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2021 7th International Conference on Automation, Robotics and Applications (ICARA)最新文献

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Sensor-Based Obstacle Avoidance for Autonomous Mobile Robots: Experimental Study 基于传感器的自主移动机器人避障实验研究
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376432
Ahmed A. A. Elhag, Mohammed I. A. M. Osman, Nihad A. A. Elhag, M. Manzoul
{"title":"Sensor-Based Obstacle Avoidance for Autonomous Mobile Robots: Experimental Study","authors":"Ahmed A. A. Elhag, Mohammed I. A. M. Osman, Nihad A. A. Elhag, M. Manzoul","doi":"10.1109/ICARA51699.2021.9376432","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376432","url":null,"abstract":"One of the highly essential issues in robotics is to let the mobile robot reach a predetermined location in the presence of obstacles. Many algorithms had been implemented for obstacle avoidance in an unknown environment. In this research, an algorithm has been presented for the mobile robot to perform this task. This algorithm is based on the use of sensors. The robot was programmed to use various sensors such as ultrasound and infrared sensors. The proposed algorithm was implemented in many environments, which contains several obstacles. The experiments show that the mobile robot has successfully avoided the obstacles located on its path to the predetermined target.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117196086","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
Twin Delayed Hierarchical Actor-Critic 双延迟等级行为批评家
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376459
M. Anca, M. Studley
{"title":"Twin Delayed Hierarchical Actor-Critic","authors":"M. Anca, M. Studley","doi":"10.1109/ICARA51699.2021.9376459","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376459","url":null,"abstract":"Hierarchical Reinforcement Learning (HRL) addresses the common problem in sparse rewards environments of having to manually craft a reward function. We present a modified version of the Hierarchical Actor-Critic (HAC) architecture called Twin Delayed HAC (TDHAC), a method capable of sample-efficient learning on environments requiring object interaction. The vanilla algorithm fails to converge on this type of environment, while our method matches the best results so far reported in the literature. We carefully consider each feature added to the original architecture and demonstrate the abilities of TDHAC on the sparse-reward Pick-and-Place environment. To the best of our knowledge, this is the first HRL algorithm successfully applied on an environment requiring object interaction without external enhancements such as demonstrations.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126113688","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
Robust Approaches for Localization on Multi-camera Systems in Dynamic Environments 动态环境下多相机系统的鲁棒定位方法
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376475
Marco Sewtz, Xiaozhou Luo, J. Landgraf, T. Bodenmüller, Rudolph Triebel
{"title":"Robust Approaches for Localization on Multi-camera Systems in Dynamic Environments","authors":"Marco Sewtz, Xiaozhou Luo, J. Landgraf, T. Bodenmüller, Rudolph Triebel","doi":"10.1109/ICARA51699.2021.9376475","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376475","url":null,"abstract":"Localization of humanoid robots in real-life scenarios has to robustly tackle dynamic environments and provide coherent data and tight integration for follow-up tasks. However state-of-the-art solutions, like ORBSlam2 [1], lack this ability. In this work we present two adaptations of ORBSlam2 for a multi-camera setup on the DLR Rollin' Justin System, one distributed multi-slam and one combined single-process system. Further, we introduce the usage of pre-recorded maps with ORBSlam2 and the alignment with semantic maps for planning. We compare performance of the adaptations against and the original approach in realistic experiments and discuss advantages and disadvantages of all methods.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130815523","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: 6
DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation 双臂阻抗控制移动操作DAIMM仿真平台
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376462
Tomasz Winiarski, J. Sikora, D. Seredyński, W. Dudek
{"title":"DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation","authors":"Tomasz Winiarski, J. Sikora, D. Seredyński, W. Dudek","doi":"10.1109/ICARA51699.2021.9376462","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376462","url":null,"abstract":"One of the most considerable research problems in robotics is manipulation investigated in robot systems operating in different environments and performing various tasks. There are many advanced robot tasks that require agile manipulation and dual-arm setup to make them feasible (e.g., opening a jar or a box, package wrapping). Moreover, robots can sense torques in joints to be compliant during cooperation with humans and to be mobile to enlarge their workspace. Therefore, the dual-arm, impedance controlled mobile manipulation (DAIMM) problem emerge. In this article we state requirements, which should be considered in the DAIMM problem simulators. Moreover, we propose a model for simulation platforms able to perform DAIMM tasks and verify it by the implementation of an exemplary platform. The robot simulated by the exemplary platform successfully realised two tasks involving agile manipulation and navigation.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127551652","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
Robust State Feedback H-Infinity Controller Design for Bilateral Teleoperation System Having Saturated Actuators 具有饱和作动器的双向遥操作系统鲁棒状态反馈h∞控制器设计
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376511
Bilal Gormus, Hakan Yazici
{"title":"Robust State Feedback H-Infinity Controller Design for Bilateral Teleoperation System Having Saturated Actuators","authors":"Bilal Gormus, Hakan Yazici","doi":"10.1109/ICARA51699.2021.9376511","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376511","url":null,"abstract":"This paper considers a robust state-feedback H-infinity controller design for uncertain bilateral teleoperation system having norm bounded parametric uncertainties and saturated actuators. The proposed method utilizes nested attractive ellipsoids and employs linear matrix inequalities (LMIs) to obtain sufficient robust stability and H-infinity performance constraints under consideration of actuator saturation. The effectiveness of the proposed controller is illustrated through numerical simulations of responses a one-degree-of-freedom bilateral teleoperation system under exogenous input. Numerical simulation results show that in spite of the saturated actuators, the proposed LMIs based robust controller is very effective in reference tracking performance.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123503418","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
Nonlinear Model Predictive Control for Trajectory Tracking of a Hexarotor with Actively Tiltable Propellers 主动可倾螺旋桨六旋翼机轨迹跟踪的非线性模型预测控制
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376523
David Shawky, Chao Yao, K. Janschek
{"title":"Nonlinear Model Predictive Control for Trajectory Tracking of a Hexarotor with Actively Tiltable Propellers","authors":"David Shawky, Chao Yao, K. Janschek","doi":"10.1109/ICARA51699.2021.9376523","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376523","url":null,"abstract":"This paper presents the dynamic modeling and control of an over-actuated hexarotor with bounded rotor speeds. With actively tiltable propellers, the hexarotor can track six degrees of freedom (DOF) trajectories independently. Based on the state space model, a fast nonlinear model predictive controller (NMPC) using direct multiple shooting is proposed using two different non-linear programming solvers. The performance of the NMPC is analyzed using numerical simulations for step response and trajectory tracking under realistic operational conditions with noisy state estimation, parameter uncertainties, and disturbances. The controller is verified in the Gazebo simulator in a more realistic environment.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"206 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131805921","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
Online Area Covering Robot in Unknown Dynamic Environments 未知动态环境下的在线区域覆盖机器人
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376498
Olimpiya Saha, Guohua Ren, Javad Heydari, Viswanath Ganapathy, Mohak Shah
{"title":"Online Area Covering Robot in Unknown Dynamic Environments","authors":"Olimpiya Saha, Guohua Ren, Javad Heydari, Viswanath Ganapathy, Mohak Shah","doi":"10.1109/ICARA51699.2021.9376498","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376498","url":null,"abstract":"Autonomous area covering robots are being increasingly deployed in residential and commercial settings for a variety of purposes. These robots usually employ universal area covering algorithms to cover indoor environments. The performance of such algorithms heavily depends on room geometry as well as obstacle location, and often suffers from significant overlap leading to inordinately long coverage time, especially in realistic unknown environments with dynamic obstacles. Hence, deploying smarter algorithms that adapt to the environment can improve the performance significantly. In this study, we explore deep reinforcement learning (RL) algorithms for efficient coverage in unknown environments with multiple dynamic obstacles. Through experiments in grid-based environments and Gazebo simulator, we demonstrate the superior performance of RL based coverage algorithms in environments with dynamic obstacles. The performance of RL based algorithm is compared with the BA* algorithm with dynamic re-planning to demonstrate the advantages of the former over one-shot algorithms. Further, by employing transfer learning the trained RL agent learns to cover unseen unknown environments with minimal additional sample complexity. Importantly, we show that RL agents trained in smaller environments can be deployed for coverage in larger unknown environments with marginal additional sample complexity.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131642340","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
Adaptive Control of Ball and Beam System Using Knowledge-Based Particle Swarm Optimization 基于知识粒子群优化的球梁系统自适应控制
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376579
Yunyi Jiang, Jingyu Li, Yuxuan Lv, Runsen Wang
{"title":"Adaptive Control of Ball and Beam System Using Knowledge-Based Particle Swarm Optimization","authors":"Yunyi Jiang, Jingyu Li, Yuxuan Lv, Runsen Wang","doi":"10.1109/ICARA51699.2021.9376579","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376579","url":null,"abstract":"A knowledge-based Particle Swarm Optimization (PSO) algorithm is used to achieve more optimized control of Ball and Beam System (BBS) adaptively. It adopts an improved nonlinear inertia weight, an adaptive strategy and a fitness function combining prior knowledge and one traditional performance criterion. Comparing four classic performance criteria, the simulation results indicate that Integral of Time multiply Absolute Error (ITAE) is better, and it is combined with prior knowledge. Based on the response curve of advanced correction, Ziegler-Nichols, basic PSO algorithm and knowledge-based PSO algorithm through experimental simulation, knowledge-based PSO algorithm is more effective to BBS.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"20 13","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113964754","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
Autonomous Surface Inspection of Airplanes with Unmanned Aerial Systems 基于无人机系统的飞机自主表面检测
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376580
M. Tappe, Daniel Dose, M. Alpen, J. Horn
{"title":"Autonomous Surface Inspection of Airplanes with Unmanned Aerial Systems","authors":"M. Tappe, Daniel Dose, M. Alpen, J. Horn","doi":"10.1109/ICARA51699.2021.9376580","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376580","url":null,"abstract":"Inspection of commercial aircrafts is a time-consuming and cost-intensive manual task. This paper describes the process to use an unmanned aerial system (UAS) to capture pictures for a visual inspection of a known object's surface, in this case an airplane, for later evaluation. The focus of this paper is on the process chain using an UAS for a visual inspection of an airplane's surface. The presented procedure starts by gathering a point cloud of the object by performing a laser scan in advance or using a 3D model. Following this, inspection poses are determined based on surface normal vectors. These poses are used to compute a time efficient path with a genetic algorithm. Finally, the obtained results are validated by simulation based on real hardware and it is shown that an inspection of an Airbus A320 can be achieved in desired time.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"61 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114104713","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
Obtaining Robust Control and Navigation Policies for Multi-robot Navigation via Deep Reinforcement Learning 基于深度强化学习的多机器人导航鲁棒控制与导航策略
2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376457
Christian Jestel, H. Surmann, Jonas Stenzel, Oliver Urbann, Marius Brehler
{"title":"Obtaining Robust Control and Navigation Policies for Multi-robot Navigation via Deep Reinforcement Learning","authors":"Christian Jestel, H. Surmann, Jonas Stenzel, Oliver Urbann, Marius Brehler","doi":"10.1109/ICARA51699.2021.9376457","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376457","url":null,"abstract":"Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw sensor data to the command velocities of the agent. In order to enable the policy to generalize, the training is performed in different environments and scenarios. The learned policy is tested and evaluated in common multi-robot scenarios like switching a place, an intersection and a bottleneck situation. This policy allows the agent to recover from dead ends and to navigate through complex environments.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114266372","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
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