2021 7th International Conference on Automation, Robotics and Applications (ICARA)最新文献_第5页

Small Commercial UAVs for Indoor Search and Rescue Missions 用于室内搜索和救援任务的小型商用无人机

2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376551

H. Surmann, Tiffany Kaiser, Artur Leinweber, Gerhard Senkowski, Dominik Slomma, Marchell E. Thurow

引用次数: 2

Advanced Rubik's Cube Algorithmic Solver 高级魔方算法求解器

2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376564

Vasile Dan, G. Harja, I. Nascu

引用次数: 3

Kinematic Redundancy Resolution for Baxter Robot Baxter机器人的运动冗余解析

2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376582

L. Nguyen, Khoa D. Le, T. L. Harman

引用次数: 1

Coinbot: Intelligent Robotic Coin Bag Manipulation Using Artificial Brain Coinbot:使用人工大脑操纵硬币袋的智能机器人

2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376455

Aleksei Gonnochenko, A. Semochkin, D. Egorov, Dmitrii Statovoy, S. Zabihifar, A. Postnikov, E. Seliverstova, Ali Zaidi, J. Stemmler, K. Limkrailassiri

{"title":"Coinbot: Intelligent Robotic Coin Bag Manipulation Using Artificial Brain","authors":"Aleksei Gonnochenko, A. Semochkin, D. Egorov, Dmitrii Statovoy, S. Zabihifar, A. Postnikov, E. Seliverstova, Ali Zaidi, J. Stemmler, K. Limkrailassiri","doi":"10.1109/ICARA51699.2021.9376455","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376455","url":null,"abstract":"Given the laborious difficulty of moving heavy bags of physical currency in the cash center of the bank, there is a large demand for training and deploying safe autonomous systems capable of conducting such tasks in a collaborative workspace. In this paper, we apply deep reinforcement learning and machine learning techniques to the task of controlling a collaborative robot to automate the unloading of coin bags from a trolley. To accomplish the task-specific process of gripping coin bags where the center of the mass changes during manipulation, a special gripper was designed in physical hardware. Leveraging a depth camera and deep learning, a bag detection and pose estimation has been done for choosing the optimal point of grasping. An intelligent approach based on deep reinforcement learning has been introduced to propose the best configuration of the robot end-effector to maximize successful grasping. A boosted motion planning is utilized to speed up the robot operation. Real-world trials with the proposed pipeline have demonstrated success rates over 96% in a real-world setting.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"39 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":"121558598","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

BeeGround - An Open-Source Simulation Platform for Large-Scale Swarm Robotics Applications BeeGround -大规模蜂群机器人应用的开源仿真平台

2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376494

Sean Lim, Shiyi Wang, B. Lennox, F. Arvin

引用次数: 4

Laser Beam Deflection of a 2D LiDAR for Canopy Detection on an Autonomous Spraying Robot 自主喷涂机器人冠层探测二维激光雷达的光束偏转

2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376553

C. Cariou, J. Roux, R. Lenain

{"title":"Laser Beam Deflection of a 2D LiDAR for Canopy Detection on an Autonomous Spraying Robot","authors":"C. Cariou, J. Roux, R. Lenain","doi":"10.1109/ICARA51699.2021.9376553","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376553","url":null,"abstract":"Spraying robots are particularly expected in viticulture and arboriculture to safely target and adapt the quantities of phytosanitary products on canopy. However, to maintain a financial profitability for the farmer wishing to adopt a robotized solution, the cost must be reduced. Therefore, instead of adding expensive and redundant sensors to measure the shape of the vegetation close to the robot, this paper investigates the possibility to deflect by a rotating mirror a part of the laser beams of the horizontal 2D LiDAR positionned in front of most of the current mobile robots for security and navigation purposes. This use of the 2D LiDAR aims to obtain at low cost the required 3D information on the canopy. Experimental results on a real spraying robot enable to highlight the interest of this approach: the presence and height of the canopy can be accurately measured, and the nozzles of the spraying boom can be controlled independantly and accordingly. To focus the measurements on a certain area, the angular variations of the mirror can be reduced or on the contrary increased to have a global overview of the environment. This original approach opens new opportunities with a 2D LiDAR for other configurations and field applications.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"15 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":"123061339","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

Self-Organised Swarm Flocking with Deep Reinforcement Learning 基于深度强化学习的自组织群体群集

2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376509

Mehmet B. Bezcioglu, B. Lennox, F. Arvin

引用次数: 9

A Symbolic-AI Approach for UAV Exploration Tasks 无人机探测任务的符号-人工智能方法

2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2021-02-04 DOI: 10.1109/ICARA51699.2021.9376403

Yixin Zhang, Joe McCalmon, Ashley Peake, Sarra M. Alqahtani, V. P. Pauca

{"title":"A Symbolic-AI Approach for UAV Exploration Tasks","authors":"Yixin Zhang, Joe McCalmon, Ashley Peake, Sarra M. Alqahtani, V. P. Pauca","doi":"10.1109/ICARA51699.2021.9376403","DOIUrl":"https://doi.org/10.1109/ICARA51699.2021.9376403","url":null,"abstract":"Performing autonomous exploration and exploitation is essential for un- manned aerial vehicles (UAVs) operating in unknown environments. Often, such missions involve first building a map of the environment via pure exploration and subsequently exploiting it for specific downstream tasks. But, conducting separate exploration and exploitation steps is not always feasible in practice. In this paper, we develop a novel exploration approach enabling exploration and exploitation in a single step for an area-of-interest (AoI) search task. The basic idea is to employ a probabilistic information gain map, called a belief map, as a prior to guide the exploration trajectory, while efficiently reducing false positive information in the process. The approach is composed of three layers. The first is an information potential layer to decide the exploration direction for the UAV. Next, the proximity layer exploits detected AoI by exploring their proximal areas. The last layer, a forced movement layer, is responsible for enabling the UAV to escape local maxima caused by the previous layers. We tested the performance of our approach in two different tasks relative to two exploration methods published in the literature. The results demonstrate that our proposed approach is capable of navigating through randomly generated environments and covering more AoI in fewer time steps compared to the baselines.","PeriodicalId":183788,"journal":{"name":"2021 7th International Conference on Automation, Robotics and Applications (ICARA)","volume":"80 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":"121245760","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

Modeling and Simulation of a Point to Point Spherical Articulated Manipulator Using Optimal Control 点对点球面铰接机械臂的最优控制建模与仿真

2021 7th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2020-10-26 DOI: 10.1109/ICARA51699.2021.9376496

Prathamesh Saraf, R. N. Ponnalagu

引用次数: 3