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2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)最新文献

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Utilization of collaborative mapping in parking systems 协同测绘在停车系统中的应用
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263770
László Kocsány, Anna Barbara Ádám, E. Szádeczky-Kardoss
{"title":"Utilization of collaborative mapping in parking systems","authors":"László Kocsány, Anna Barbara Ádám, E. Szádeczky-Kardoss","doi":"10.1109/ISMCR51255.2020.9263770","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263770","url":null,"abstract":"Nowadays advanced driver-assistance (ADAS) systems are of general use, as they help vehicle drivers while driving or during parking. These systems can perform the parking tasks when the goal configuration is available for the vehicle. However, the urban environment makes the parking lot search an inevitable and unpleasant task, as for ADAS systems a goal configuration is required in order to perform the parking maneuver. The literature provided solutions for the parking lot exploration mainly focus on the use of preinstalled sensors in parking lots. The presented paper proposes an autonomous parking system using alternately bird’s eye view maps and community built maps such as Open Street Map. The alternate use of these maps provides the parking lot exploration subsystem for the autonomous parking system. When an additional environmental sensor is installed on the vehicle, making the detection of parking space candidates possible, the use of preinstalled sensors in parking lots becomes unnecessary.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121436306","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Comparison of High-Precision GNSS systems for development of an autonomous localization system 高精度GNSS系统的比较，用于自主定位系统的开发
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263762
H. Somogyi, A. Soumelidis
{"title":"Comparison of High-Precision GNSS systems for development of an autonomous localization system","authors":"H. Somogyi, A. Soumelidis","doi":"10.1109/ISMCR51255.2020.9263762","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263762","url":null,"abstract":"In the near future, the vehicles offering advanced driver assistance or fully autonomous operation. It will require increasingly accurate position information, available in all driving conditions and with 100 percent availability. In generally, a single sensor cannot meet these requirements alone and so it is necessary to use a combined sensor suite solution incorporating different kinds of sensors working together. As the only source of absolute position, velocity and time, Global Navigation Satellite systems (GNSS) play a critical role in next generation positioning systems. In this paper, we are dealing with modern GNSS solutions and presents the results of the comparison of two high-precision GNSS systems in different driving conditions and presents conclusion for the develop of autonomous localization system.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"129 1-2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116706992","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Dependency of properties of a tactile sensor on the electrode design and conductive ink layer 触觉传感器性能与电极设计和导电油墨层的关系
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263774
J. Volf, J. Stebila, Marek Škeřík, V. Ryženko, V. Novák
{"title":"Dependency of properties of a tactile sensor on the electrode design and conductive ink layer","authors":"J. Volf, J. Stebila, Marek Škeřík, V. Ryženko, V. Novák","doi":"10.1109/ISMCR51255.2020.9263774","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263774","url":null,"abstract":"The paper presents electrical characteristics of conductive ink of type Graphit 33, acting as a converter between applied pressure and output electrical signal. It mentions basic properties of the ink, including the explanation of the principle of function. Further it describes the measurement process on tactile sensors with circular electrodes of various types and dimensions. It studies the dependency of electrical resistance of the ink on the applied pressure. Various setups with different ink layer thicknesses are compared and their suitability to act as pressure converter is finally discussed.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116069569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Swarm based drone umbrellas to counter missiles 以蜂群为基础的无人机伞来对抗导弹
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263747
Lajos Szarka, I. Harmati
{"title":"Swarm based drone umbrellas to counter missiles","authors":"Lajos Szarka, I. Harmati","doi":"10.1109/ISMCR51255.2020.9263747","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263747","url":null,"abstract":"This paper presents a swarm based method to neutralize incoming missiles with drone units by forming adaptive umbrellas to electroshock the missiles’ control system. The drone navigation is a topic that is getting increased attention from the research community in recent years, while the swarm methods are still not widely used despite its strengths. This article is providing a solution to neutralize missiles with different orbits and velocity by a self-forming PSO (Particle Swarm Optimization) based drone swarm, which is performing dynamic self-distribution by a radar-based heuristic. The results are statistically evaluated and discussed. The paper concludes with proposals for future research.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114607467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Learning to Play Robot Soccer from Partial Observations 从部分观察中学习玩机器人足球
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263715
Marton Szemenyei, Patrik Reizinger
{"title":"Learning to Play Robot Soccer from Partial Observations","authors":"Marton Szemenyei, Patrik Reizinger","doi":"10.1109/ISMCR51255.2020.9263715","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263715","url":null,"abstract":"Reinforcement learning (RL) has undergone unprecedented evolution in the last few years, managing to surpass the human baseline in several high-profile board and computer games. Despite these successes, deep neural agents remained absent in several challenging fields, such as robot soccer, which is a rather complex task involving simultaneous cooperation and competition between multiple agents. In this paper, we investigate the feasibility of playing robot soccer via deep reinforcement learning using an environment of our own making. This environment provides the agent with imperfect and incomplete observations to simulate the errors of a real vision pipeline. To improve the agent’s performance on this task, an intrinsic reward module is proposed based on self-supervised learning. Our experiments show that the proposed extension significantly improves the agent.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"358 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122652256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
ISMCR 2020 Committees ISMCR 2020委员会
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ismcr51255.2020.9263753
{"title":"ISMCR 2020 Committees","authors":"","doi":"10.1109/ismcr51255.2020.9263753","DOIUrl":"https://doi.org/10.1109/ismcr51255.2020.9263753","url":null,"abstract":"","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122546838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
From Coverage Path Planning to parking lot exploration 从覆盖路径规划到停车场探索
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263739
Anna Barbara Ádám, László Kocsány, E. Szádeczky-Kardoss
{"title":"From Coverage Path Planning to parking lot exploration","authors":"Anna Barbara Ádám, László Kocsány, E. Szádeczky-Kardoss","doi":"10.1109/ISMCR51255.2020.9263739","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263739","url":null,"abstract":"Nowadays, it is getting really difficult to find an adequate free parking space, as there are more and more vehicles travelling on the roads. It is especially a difficult task to find a free parking place in huge parking garages and shopping malls, because the area of the parking zone is big, and there are a lot of cars searching for a free space. In some parking lots, a parking system is installed. These parking systems contain sensors at every parking space in order to perceive and indicate the occupancy of the given parking space. Using the signals of these systems, the vehicles can be navigated directly to the given parking space, for example using an IoT system. However, most of the parking lots are not equipped with these parking systems, so the driver must circumnavigate them, in order to be able to detect the free parking spaces. For an autonomous vehicle, a path should be planned, which drives along all the possible free parking spaces, so that the sensors of the vehicle could detect them. The parking lot exploration is very similar to the coverage path planning (CPP) problems. This paper presents CPP algorithm based parking lot exploration methods, in which personal preferences can be taken into account, too.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125451901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
A New Advantage Actor-Critic Algorithm For Multi-Agent Environments 一种新的多智能体环境下的优评算法
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263738
Gabor Paczolay, I. Harmati
{"title":"A New Advantage Actor-Critic Algorithm For Multi-Agent Environments","authors":"Gabor Paczolay, I. Harmati","doi":"10.1109/ISMCR51255.2020.9263738","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263738","url":null,"abstract":"Reinforcement learning is one of the most researched fields of artificial intelligence right now. Newer and newer algorithms are being developed, especially for deep reinforcement learning, where the selected action is computed with the assist of a neural network. One of the subcategories of reinforcement learning is multi-agent reinforcement learning, where multiple agents are present in the world. In our paper, we modify an already existing algorithm, the Advantage Actor-Critic (A2C) to be suitable for multi-agent scenarios. Afterwards, we test the modified algorithm on our testbed, a cooperative-competitive pursuit-evasion environment.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123527102","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Low-cost 3D Scanning Table for Educational Purposes 低成本教育用3D扫描台
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263711
Miroslav Kohút, Adam Sojka, Michal Tölgyessy
{"title":"Low-cost 3D Scanning Table for Educational Purposes","authors":"Miroslav Kohút, Adam Sojka, Michal Tölgyessy","doi":"10.1109/ISMCR51255.2020.9263711","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263711","url":null,"abstract":"Students studying Robotics and Cybernetics have to obtain multiple skills in areas of programming, hardware, 3D vision, etc. Many universities provide different types of hardware for the students to let them gain practical, not just theoretical experience. Universities have difficulties to cover the whole spectrum of knowledge during exercises with a specific type of hardware and teaching becomes more and more expensive. This paper describes a low-cost 3D scanning device that was created to cover the field of robotics and 3D vision, and it can be easily used for educational purposes. The cost of the device is up to 150 Euro and could be used in multiple ways such as microcontroller programming, servo control, 3D vision, 3D modelling and better understanding of space transformation. The device has open API and is fully compatible with ROS (Robot Operating System). In this paper, the function of the device and its integration to the specific subject of study is described. To ensure easier integration to the course, the API description and an open-source package will be provided. In the last part of the paper, it is described how to use the device to help students to understand space and point cloud transformation, basic data filtering and math which is required for obtaining the digital 3D object representation.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122829403","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A Medical AI Agent as a Tool for Neuropsychiatric Diagnoses 作为神经精神诊断工具的医疗人工智能代理
2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2020-10-15 DOI: 10.1109/ISMCR51255.2020.9263713
K. Rao, R. Inguva, A. Rao
{"title":"A Medical AI Agent as a Tool for Neuropsychiatric Diagnoses","authors":"K. Rao, R. Inguva, A. Rao","doi":"10.1109/ISMCR51255.2020.9263713","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263713","url":null,"abstract":"A Medical AI agent perceives its environment with sensors and aids diagnoses, communicating results to the physician and providing feedback to the patient. The agent augments existing clinician interaction by learning the evolving status of the patient over time. With limited contact between patients and physicians due to the onset of Covid-19, there is an increased need for telemedicine and the use of medical AI agents. A neuropsychiatric diagnostic system utilizing a medical AI agent is proposed to capture physiological perturbations and patient responses in order to diagnose and track patients with psychiatric disorders like PTSD. Sensors are used to capture vital physiological parameters such as skin conductance, pulse rate, and blood oxygenation. These could be augmented with cameras and microphones that are used to record patient responses such as speech perturbations, oral responses, facial expressions, eye and pupil changes, and body movements to medical questions and stimuli.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122126212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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