2021 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第7页

Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning 室内气流扰动的估计与自适应及其在四旋翼飞行器轨迹规划中的应用

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561679

Luqi Wang, Boyu Zhou, Chuhao Liu, S. Shen

{"title":"Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning","authors":"Luqi Wang, Boyu Zhou, Chuhao Liu, S. Shen","doi":"10.1109/ICRA48506.2021.9561679","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561679","url":null,"abstract":"It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow disturbance can be a significant adverse factor during flights, causing potential safety issues, especially in narrow and confined indoor environments. Therefore, we propose a novel method to estimate and adapt indoor ego airflow disturbance of quadrotors, meanwhile applying it to trajectory planning. Firstly, the hover experiments for different quadrotors are conducted against the proximity effects. Then with the collected acceleration variance, the disturbances are modeled for the quadrotors according to the proposed formulation. The disturbance model is also verified under hover conditions in different reconstructed complex environments. Furthermore, the approximation of Hamilton-Jacobi reachability analysis is performed according to the estimated disturbances to facilitate the safe trajectory planning, which consists of kinodynamic path search as well as B-spline trajectory optimization. The whole planning framework is validated on multiple quadrotor platforms in different indoor environments.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126300665","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

Targetless Multiple Camera-LiDAR Extrinsic Calibration using Object Pose Estimation 基于目标姿态估计的无目标多摄像头-激光雷达外部标定

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9560936

Byung-Hyun Yoon, Hyeonwoo Jeong, Kang-Sun Choi

{"title":"Targetless Multiple Camera-LiDAR Extrinsic Calibration using Object Pose Estimation","authors":"Byung-Hyun Yoon, Hyeonwoo Jeong, Kang-Sun Choi","doi":"10.1109/ICRA48506.2021.9560936","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9560936","url":null,"abstract":"We propose a targetless method for calibrating the extrinsic parameters among multiple cameras and a LiDAR sensor using object pose estimation. Contrast to previous targetless methods requiring certain geometric features, the proposed method exploits any objects of unspecified shapes in the scene to estimate the calibration parameters in single-scan configuration. Semantic objects in the scene are initially segmented from each modal measurement. Using multiple images, a 3D point cloud is reconstructed up-to-scale. By registering the up-to-scale point cloud to the LiDAR point cloud, we achieve an initial calibration and find correspondences between point cloud segments and image object segments. For each point cloud segment, a 3D mesh model is reconstructed. Based on the correspondence information, the color appearance model for the mesh can be elaborately generated with corresponding object instance segment within the images. Starting from the initial calibration, the calibration is gradually refined by using an object pose estimation technique with the appearance models associated with the 3D mesh models. The experimental results confirmed that the proposed framework achieves multimodal calibrations successfully in a single shot. The proposed method can be effectively applied for extrinsic calibration for plenoptic imaging systems of dozens of cameras in single-scan configuration without specific targets.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126477867","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: 5

Self-Organized Evasive Fountain Maneuvers with a Bioinspired Underwater Robot Collective 自组织躲避喷泉机动与生物启发水下机器人集体

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561407

F. Berlinger, Paula Wulkop, R. Nagpal

引用次数: 7

A Capturability-based Control Framework for the Underactuated Bipedal Walking * 基于可捕获性的欠驱动双足步行控制框架*

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9562090

Haihui Yuan, Sumian Song, Ruilong Du, Shiqiang Zhu, J. Gu, Mingguo Zhao, Jianxin Pang

引用次数: 3

Priority Patrolling using Multiple Agents 使用多代理进行优先巡逻

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561785

Deepak Mallya, S. Kandala, L. Vachhani, A. Sinha

引用次数: 2

Towards Robust Planar Translations using Delta-manipulator Arrays 利用delta操纵器阵列实现鲁棒平面平移

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561003

Skye Thompson, Pragna Mannam, Zeynep Temel, Oliver Kroemer

引用次数: 4

Multi-Parameter Optimization for a Robust RGB-D SLAM System 鲁棒RGB-D SLAM系统的多参数优化

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561538

Yizhao Wang, Xiaoxiao Zhu, Guohan He, Q. Cao

引用次数: 2

Inertial Aided 3D LiDAR SLAM with Hybrid Geometric Primitives in Large-scale Environments 大尺度环境下混合几何基元的惯性辅助三维激光雷达SLAM

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561511

Wen Chen, Hongchao Zhao, Qihui Shen, Chao Xiong, Shunbo Zhou, Yunhui Liu

引用次数: 2

Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies 综合踝关节，髋关节，步进和高度变化策略的多功能运动

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561130

Jiatao Ding, Songyan Xin, Tin Lun Lam, S. Vijayakumar

{"title":"Versatile Locomotion by Integrating Ankle, Hip, Stepping, and Height Variation Strategies","authors":"Jiatao Ding, Songyan Xin, Tin Lun Lam, S. Vijayakumar","doi":"10.1109/ICRA48506.2021.9561130","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561130","url":null,"abstract":"Stable walking in real-world environments is a challenging task for humanoid robots, especially when considering the dynamic disturbances, e.g., caused by external perturbations that may be encountered during locomotion. The varying nature of disturbance necessitates high adaptability. In this paper, we propose an enhanced Nonlinear Model Predictive Control (NMPC) approach for robust and adaptable walking – we term it versatile locomotion, by limiting both the Center of Pressure (CoP) and Divergent Component of Motion (DCM) movements. Due to utilization of the Nonlinear Inverted Pendulum plus Flywheel model, the robot is endowed with the capabilities of CoP manipulation (if equipped with finitesized feet), step location adjustment, upper body rotation, and vertical height variation. Considering the feasibility constraints, especially the usage of relaxed CoP constraints, the NMPC scheme is established as a Quadratically Constrained Quadratic Programming problem, which is solved efficiently by Sequential Quadratic Programming with enhanced solvability. Simulation experiments demonstrate the effectiveness of our method to recruit optimal hybrid strategies in order to realize versatile locomotion, for the robot with finite-sized or point feet.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"95 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131932353","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: 4

A Flexible and Efficient Loop Closure Detection Based on Motion Knowledge 一种灵活高效的基于运动知识的闭环检测方法

2021 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2021-05-30 DOI: 10.1109/ICRA48506.2021.9561126

Bingxi Liu, Fulin Tang, Yu-Ting Fu, Yanqun Yang, Yihong Wu

{"title":"A Flexible and Efficient Loop Closure Detection Based on Motion Knowledge","authors":"Bingxi Liu, Fulin Tang, Yu-Ting Fu, Yanqun Yang, Yihong Wu","doi":"10.1109/ICRA48506.2021.9561126","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561126","url":null,"abstract":"Loop closure detection (LCD) is an essential module for simultaneous localization and mapping (SLAM), which can correct accumulated errors after long-term explorations. The widely used bag-of-words (BoW) model can not satisfy well the requirements of both low time consumption and high accuracy for a mobile platform. In this paper, we propose a novel LCD algorithm based on motion knowledge. We give a flexible and efficient detection strategy and also give flexible and efficient combinations of a global binary feature extracted by convolutional neural network (CNN) and a hand-crafted local binary feature. We take a continuous motion model, grid-based motion statistics (GMS) and motion states as motion knowledge. Furthermore, we fuse the proposed LCD with a visual-inertial odometry (VIO) system to correct localization errors by a pose graph optimization. Comparative experiments with state-of-the-art LCD algorithms on typical datasets have been carried out, and the results demonstrate that our proposed method achieves quite high recall rates and quite high speed at 100% precision. Moreover, experimental results from VIO further validate the effectiveness of the proposed method.","PeriodicalId":108312,"journal":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","volume":"241 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132074728","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