2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)最新文献_第2页

Synchrono: An open-source framework for physics-based simulation of collaborating robots Synchrono:一个基于物理的协作机器人仿真的开源框架

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-05-01 DOI: 10.1109/SIMPAR.2018.8376278

D. Negrut, R. Serban, A. Elmquist, Dylan Hatch

{"title":"Synchrono: An open-source framework for physics-based simulation of collaborating robots","authors":"D. Negrut, R. Serban, A. Elmquist, Dylan Hatch","doi":"10.1109/SIMPAR.2018.8376278","DOIUrl":"https://doi.org/10.1109/SIMPAR.2018.8376278","url":null,"abstract":"We present an open-source framework called SYNCHRONO that enables one to use physics-based simulation to gauge how collaborating robots work together in a variety of environments. Building on top of the CHRONO dynamics engine [1], the framework provides early support for simulation of robots operating in off-road conditions, underwater, city environments, etc. In this contribution we focus on autonomous vehicles (AVs), which represent but one of the many identities that a \"robot\" can assume. In this context, SYNCHRONO draws on a template-based vehicle library to enable the simulation of shared-road scenarios involving wheeled and/or tracked vehicles. SYNCHRONO has early support for sensing simulation, communication simulation, and virtual environment generation for rapid prototyping of virtual scenarios; i.e., virtual worlds. Although the distributed computing paradigm embraced in SYNCHRONO allows the simulation in soft real-time of nontrivial many-robot scenarios, its strength lies in the multi-physics simulation support that enables the analysis of complex scenarios that involve rigid-body dynamics, deformable bodies, and fluid-solid interaction. The caveat is that in computationally demanding cases, e.g., mobility on granular terrain, under-water robotics, etc., SYNCHRONO does not run in real-time, which in such cases prevents its hardware-in-the-loop/human-in-the-loop use.","PeriodicalId":156498,"journal":{"name":"2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134069490","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

The sleepwalker framework: Verification and validation of autonomous vehicles by mixed reality LiDAR stimulation 梦游者框架:通过混合现实激光雷达刺激验证和验证自动驾驶汽车

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-05-01 DOI: 10.1109/SIMPAR.2018.8376285

M. Zofka, Marc Essinger, Tobias Fleck, R. Kohlhaas, Johann Marius Zöllner

{"title":"The sleepwalker framework: Verification and validation of autonomous vehicles by mixed reality LiDAR stimulation","authors":"M. Zofka, Marc Essinger, Tobias Fleck, R. Kohlhaas, Johann Marius Zöllner","doi":"10.1109/SIMPAR.2018.8376285","DOIUrl":"https://doi.org/10.1109/SIMPAR.2018.8376285","url":null,"abstract":"Verification and validation of autonomous mobile systems, such as autonomous vehicles, is indispensable, since conflicts and serious incidents are rarely acceptable when human beings are involved. Although integrative simulation frameworks are commonly applied to test these systems, such simulations are usually too idealistic, while real world tests are both, expensive and not reproducible. To overcome this problem, we present the framework Sleepwalker for verifying and validating autonomous vehicles: Similar to a human sleepwalker, our framework stimulates the automated driving function at a sensor close level with virtual laserscans mixed with sensor data from the real environment. Thus, the autonomous driving function explicitely builds up a mixed reality environment model as a basis for the subsequent components and therefore enables an overall performance assessment. The instantiation of the framework is adaptable so it to can be balanced between the required result's plausibility and scenario criticality. We demonstrate the distinguished benefits of our framework by different instantiations stimulating an autonomous vehicle and conclude with further research questions.","PeriodicalId":156498,"journal":{"name":"2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134061004","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: 13

Surface/subsurface mapping with an integrated rover-GPR system: A simulation approach 利用探测车-探地雷达综合系统进行地表/地下测绘:模拟方法

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-05-01 DOI: 10.1109/SIMPAR.2018.8376265

Georgios Kouros, C. Psarras, I. Kostavelis, Dimitrios Giakoumis, D. Tzovaras

{"title":"Surface/subsurface mapping with an integrated rover-GPR system: A simulation approach","authors":"Georgios Kouros, C. Psarras, I. Kostavelis, Dimitrios Giakoumis, D. Tzovaras","doi":"10.1109/SIMPAR.2018.8376265","DOIUrl":"https://doi.org/10.1109/SIMPAR.2018.8376265","url":null,"abstract":"Autonomous subsurface mapping is a key characteristic of future robots to be realized in the construction domain, since it can be utilized in diverse applications of strategic importance. During the last years, the interest has been steered mainly towards the development of ground-penetrating radar (GPR) devices, rather than on the establishment of holistic subsurface reconstruction methods. To this end, the paper at hand introduces a simulation tool that comprises a) a surface operating rover and b) a sonar-based simulated GPR array capable, seamlessly integrated to build adjunct surface and subsurface maps. Specifically, by exploiting the onboard stereo camera of the robot and the GPR, mounted on a robotic-trailer topology, joint surface and subsurface mapping is performed. Further processing of the simulated GPR data is applied to detect and semantically annotate georeferenced buried utilities, while the localization of surface rover is also employed for the topographic correction of the accumulated B-scans during the robot's exploration. The proposed framework has been developed in the ROS framework and has been evaluated on the realistic simulation environment of Gazebo.","PeriodicalId":156498,"journal":{"name":"2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132826549","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

Dynamic programming accelerated evolutionary planning for constrained robotic missions 动态规划加速了受限机器人任务的进化规划

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-05-01 DOI: 10.1109/SIMPAR.2018.8376275

R. Kala

{"title":"Dynamic programming accelerated evolutionary planning for constrained robotic missions","authors":"R. Kala","doi":"10.1109/SIMPAR.2018.8376275","DOIUrl":"https://doi.org/10.1109/SIMPAR.2018.8376275","url":null,"abstract":"Attributed to the increased automation, the day is not far wherein the robots will be seen doing a lot of sophisticated tasks, after which it is imperative that the offices and homes will have robots to replace the secretaries to be of common use for a large number of office-mates or house-mates. A mission comprises of a collection of high order tasks that a robot is asked to do with some logical and temporal constraints. The current approaches using model verification techniques have exponential complexity in terms of the number of variables, and are therefore not scalable to a very large level. The paper proposes a constrained mission specification language consisting of a sub-task as a logical relation between atomic tasks, a task as a collection of tasks to be performed one after the other, and a mission consisting of multiple tasks given by different users. An evolutionary approach is used to compute the solution to the mission that can scale to a very large number of variables. Problem specific heuristics are devised to compute a solution quickly. Particularly Dynamic Programming is used to align the solutions of multiple tasks to make a solution of a mission. Experimental results confirm that the proposed solution performs extremely well as compared to exhaustive search based approaches, model verification approaches and evolutionary approaches available in the literature. The results are demonstrated in simulations and on the Pioneer LX robot in the lab arena.","PeriodicalId":156498,"journal":{"name":"2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117118437","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

An open-source architecture for simulation, execution and analysis of real-time robotics systems 一个用于仿真、执行和分析实时机器人系统的开源架构

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-05-01 DOI: 10.1109/SIMPAR.2018.8376277

D. L. Wigand, Pouya Mohammadi, E. Hoffman, N. Tsagarakis, Jochen J. Steil, S. Wrede

{"title":"An open-source architecture for simulation, execution and analysis of real-time robotics systems","authors":"D. L. Wigand, Pouya Mohammadi, E. Hoffman, N. Tsagarakis, Jochen J. Steil, S. Wrede","doi":"10.1109/SIMPAR.2018.8376277","DOIUrl":"https://doi.org/10.1109/SIMPAR.2018.8376277","url":null,"abstract":"The specification and analysis of the timing are an integral part of a robotics system that requires to be highly reliable. Especially since the demand for robots, which are applied in collaborative environments, is increasing drastically, robots need to be even more reliable and safe. In this paper, we propose a workflow for timing specification and analysis of real-time sensitive component-based robotics systems. Further, we introduce CoSiMA, a C++ based architecture that combines technologies, which are well-known in the domain of robotics. CoSiMA offers the ability to model, simulate, deploy, and analyze a robotics system on different robotic platforms. In addition to that, it offers a real-time safe mechanism to collect execution time data of a system, run in simulation or on the real hardware, to investigate and ensure the desired behavior of the robot. In order to depict the proposed workflow, we implemented an experimental system using CoSiMA, which lets the humanoid robot COMAN perform a Zero Moment Point-based walk on a straight line.","PeriodicalId":156498,"journal":{"name":"2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123448258","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: 8

Increased visibility sampling for probabilistic roadmaps 增加了概率路线图的可见性采样

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-05-01 DOI: 10.1109/SIMPAR.2018.8376276

R. Kala

{"title":"Increased visibility sampling for probabilistic roadmaps","authors":"R. Kala","doi":"10.1109/SIMPAR.2018.8376276","DOIUrl":"https://doi.org/10.1109/SIMPAR.2018.8376276","url":null,"abstract":"Sampling based planning algorithms solve the problem of Robot Motion Planning by sampling a number of vertices to make a roadmap or a tree, which is then searched for a solution. The sampling strategy denotes the mechanism to generate samples used to construct the tree or the roadmap. In this paper new sampling strategies are proposed for the Probabilistic Roadmap technique that generate samples aiming at maximizing the sample visibility. The increased visibility makes it easier to construct edges with the neighboring samples and thus contribute to get a solution early. Based on this principle three new samplers are pro-posed. The first sampler generates samples inside corridors and promotes them exactly to the corridor centres. The second sampler uses a distance threshold bi-nary search to approximately place the samples in the corridor centre. The last sampler attempts to bias the sampling towards narrow corridors, while still placing the samples approximately at the corridor centres. The increased visibility pays off for the increased computation effort incurred therein. The approach is tested for narrow corridor scenarios and is experimentally found to surpass all state-of-the-art sampling techniques of Probabilistic Roadmap.","PeriodicalId":156498,"journal":{"name":"2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114601851","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 control methods: Learning robotics manipulation with contact dynamics 控制方法的比较:学习接触动力学的机器人操作

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-05-01 DOI: 10.1109/SIMPAR.2018.8376263

Kedao Wang, Yong Li

引用次数: 1

Reactive path planning for collaborative robot using configuration space skeletonization 基于构形空间骨架的协同机器人响应路径规划

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-05-01 DOI: 10.1109/SIMPAR.2018.8376267

Guillaume Fuseiller, Romain Marie, G. Mourioux, Erick Duno, O. Labbani-Igbida

引用次数: 4

Optimizing robot model parameters for highly dynamic tasks 针对高动态任务的机器人模型参数优化

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-05-01 DOI: 10.1109/SIMPAR.2018.8376284

Bradley Canaday, Samuel Zapolsky, Evan Drumwright

引用次数: 0

Non-linear model predictive control with adaptive time-mesh refinement 具有自适应时间网格细化的非线性模型预测控制

2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Pub Date : 2018-03-28 DOI: 10.1109/SIMPAR.2018.8376274

Ciro Potena, Bartolomeo Della Corte, D. Nardi, G. Grisetti, A. Pretto

{"title":"Non-linear model predictive control with adaptive time-mesh refinement","authors":"Ciro Potena, Bartolomeo Della Corte, D. Nardi, G. Grisetti, A. Pretto","doi":"10.1109/SIMPAR.2018.8376274","DOIUrl":"https://doi.org/10.1109/SIMPAR.2018.8376274","url":null,"abstract":"In this paper, we present a novel solution for real-time, Non-Linear Model Predictive Control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates the Optimal Control Problem (OCP) in terms of flat outputs over an adaptive lattice. In common approximated OCP solutions, the number of discretization points composing the lattice represents a critical upper bound for real-time applications. The proposed NMPC-based technique refines the initially uniform time horizon by adding time steps with a sampling criterion that aims to reduce the discretization error. This enables a higher accuracy in the initial part of the receding horizon, which is more relevant to NMPC, while keeping bounded the number of discretization points. By combining this feature with an efficient Least Square formulation, our solver is also extremely time-efficient, generating trajectories of multiple seconds within only a few milliseconds. The performance of the proposed approach has been validated in a high fidelity simulation environment, by using an UAV platform. We also released our implementation as open source C++ code.","PeriodicalId":156498,"journal":{"name":"2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","volume":"62 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134005048","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: 3