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2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/icara55094.2022.9738522
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引用次数: 0
Deployment of Aerial Robots During the Flood Disaster in Erftstadt / Blessem in July 2021 2021年7月埃尔夫施塔特/布莱斯姆洪灾期间空中机器人的部署
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738529
H. Surmann, Dominik Slomma, R. Grafe, Stefan Grobelny
{"title":"Deployment of Aerial Robots During the Flood Disaster in Erftstadt / Blessem in July 2021","authors":"H. Surmann, Dominik Slomma, R. Grafe, Stefan Grobelny","doi":"10.1109/ICARA55094.2022.9738529","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738529","url":null,"abstract":"Climate change is leading to more and more extreme weather events such as heavy rainfall and flooding. This technical report deals with the question of how rescue commanders can be better and faster provided with current information during flood disasters using Unmanned Aerial Vehicles (UAVs), i.e. during the flood in July 2021 in Central Europe, more specifically in Erftstadt / Blessem. The UAVs were used for live observation and regular inspections of the flood edge on the one hand, and on the other hand for the systematic data acquisition in order to calculate 3D models using Structure from Motion and MultiView Stereo. The 3D models embedded in a GIS application serve as a planning basis for the systematic exploration and decision support for the deployment of additional smaller UAVs but also rescue forces. The systematic data acquisition of the UAVs by means of autonomous meander flights provides high-resolution images which are computed to a georeferenced 3D model of the surrounding area within 15 minutes in a specially equipped robotic command vehicle (RobLW). From the comparison of high-resolution elevation profiles extracted from the 3D model on successive days, changes in the water level become visible. This information enables the emergency management to plan further inspections of the buildings and to search for missing persons on site.","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":"126187768","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: 7
Hybrid Terrain Traversability Analysis in Off-road Environments 越野环境下混合地形穿越性分析
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738557
Tiga Ho Yin Leung, Dmitry I. Ignatyev, A. Zolotas
{"title":"Hybrid Terrain Traversability Analysis in Off-road Environments","authors":"Tiga Ho Yin Leung, Dmitry I. Ignatyev, A. Zolotas","doi":"10.1109/ICARA55094.2022.9738557","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738557","url":null,"abstract":"There is a significant growth in autonomy level in off-road ground vehicles. However, unknown off-road environments are often challenging due to their unstructured and rough nature. To find a path that the robot can move smoothly to its destination, it needs to analyse the surrounding terrain. In this paper, we present a hybrid terrain traversability analysis framework. Semantic segmentation is implemented to understand different types of the terrain surrounding the robot; meanwhile geometrical properties of the terrain are assessed with the aid of a probabilistic terrain estimation. The framework represents the traversability analysis on a robot-centric cost map, which is available to the path planners. We evaluated the proposed framework with synchronised sensor data captured while driving the robot in real off-road environments. This thorough terrain traversability analysis will be crucial for autonomous navigation systems in off-road environments.","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":"125728645","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
AR Tags Based Absolute Positioning System 基于AR标签的绝对定位系统
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738534
Adrian Kawecki, P. Dabrowski, Stanisław Januszko, M. Rećko, K. Dzierżek
{"title":"AR Tags Based Absolute Positioning System","authors":"Adrian Kawecki, P. Dabrowski, Stanisław Januszko, M. Rećko, K. Dzierżek","doi":"10.1109/ICARA55094.2022.9738534","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738534","url":null,"abstract":"The presented work describes the implementation of a system for positioning a mobile robot in a workspace using an AR (Augmented Reality) tag system. This was realized by means of a stereovision camera placed on top of the robot, which, with the aid of a gimbal (a two-joint camera reorientation system), had the ability to dynamically rotate in order to control the entire area around the robot. Markers with predetermined identification numbers were placed at specific locations in the robot’s work area. A topological map of the workspace was created. The robot determined its position based on this map. A simulation and an actual model of a 6-wheeled robotic platform were used to test the stereovision system. The experiment results came from the simulation performed in Gazebo software designed for such analyses and adapted to work with ROS (Robot Operating System) ecosystem. The results of the algorithm’s performance for both the simulation and the actual robotic platform were compared with each other. To verify the algorithm’s performance, tools available in both ROS and Gazebo (including rviz) were used.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"21 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":"128810477","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
GPU Accelerated Collision Detection for Robotic Manipulators 基于GPU加速的机器人碰撞检测
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738587
D. Szabó, E. Szádeczky-Kardoss
{"title":"GPU Accelerated Collision Detection for Robotic Manipulators","authors":"D. Szabó, E. Szádeczky-Kardoss","doi":"10.1109/ICARA55094.2022.9738587","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738587","url":null,"abstract":"This paper presents a collision detection method for robotic manipulators. In this work, three methods are compared with each other. In the first one, both the segments of the manipulator and the obstacles are modeled with polyhedrons, and the collision between them is detected by checking the feasibility of the union of inequality systems describing each of them. The second one is solving the collision detection problem between meshes and polyhedrons, while the third one uses the same process, but parallelizing it by using GPU. These are general methods to determine which robot configurations are causing collisions, so they can be used in path-planning or in collision-avoidance algorithms as well. The presented GPU-based parallelized method overperformed the previously examined algorithms and it is fast enough to use in online applications.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"92 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":"124160784","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
Global Maximum Power Point Tracking (GMPPT) Control Method of Solar Photovoltaic System under Partially Shaded Conditions 部分遮阳条件下太阳能光伏系统全局最大功率点跟踪控制方法
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738531
M. Sarhan, A. Bień, S. Barczentewicz, R. Hassan
{"title":"Global Maximum Power Point Tracking (GMPPT) Control Method of Solar Photovoltaic System under Partially Shaded Conditions","authors":"M. Sarhan, A. Bień, S. Barczentewicz, R. Hassan","doi":"10.1109/ICARA55094.2022.9738531","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738531","url":null,"abstract":"When PV system operates under partial shading condition (PSC), the P-V characteristics curve of PV system will have different local maximum points. The existence of several peaks on the PV characteristics curve causes more complexity to extract the global maximum point under these conditions. Therefore, proposing an intelligent MPPT tracker which presents an efficient prediction of the global maximum power point from PV system under uniform or non-uniform solar irradiation levels is the key purpose of this paper. The desired tasks are accomplished efficiently by using this intelligent tracker which is based on two inputs-one output adaptive neuro-fuzzy inference system (ANFIS). The inputs of ANFIS controller are the PV system voltage and current respectively while, the output is the maximum voltage. The training of ANFIS network is accomplished using a database analyzed for various partial shading scenarios extracted from the simulation platform by examining the PV system at different levels of radiation and temperature, then the optimal maximum voltage at each specific level of radiation and temperature was obtained to be used as training data. The proposed method is examined under three scenarios for partial shading condition in order to investigate its effectiveness adequately. The results ensure that the proposed tracker can distinguish between global and local maximum power points of PV system effectively and robustly. The validity of this intelligent proposed method is implemented using MATLAB/Simulink environment.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"57 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120819831","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
Minotaur - A Single Lane Navigation System 牛头怪-单车道导航系统
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738520
Harsh Kaushal, Vinayak Dhruv, I. Sreedevi
{"title":"Minotaur - A Single Lane Navigation System","authors":"Harsh Kaushal, Vinayak Dhruv, I. Sreedevi","doi":"10.1109/ICARA55094.2022.9738520","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738520","url":null,"abstract":"Autonomous driving has been a major field for re-search, with recent developments in self-driving vehicles, various studies are being done for building affordable autonomous rovers and bots. In this paper we propose Minotaur, an autonomous differential drive rover with perception and control abilities that have been designed on the ROS(Robot Operating System) platform. We have introduced a deep learning based solution for lane detection, replacing the previously used classical methods and sensors. For safeguarding, a rollover protection system and an M-Stop Button are incorporated, along with hand-curated hardware interfacing and High-Level PID tuning. We discuss our navigation stack that has been successfully deployed on a hardware system capable of Single Lane Navigation and obstacle avoidance along with waypoint Navigation. Improvements from traditional methods and results have also been presented.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"5 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":"120977805","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
Bounding Box Matching: A Sparse Object-centric Correspondence Method for Stereo Vision 边界框匹配:一种用于立体视觉的稀疏对象中心对应方法
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738565
Tomas Sindel, Prabhu R. Naraharisetti, M. Saliba, S. Fabri
{"title":"Bounding Box Matching: A Sparse Object-centric Correspondence Method for Stereo Vision","authors":"Tomas Sindel, Prabhu R. Naraharisetti, M. Saliba, S. Fabri","doi":"10.1109/ICARA55094.2022.9738565","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738565","url":null,"abstract":"In this work a simplified method for sparse, object-centric disparity estimation is proposed. It combines the state-of-the-art object detector YOLOv4 with image rectification to produce a disparity map with high speed suitable for real-time applications. Similarly, as other methods based on convolutional neural networks, this approach uses contextual and semantic image information and is robust to ill-posed image regions such as reflective, textureless and occluded regions, but requires less computational resources at the expense of detail and estimation accuracy. The method has been implemented on the Tensorflow platform and has been consequently deployed with the LabVIEW graphical programming language. It has been shown that the method works best at large distances, small object depth to distance ratios and moderate eccentricities. The source code can be found at: https://github.com/tsindel/bbox-matching.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"89 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":"116443391","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 SINS/CNS/GPS Online Calibration Method Based on Improved Sage-Husa Adaptive Filtering Algorithm 基于改进Sage-Husa自适应滤波算法的SINS/CNS/GPS在线标定方法
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738530
Hongqi Zhai, Lihui Wang
{"title":"A SINS/CNS/GPS Online Calibration Method Based on Improved Sage-Husa Adaptive Filtering Algorithm","authors":"Hongqi Zhai, Lihui Wang","doi":"10.1109/ICARA55094.2022.9738530","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738530","url":null,"abstract":"To solve the problem that the filtering accuracy of the online calibration decreases or even diverges due to time-varying noise and outlier value interference, a SINS/CNS/GPS high-precision integrated navigation online calibration method based on the improved Sage-Husa adaptive filtering algorithm is designed. In the proposed method, a 21-dimensional state space model and 9-dimensional measurement model are established. Furthermore, on the basis of the simplified Sage-Husa adaptive filtering algorithm, a smoothing estimator and an adaptive robust factor are introduced to suppress the influence on the filtering accuracy due to the abnormal disturbances in the measurement information, which improving the online calibration accuracy of integrated navigation. The simulation results show that the online calibration method based on the improved Sage-Husa adaptive filtering algorithm can better calibrate the error parameters, especially the calibration of the lever arm error for the east and up directions.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"80 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":"133584219","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
Exhaustive Simulation Approach for a Virtual Camera Calibration Evaluation in Gazebo Gazebo虚拟摄像机标定评估的穷举仿真方法
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738581
T. Tsoy, Ramil Safin, E. Martínez-García, Sumantra Dutta Roy, S. Saha, E. Magid
{"title":"Exhaustive Simulation Approach for a Virtual Camera Calibration Evaluation in Gazebo","authors":"T. Tsoy, Ramil Safin, E. Martínez-García, Sumantra Dutta Roy, S. Saha, E. Magid","doi":"10.1109/ICARA55094.2022.9738581","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738581","url":null,"abstract":"Camera calibration is an essential research field with a high potential for emerging algorithms and calibration targets. In this work, we present a virtual experiments approach in Gazebo simulator for exhaustive camera calibration methods and calibration targets evaluation. Key steps of the camera calibration workflow were adapted to the Gazebo simulation approach. We proposed a virtual camera calibration evaluation pipeline that includes camera modeling and calibration target’s pose generation in a viewing frustum. Experiments in the Gazebo demonstrated virtual environment feasibility for camera calibration evaluation while comparing checkerboard and circle grid targets, and allowed to achieve an acceleration of more than 30 times compared to the real-time. Experimental results exhibited a need for additional calibration steps incorporation, such as outliers rejection and optimal calibration target poses generation.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"35 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":"133125185","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
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