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2022 8th International Conference on Automation, Robotics and Applications (ICARA)最新文献

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Real Time Lidar Odometry and Mapping and Creation of Vector Map 实时激光雷达测程和测绘以及矢量地图的创建
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738576
A. Thakur, Bhaskar Anand, Harshal Verma, P. Rajalakshmi
{"title":"Real Time Lidar Odometry and Mapping and Creation of Vector Map","authors":"A. Thakur, Bhaskar Anand, Harshal Verma, P. Rajalakshmi","doi":"10.1109/ICARA55094.2022.9738576","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738576","url":null,"abstract":"Environment mapping and localization is one of the remarkable technology for an autonomous vehicle (AV). Self localization of vehicle or robots with very high accuracy is required for the proper navigation. Through the Simultaneous Localization and Mapping (SLAM), an AV or robot can create a map of its surroundings and simultaneously localize in it. The built maps enable important tasks such as path planning and obstacle avoidance. The Localization and Mapping process should be faster for real time applications. We have validated the accuracy of localization process with ground truth on kitti odometry benchmark dataset. Analysis of the localization accuracy, computational efficiency, rotational and translational error and loop closure has been done. After the evaluation of method, the algorithm is tested on the real time data using velodyne VLP32-C LiDAR. We have optimized the computational time of LiDAR Odometry and Mapping (LOAM) algorithm in order to use it in real time. We have created the 3D point cloud map of our campus and able to simultaneously localize the vehicle on it by our method Real Time LiDAR Odometry and Mapping (RT-LOAM) with centimeter-level accuracy. Also, the annotation on the 3D point cloud map is done to construct the vector map which is compatible to Advanced Driver Assistance Systems (ADAS) map.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115225459","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
Droneye System Using Collaborative Vagadrones 使用协同vagaddrone的无人机系统
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738580
Saifeddine Benhadhria, Nadhem Jlili, Imed Gharbi, Ameni Ben Khlifa
{"title":"Droneye System Using Collaborative Vagadrones","authors":"Saifeddine Benhadhria, Nadhem Jlili, Imed Gharbi, Ameni Ben Khlifa","doi":"10.1109/ICARA55094.2022.9738580","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738580","url":null,"abstract":"In this paper, we propose a collaborative drone system\" Droneye\" capable of performing a well-defined mission. This system is scalable because it is based on drones composed of Raspberry PI, Android and Navio that communicate with each other via a cloud server. It is also robust and intelligent because it embeds a hybrid communication (ad-hoc and lte), a task planning algorithm with priority management and management of lost or abandoned agents in order to self-adapt to incidents and unforeseen events, a facial recognition solution and real-time tracking. Several challenges have been met with this system, which has proven its effectiveness.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115928516","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
Weight-Optimized NURBS Curves: Headland Paths for Nonholonomic Field Robots 重量优化NURBS曲线:非完整野外机器人的岬角路径
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738525
Maria Höffmann, Shruti Patel, C. Büskens
{"title":"Weight-Optimized NURBS Curves: Headland Paths for Nonholonomic Field Robots","authors":"Maria Höffmann, Shruti Patel, C. Büskens","doi":"10.1109/ICARA55094.2022.9738525","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738525","url":null,"abstract":"In this work we develop a method for generating smooth headland paths which satisfy mechanical constraints of a nonholonomic field robot, while simultaneously fulfilling given optimization criteria. The feasibility of the method is explored in the context of agricultural fields. The headland paths are based on Non-Uniform Rational B-Spline (NURBS) curves, which offer a high level of customizability in terms of the degree of smoothness and continuity of the curves. We present the approach for setting control points for the NURBS curves for convex and concave vertices of the field, and formulate a nonlinear optimization problem (NLP) for computing the associated weights. We demonstrate the effectiveness of our method by showing the resulting paths along with their smooth curvature profiles for an example as well as a real field.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130692807","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
Terrain Traversability Mapping Based on LiDAR and Camera Fusion 基于激光雷达和相机融合的地形可穿越性映射
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738526
Lupeng Zhou, Ji-kai Wang, Shiqi Lin, Zonghai Chen
{"title":"Terrain Traversability Mapping Based on LiDAR and Camera Fusion","authors":"Lupeng Zhou, Ji-kai Wang, Shiqi Lin, Zonghai Chen","doi":"10.1109/ICARA55094.2022.9738526","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738526","url":null,"abstract":"Terrain traversability mapping plays an important role in autonomous exploration of unmanned ground vehicles. In many cases, information from a single sensor such as LiDAR or camera may not be sufficient for estimating traversability reliably. For example, LiDAR-based methods are better at identifying areas with strong structural characteristics, rather than cluttered areas, such as lawns. Vision-based methods can distinguish different regions with semantic meanings. However, sometimes there may be a misclassification due to a domain gap or other reasons, which will make it risky during the robot’s navigation process. In this work, we propose a novel LiDAR-vision-based method for terrain traversability mapping. Our method is mainly composed of three modules: vision-based traversable area segmentation, LiDAR-based traversable area extraction, and Bayesian fusion. Experimental results demonstrate that the proposed method is able to fulfill real-time and reliable traversability mapping and shows superior to the state-of-the-art method.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132904344","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
Strategies to Promote Cooperation in Mobile Networks 促进移动网络合作的战略
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738535
Wang Tao, Wen Wei, Yin Xin, Meiqi Hu
{"title":"Strategies to Promote Cooperation in Mobile Networks","authors":"Wang Tao, Wen Wei, Yin Xin, Meiqi Hu","doi":"10.1109/ICARA55094.2022.9738535","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738535","url":null,"abstract":"In self-organized systems such as mobile ad hoc networks, decisions taken by individual nodes may damage the interests of the whole system. Mobile users need to cooperate with each other to improve the whole system’s payoffs. We address the problem by constructing a random mobile multi-agent system, in which agents playing repeated Prisoner’s Dilemma game and Snowdrift game with each other. Agents can remember the game history and make decisions. There are two evolutionary modes: combat–offspring–diffusion (COD) and combat–diffusion– offspring (CDO). The simulation results show that CDO mode can promote cooperation; memory can promote cooperation especially for the Prisoner’s dilemma game. We also studied the R, ST, P reciprocity and strategies distribution of the system. For the Prisoner’s dilemma game, \"Win-stay-lose-shift\" is the dominant strategy; For the Snowdrift game, \"1011\" is the dominant strategy, which promotes the ST reciprocity.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115234461","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
Automated Monitoring of Pollinators With Agricultural Robots 用农业机器人自动监测传粉者
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738573
Haron Abdel-Raziq, Kirstin H. Petersen
{"title":"Automated Monitoring of Pollinators With Agricultural Robots","authors":"Haron Abdel-Raziq, Kirstin H. Petersen","doi":"10.1109/ICARA55094.2022.9738573","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738573","url":null,"abstract":"With a growing population, global food demand continues to rise. Many crops depend on wild and managed pollinators that are experiencing steep population declines. This directly impacts growers’ ability to increase food production and is compounded by a lack of systems for monitoring and under-standing pollinator behavior. Here, we present task allocation methods that would allow us to leverage existing agricultural robots to monitor both natural and wild pollinator behavior. This would supply growers with information key to improving orchard management such as the interaction between foragers and the orchard as well as the effect of foragers on crop growth. We compare three different task allocation methods for visual monitoring of pollinators designed around the type of activities necessary for an agricultural robot. Our approach is tested in a comprehensive simulator that considers the structure and bloom of an orchard and the time-evolving nature of honey bee flights. Our results indicate that intermittently monitoring an orchard permits estimations with a small (3-9 out of 25) pollinator error margin and that this strategy can also be used to detect spontaneous events.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116411221","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
Aggressive Linear Setpoint Regulators for the Speed Control of Industrial DC Motors 工业直流电机速度控制的主动线性设定值调节器
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738584
L. Dritsas
{"title":"Aggressive Linear Setpoint Regulators for the Speed Control of Industrial DC Motors","authors":"L. Dritsas","doi":"10.1109/ICARA55094.2022.9738584","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738584","url":null,"abstract":"The objectives of our research is twofold. First we present a generic LMI–based H∞ control design framework with various degrees of aggressiveness for robust setpoint regulation of linear systems with time varying disturbances. The proposed method incorporates ideas from the H∞ mixed–sensitivity design expressed solely in state–space. The design procedure is a multiobjective optimization problem which, if feasible, guarantees stability, robust setpoint regulation, disturbance attenuation, norm-2 gain minimization and performance with various degrees of aggressiveness. The proposed methodology is applied to an industrial 37kW DC Motor demonstrating the efficacy of the proposed methodology.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"188 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122539590","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
Fuzzy Model Reference Adaptive Control of Consensus-based Helical UAV Formations 基于共识的螺旋无人机编队模糊模型参考自适应控制
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738579
Tagir Z. Muslimov, R. Munasypov
{"title":"Fuzzy Model Reference Adaptive Control of Consensus-based Helical UAV Formations","authors":"Tagir Z. Muslimov, R. Munasypov","doi":"10.1109/ICARA55094.2022.9738579","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738579","url":null,"abstract":"Helical formations of unmanned aerial vehicles (UAVs), which constitute the subject matter hereof, are a step up from 2D circular formations to 3D formations that control the UAV altitude difference. Helical formations need to be controlled when fixed-wing UAVs are climbing or descending, whereby the formation may neither change its structure nor stop tracking its ground target. Decentralized formations, e.g., consensus-based ones, complicate the problem. The author’s research has shown uncertain UAV dynamics threatens the stability of the system and may thus jeopardize the formation control algorithms. This paper presents a control concept for consensus-based helical UAV formations; the concept uses fuzzy model reference adaptive control (fuzzy MRAC). Unlike many other papers, the approach proposed hereon utilizes fuzzy Lyapunov functions to stabilize the adaptation loop. Simulations on full nonlinear UAV models (6 degrees of freedom and 12 states) show this approach to be effective. Formation controllers keep the system stable by means of self-tuning, which showcases the effectiveness of the approach. As a result, we were able to attain a helical 3D formation even in light of uncertain dynamics.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"406 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127596217","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
A Flexible Power Delivery System for Remote Nuclear Inspection Instruments 一种用于远程核检测仪器的柔性电力输送系统
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738575
Y. Verbelen, David A. Megson-Smith, Freddie S. Russell-Pavier, P. Martin, D. Connor, M. R. Tucker, T. Scott
{"title":"A Flexible Power Delivery System for Remote Nuclear Inspection Instruments","authors":"Y. Verbelen, David A. Megson-Smith, Freddie S. Russell-Pavier, P. Martin, D. Connor, M. R. Tucker, T. Scott","doi":"10.1109/ICARA55094.2022.9738575","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738575","url":null,"abstract":"Remote inspection instruments for applications in nuclear environments, such as uranium processing facilities, reprocessing plants or nuclear power stations, have high reliability requirements. When deployed in a radiation field, damage induced by ionising radiation has the potential to disrupt or damage electronic circuitry, disabling inspection instruments. With power supply circuits particularly sensitive to radiation damage, care must be taken to design robust circuits that are radiation tolerant. The solution implemented in this work is a buck-boost converter with external SiC MOSFETs. It has an input supply range of 10 V – 40 V with maximum output power of 100 W at an output voltage of 12 V. The prototype has an electrical conversion efficiency between 73% and 95%, and a maximum ripple of 160 mV. The prototype was deployed in various radioactive environments in the Chernobyl Nuclear Power Plant in Ukraine, with a radiation flux up to 175 µGy h−1, without hardware failures observed.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134465921","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
Automated Roadmap Graph Creation and MAPF Benchmarking for Large AGV Fleets 大型AGV车队的自动路线图图创建和MAPF基准测试
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738574
Jonas Stenzel, Lea Schmitz
{"title":"Automated Roadmap Graph Creation and MAPF Benchmarking for Large AGV Fleets","authors":"Jonas Stenzel, Lea Schmitz","doi":"10.1109/ICARA55094.2022.9738574","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738574","url":null,"abstract":"In this paper we present a concept and first evaluation of an automated topology creation and two different Multi-Agent Path Finding (MAPF) approaches for large robot fleets with the focus on logistic applications. Based on a map or a CAD file and the robot size an algorithm for creating a so called Roadmap Graph will be introduced. The algorithm is able to utilize as much of the available space as possible and can also guarantee that neither edges nor vertices overlap each other which may lead to collisions of the robots. In order to analyse the quality of the Roadmap Graph, an analysis of different graph variants using measures from graph theory is presented. Additionally, an evaluation of routing performance using one of the MAPF algorithms has been conducted on these graphs. Finally, a brief evaluation and comparison of the two MAPF algorithms on exemplaric gridmap graphs show the generic advantages and disadvantage of both algorithms.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132379465","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
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