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

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Optimal Consensus Control for Continuous-time Multi-agent Systems via Actor-Critic Neural Networks 基于Actor-Critic神经网络的连续时间多智能体系统最优一致性控制
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738588
Xiao Jia, K. Wolter
{"title":"Optimal Consensus Control for Continuous-time Multi-agent Systems via Actor-Critic Neural Networks","authors":"Xiao Jia, K. Wolter","doi":"10.1109/ICARA55094.2022.9738588","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738588","url":null,"abstract":"This paper investigates the optimal consensus control problem for continuous-time multi-agent systems with switching topology by utilizing the framework of reinforcement learning. A leader-follower continuous-time high-order multi-agent system is formulated and the corresponding Hamilton-Jacobi-Bellman equation is presented. To calculate the performance index and the optimal consensus control law, a policy iteration (PI) algorithm is proposed and the convergence analysis of multi-agent systems for the algorithm is derived. Furthermore, an actor-critic neural network is applied for the PI algorithm, which does not require the knowledge of multi-agent system dynamics. A simulation example shows the effectiveness of the proposed optimal consensus control scheme.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"41 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":"130663632","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
Analytical Review on Developing Progress of the Quadruped Robot Industry and Gaits Research 四足机器人产业发展与步态研究进展分析综述
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738583
R. Xu, K. Hsieh, Un Hou Chan, Hoi Un Cheang, Wei-Kai Shih, C. Hon
{"title":"Analytical Review on Developing Progress of the Quadruped Robot Industry and Gaits Research","authors":"R. Xu, K. Hsieh, Un Hou Chan, Hoi Un Cheang, Wei-Kai Shih, C. Hon","doi":"10.1109/ICARA55094.2022.9738583","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738583","url":null,"abstract":"The rapid development of artificial intelligence technology has changed the quadruped robots’ controlling system of gait from a traditional way into intelligent monitoring. At the beginning of this paper, analysis is conducted on several prominent robots developed by international groups. The gait research of quadruped robots includes an investigation of gait features and a comparison between different gait types, along with the analyses of the characteristics and the rationals behind different gaits in various applications. Hence, this paper summarised the progress of quadruped robots in gait research and the prospects are concluded to give ideas on how the future gait research on quadruped robots would proceed.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"24 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":"125206791","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
Identification and Classification of the Communication Data of Automated Guided Vehicles and Autonomous Mobile Robots 自动导引车与自主移动机器人通信数据的识别与分类
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738572
Philipp Neher, A. Lechler, A. Verl
{"title":"Identification and Classification of the Communication Data of Automated Guided Vehicles and Autonomous Mobile Robots","authors":"Philipp Neher, A. Lechler, A. Verl","doi":"10.1109/ICARA55094.2022.9738572","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738572","url":null,"abstract":"Automated guided vehicles and autonomous mobile robots will be a key technology in the factories of the future. They supply the necessary flexibility for smart factories which produce individualized products with lot sizes down to one. With the increased number of tasks for automated guided vehicles, the requirements for their wireless communication systems become more demanding and current solutions won’t be sufficient anymore. To efficiently develop, configure and setup communication systems, the knowledge about what type of information is communicated and what are the characteristics of the information communicated is necessary. This work identifies most relevant types of information in an automated guided vehicle system based on a set of use-cases. For each identified information type, an estimate for the communication properties (payload size, cycle-time and latency) is given. The information types are then classified into traffic types for further use to design a wireless communication system.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"14 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":"115590954","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
Design and Control of an Aquatic Robot with RGB-D Sensor 基于RGB-D传感器的水上机器人设计与控制
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738533
M. Nurmanov, Timur Ishuov, Azim Dukenderov, M. Folgheraiter
{"title":"Design and Control of an Aquatic Robot with RGB-D Sensor","authors":"M. Nurmanov, Timur Ishuov, Azim Dukenderov, M. Folgheraiter","doi":"10.1109/ICARA55094.2022.9738533","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738533","url":null,"abstract":"Bio-inspired robotics is a relatively new field of engineering, which aims at mimicking living organisms for various applications. It focuses on building autonomous machines that can be operated in remote, inaccessible or dangerous environments, where the presence of humans or other systems is not possible. The main goal of this work is to develop a reactive control system architecture for an aquatic robot based on the feedback acquired from a Red Green Blue-Depth (RGB-D) camera to navigate and plan the path efficiently. The proposed solution is based on image segmentation and distance estimation using the depth data. This data is then imputed to a small neural network that implements a low-level reflex controller that governs the robot’s body curvature in order to alter it’s trajectory. The so controlled robot exhibits different behaviors like avoid obstacles in an aquatic environment and detect energy sources. The design of the aquatic robot is introduced based on segments connected with two degrees of freedom joints moved by a tendons actuation system.","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":"116411475","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
Wind Force Model and Adaptive Control of Catamaran Model Sailboat 双体帆船模型风力模型及自适应控制
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738524
I. Astrov, A. Udal, H. Mõlder, T. Jalakas, Taavi Möller
{"title":"Wind Force Model and Adaptive Control of Catamaran Model Sailboat","authors":"I. Astrov, A. Udal, H. Mõlder, T. Jalakas, Taavi Möller","doi":"10.1109/ICARA55094.2022.9738524","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738524","url":null,"abstract":"The development of algorithms of optimal control of autonomous vehicles (AV) has become a high priority task in order to ensure safe and energy effective use of different types of AVs. From viewpoint of waterborne AVs, the modeling of wind influence may help to use wind as potential additional movement energy source or otherwise, may help to design strategies to overcome the disturbances created by wind. Paper focuses on the development of methodology of modeling and control of movement of a light weight catamaran sailboat model. A theory-based adjustable controller for achieving desired heading angles is offered and analyzed in Simulink/MATLAB software environment. The results of the work are planned to take into use in development of a real autonomous catamaran vessel “Nymo” of 200 kg weight class dedicated for cargo transportation and environment monitoring.","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":"129678398","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
Arduino-based Line Tracking Smart Robot Car Equipped with YOLOv3 and Fuzzy Logic Controlled Ultraviolet Sterilizer 基于arduino的线路跟踪智能机器人车，配备YOLOv3和模糊逻辑控制紫外线灭菌器
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738569
Ramon G. Garcia, Levin D. Manuel, Cesar Quartz L. Romero
{"title":"Arduino-based Line Tracking Smart Robot Car Equipped with YOLOv3 and Fuzzy Logic Controlled Ultraviolet Sterilizer","authors":"Ramon G. Garcia, Levin D. Manuel, Cesar Quartz L. Romero","doi":"10.1109/ICARA55094.2022.9738569","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738569","url":null,"abstract":"With the increasing number of cases of pathogenic diseases caused by airborne transmission of microorganisms, such as Staphylococcus aureus, interest when it comes to the disinfection of surfaces is increasing. One of the many devices that have been utilized for surface disinfection is the use of Ultraviolet Light radiation, specifically UVC radiation, as a sterilizer or disinfectant. In this study, a UVC disinfecting machine based on Arduino Nano was developed with a mobile application to control and enable the device's functionalities. The UVC disinfecting machine can be manually controlled via the generated mobile application and automatically navigated using the Line Tracking Algorithm. To ensure the safety of the people utilizing the device, the UVC disinfecting machine will be encircled with several motion sensors and a Wi-Fi camera module. The sensors and camera automatically disable its UVC lamp once it detects human presence by applying the algorithms of Fuzzy Logic and YOLOv3. This study provides a versatile, safe, and harmless UVC disinfecting machine while effectively disinfecting objects and surfaces.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"123 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":"127054015","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
Modelling of LQR and Fuzzy-LQR Controllers for Stabilisation of Multi-link Robotic System (Robogymnast) 多连杆机器人系统的LQR和模糊LQR控制器建模(Robogymnast)
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738577
Bdereddin Abdul Samad, Fatih Anayi, Y. Melikhov, Mahmoud Mohamed, E. Altayef
{"title":"Modelling of LQR and Fuzzy-LQR Controllers for Stabilisation of Multi-link Robotic System (Robogymnast)","authors":"Bdereddin Abdul Samad, Fatih Anayi, Y. Melikhov, Mahmoud Mohamed, E. Altayef","doi":"10.1109/ICARA55094.2022.9738577","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738577","url":null,"abstract":"This study applies a Linear Quadratic Regulator, LQR and a fuzzy logic linear quadratic regulator controller to stabilize a 3-link robot gymnast (Robogymnast) system. This system mimics manoeuvres in human acrobatics in which a person who is hanging by their hands from a high bar attempt to swing into a handstand posture while holding onto the bar. This imitation involves a secure attachment of the hand parts of the Robogymnast to a ball-bearing-mounted high bar capable of free rotation. The paper considers issues in controlling swing-up with this 3-link, underactuated system, as well as linearising the system’s mathematical model, examining approaches using Largran’s equation to determine the system’s state space. A Fuzzy-LQR controller was selected for system implementation in order to identify the extent of stabilization of responses. In addition, MATLAB Simulink was used to simulate the system to demonstrate outcomes for variables including overshoot, rising, and settling times. The main aim of the study is to examine the application of linear quadratic regulator /fuzzy logic controllers to the robotic gymnast.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"8 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":"114157232","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
Multi-UAV Path Coordination through Generalized Potential Games
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738578
Liping Shi, N. J. H. Marcano, R. Jacobsen
{"title":"Multi-UAV Path Coordination through Generalized Potential Games","authors":"Liping Shi, N. J. H. Marcano, R. Jacobsen","doi":"10.1109/ICARA55094.2022.9738578","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738578","url":null,"abstract":"In this paper, the problem to safely and efficiently navigate multiple Unmanned Aerial Vehicles (UAVs) in complex environments is addressed. Each UAV aims at achieving an approximate optimal trajectory plan while considering constraints from the environment and other neighboring UAVs. The problem is formulated as a generalized potential game. An algorithm, following an iterative best response approach, is proposed. Experimental results verify the coordination of a team of UAVs for a given team goal description. Also, the time cost of computation for the proposed algorithm is investigated. The results show a high-level goal to navigate a team of UAVs can be automatically decomposed to safe and efficient trajectory plans for each UAV in the team by solving generalized potential games in a decentralized manner.","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":"130590115","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
Aggressive Regulators for a Class of Uncertain Nonlinear Systems 一类不确定非线性系统的主动调节器
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738528
L. Dritsas
{"title":"Aggressive Regulators for a Class of Uncertain Nonlinear Systems","authors":"L. Dritsas","doi":"10.1109/ICARA55094.2022.9738528","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738528","url":null,"abstract":"This article is concerned with a robust control design for a class of uncertain nonlinear systems with matched disturbances, uncertainties and nonlinearities. The linear part of the composite controller employs LMI–based H∞ concepts for stabilization, disturbance attenuation and performance with various degrees of control aggressiveness. The nonlinear part is a continuous nonlinear state feedback guaranteeing robust regulation of the closed–loop system. The numerical example of a single input mechatronic system demonstrates the proposed methodology.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"45 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":"122430251","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
To Be Human-like or Machine-like? An Empirical Research on User Trust in AI Applications in Service Industry 像人还是像机器?人工智能在服务业应用中的用户信任实证研究
2022 8th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2022-02-18 DOI: 10.1109/ICARA55094.2022.9738527
Aihua Zhang, Qiqi Yang
{"title":"To Be Human-like or Machine-like? An Empirical Research on User Trust in AI Applications in Service Industry","authors":"Aihua Zhang, Qiqi Yang","doi":"10.1109/ICARA55094.2022.9738527","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738527","url":null,"abstract":"This research investigates user trust in artificial intelligence (AI) applications based on empirical analysis of intelligent service robots in service industry. We examined the impacts of human-like design of AI robots on intelligence and anthropomorphism perceived by users. The relationships between perceived intelligence, perceived anthropomorphism, and level of trust were also tested. An online survey with a between-subject design was conducted to collect data. The results indicate that robots with physical human-like appearance were perceived lower level of anthropomorphism and intelligence, and interaction function design on robots does not significantly increase those perceptions. Moreover, the significant effect of perceived intelligence on perceived anthropomorphism was confirmed, and both perceptions of users exert positive effect on their trust in AI robots.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"87 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":"124397354","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
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