, and uses the same homography parametrization and warping function. Experimental validation using a classical testing framework shows that the proposed unified approach has improved convergence properties compared to each individual class. These are also demonstrated in a visual tracking application. As a final contribution, our ready-to-use implementation of the algorithm is made publicly available to the research community. © 2022, CC BY.

关键词： computer vision

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

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Assisted Physical Interaction: Autonomous Aerial Robots with...

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

Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

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

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.

关键词：

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

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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)

Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

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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

Edge-guided Representation Learning for Underwater Object Detection

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arXiv 2023年

作者： Dai, Linhui Liu, Hong Song, Pinhao Tang, Hao Ding, Runwei Li, Shengquan Key Laboratory of Machine Perception Shenzhen Graduate School Peking University Shenzhen China Robotics Research Group KU Leuven Leuven Belgium Computer Vision Lab ETH Zurich Zurich Switzerland Peng Cheng Laboratory Shenzhen China

Underwater object detection (UOD) is crucial for marine economic development, environmental protection, and the planet’s sustainable development. The main challenges of this task arise from low-contrast, small objects, and mimicry of aquatic organisms. The key to addressing these challenges is to focus the model on obtaining more discriminative information. We observe that the edges of underwater objects are highly unique and can be distinguished from low-contrast or mimicry environments based on their edges. Motivated by this observation, we propose an Edge-guided Representation Learning Network, termed ERL-Net, that aims to achieve discriminative representation learning and aggregation under the guidance of edge cues. Firstly, we introduce an edge-guided attention module to model the explicit boundary information, which generates more discriminative features. Secondly, a feature aggregation module is proposed to aggregate the multi-scale discriminative features by regrouping them into three levels, effectively aggregating global and local information for locating and recognizing underwater objects. Finally, we propose a wide and asymmetric receptive field block to enable features to have a wider receptive field, allowing the model to focus on more small object information. Comprehensive experiments on three challenging underwater datasets show that our method achieves superior performance on the UOD task. Copyright © 2023, The Authors. All rights reserved.

关键词： Object detection

AI-based predictive and detection models for Avian Pox caused by Avipoxvirus Spp in the Galápagos Islands

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AI-based predictive and detection models for Avian Pox cause...

International Conference on Technological Innovation and AI Research (ICTIAIR 2025)

作者： Jonathan Javier Loor-Duque Grace Rodríguez Ariana Deyaneira Jiménez-Narváez Juan David Moromenacho-Aguirre Fernando Patricio Carranco-Avila Clayanela Zambrano-Caicedo Iván Galo Reyes-Chacón Paulina Vizcaíno Manuel Eugenio Morocho-Cayamcela Yachay Tech University School of Mathematical and Computational Sciences Deep Learning for Autonomous Driving Robotics and Computer Vision Research Group DeepARC Research Urcuquí 100119 Ecuador Pontificia Universidad Católica del Ecuador Faculty of Exact and Natural Sciences Biology Quito Ecuador Universidad Internacional del Ecuador Faculty of Technical Sciences School of Computer Science Quito Ecuador

ISBN: (数字)9781837243235

Predicting infection by Avipoxvirus spp, the causative agent of avian pox, in endemic Galápagos Islands species such as the Geospiza fuliginosafinches, represents an innovative approach to controlling viral diseases in vulnerable ecosystems. This study uses artificial intelligence-based predictive models trained on a database compiled from previous research. The database was balanced and subjected to data augmentation like synthetic minority oversampling and tablediffusion. Compared with alternative studies, where the data is converted from tabular data into an image achieving a recall of 85%; our results achieve a recall of near 100% using a multi-state analysis over susceptible-infectious-recovered models in infectious diseases for populations of the European serins ( Serinus serinus), highlighting the anticipatory capacity for early identification of outbreaks and risk factors. This predictive tool not only strengthens biodiversity protection in the archipelago but also supports the development of targeted vaccines and treatments, ensuring the preservation of this unique ecosystem and providing a model applicable for monitoring other infectious diseases in bird populations.

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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