2015 European Conference on Mobile Robots (ECMR)最新文献_第2页

Employing Android devices for autonomous control of a UGV 采用Android设备自主控制UGV

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324200

Russell J. Harding, M. Whitty

引用次数: 2

A proposal for semantic map representation and evaluation 一种语义图表示与评估方法

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324198

R. Capobianco, Jacopo Serafin, Johann Dichtl, G. Grisetti, L. Iocchi, D. Nardi

引用次数: 19

Show me your moves! Conveying navigation intention of a mobile robot to humans 让我看看你的舞步!将移动机器人的导航意图传递给人类

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324049

Alyxander David May, C. Dondrup, Marc Hanheide

{"title":"Show me your moves! Conveying navigation intention of a mobile robot to humans","authors":"Alyxander David May, C. Dondrup, Marc Hanheide","doi":"10.1109/ECMR.2015.7324049","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324049","url":null,"abstract":"When humans and mobile robots share the same space, one of their challenges is to navigate around each other and manage their mutual navigational intents. While humans have developed excellent skills in inferring their counterpart's intentions via a number of implicit and non-verbal cues, making navigation also in crowds an ease, this kind of effective and efficient communication often falls short in human-robot encounters. In this paper, two alternative approaches to convey navigational intent of a mobile robot to humans in a shared environment are proposed and analysed. The first is utilising anthropomorphic features of the mobile robot to realise an implicit joint attention using gaze to represent the direction of navigational intent. In the second approach, a more technical design adopting the semantics of car's turn indicators, has been implemented. The paper compares both approaches with each other and against a control behaviour without any communication of intent. Both approaches show statistically significant differences in comparison to the control behaviour. However, the second approach using indicators has shown as being more effective in conveying the intent and also has a higher positive impact on the comfort of the humans encountering the robot.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123938452","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: 42

Exploration under sparsity constraints 稀疏性约束下的探索

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324173

Christoph Manss, D. Shutin, Alberto Viseras Ruiz, T. Wiedemann, Joachim Müller

{"title":"Exploration under sparsity constraints","authors":"Christoph Manss, D. Shutin, Alberto Viseras Ruiz, T. Wiedemann, Joachim Müller","doi":"10.1109/ECMR.2015.7324173","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324173","url":null,"abstract":"This paper addresses the problem of designing an efficient exploration strategy for multiple mobile agents. As an exploration strategy, an intelligent waypoint generation is considered, where the trajectory of the agent is governed by the properties of the explored phenomenon. Here it is assumed that the explored field is sparse in it's spatial distribution; consequently, it is assumed that a certain agent's movement trajectory might favor a sparse solution, as contrasted to simple sampling strategies. Specifically, these trajectories lead to an emergence of a structured sensing matrix consisting of shifted sensor impulse responses. Nevertheless some properties of this matrix, such as low mutual coherence, are essential for a successful sparse reconstruction of the phenomenon. Thus, the agents are directed to move so as to favor the desired properties of the sensing matrix, an approach termed sparse exploration. Unfortunately, numerical techniques for optimization of the sensing matrix are intractable. Therefore this paper proposes a number of heuristics, which numerically optimize the measurement locations of the agents so as to favor a sparse solution. Synthetic experiments are performed to demonstrate the effectiveness of the proposed heuristics as compared to simple random walk or regular movement patterns.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128019532","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

Robot plans execution for information gathering tasks with resources constraints 机器人对资源受限的信息收集任务进行计划执行

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324216

Minlue Wang, R. Dearden, Nick Hawes

引用次数: 2

Novel approach for calculating motion feedback in teleoperation 遥操作中运动反馈计算的新方法

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324186

J. Lächele, J. Venrooij, P. Pretto, A. Zell, H. Bülthoff

引用次数: 0

Where am I? An NDT-based prior for MCL 我在哪儿?基于ndt的MCL先验

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324175

T. Kucner, Martin Magnusson, A. Lilienthal

{"title":"Where am I? An NDT-based prior for MCL","authors":"T. Kucner, Martin Magnusson, A. Lilienthal","doi":"10.1109/ECMR.2015.7324175","DOIUrl":"https://doi.org/10.1109/ECMR.2015.7324175","url":null,"abstract":"One of the key requirements of autonomous mobile robots is a robust and accurate localisation system. Recent advances in the development of Monte Carlo Localisation (MCL) algorithms, especially the Normal Distribution Transform Monte Carlo Localisation (NDT-MCL), provides memory-efficient reliable localisation with industry-grade precision. We propose an approach for building an informed prior for NDT-MCL (in fact for any MCL algorithm) using an initial observation of the environment and its map. Leveraging on the NDT map representation, we build a set of poses using partial observations. After that we construct a Gaussian Mixture Model (GMM) over it. Next we obtain scores for each distribution in GMM. In this way we obtain in an efficient way a prior for NDT-MCL. Our approach provides a more focused then uniform initial distribution, concentrated in states where the robot is more likely to be, by building a Gaussian mixture model over potential poses. We present evaluations and quantitative results using real-world data from an indoor environment. Our experiments show that, compared to a uniform prior, the proposed method significantly increases the number of successful initialisations of NDT-MCL and reduces the time until convergence, at a negligible initial cost for computing the prior.","PeriodicalId":142754,"journal":{"name":"2015 European Conference on Mobile Robots (ECMR)","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133939533","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: 9

Anticipate your surroundings: Predictive collision detection between dynamic obstacles and planned robot trajectories on the GPU 预测周围环境:在GPU上预测动态障碍物和计划机器人轨迹之间的碰撞检测

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324047

Andreas Hermann, Felix Mauch, Klaus Fischnaller, Sebastian Klemm, A. Rönnau, R. Dillmann

引用次数: 21

Routing and course control of an autonomous sailboat 自主帆船的路线和航向控制

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324218

Hadi Saoud, Minh-Duc Hua, F. Plumet, F. B. Amar

引用次数: 29

Model-based integration testing of ROS packages: A mobile robot case study 基于模型的ROS包集成测试:移动机器人案例研究

2015 European Conference on Mobile Robots (ECMR) Pub Date : 2015-11-12 DOI: 10.1109/ECMR.2015.7324210

J. Ernits, E. Halling, Gert Kanter, J. Vain

引用次数: 6