Journal of Field Robotics最新文献

Cover Image, Volume 40, Number 7, October 2023 封面图片，第40卷，第7期，2023年10月

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-09-01 DOI: 10.1002/rob.22245

Jehong Lee, Jeonggeun Lim, Sangjin Pyo, Jongho Lee

引用次数: 0

Cover Image, Volume 40, Number 6, September 2023 封面图片，第40卷，第6期，2023年9月

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-08-02 DOI: 10.1002/rob.22240

Guoteng Zhang, Shugen Ma, Jinguo Liu, Xianwu Zeng, Lingyu Kong, Yibin Li

引用次数: 1

A comprehensive review on deploying robotics application in telecom network tower's field maintenance: Challenges with current practices and feasibility analysis for robotics implementation 机器人技术在电信网络塔台现场维护中的应用综述:当前实践的挑战和机器人技术实施的可行性分析

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-07-07 DOI: 10.1002/rob.22223

Darshita Shah, Jatin Dave

{"title":"A comprehensive review on deploying robotics application in telecom network tower's field maintenance: Challenges with current practices and feasibility analysis for robotics implementation","authors":"Darshita Shah, Jatin Dave","doi":"10.1002/rob.22223","DOIUrl":"https://doi.org/10.1002/rob.22223","url":null,"abstract":"This survey article highlights the difficulties in the field maintenance of telecommunication towers. It critically analyses the main features of the deployment of robots to maintain telecommunication towers. The growing demand for mobile connectivity poses the need for more towers, and the subsequent problem of network maintenance becomes more critical. Most tower maintenance is required work at height; therefore, height-related risks are more frequent. A rigorous review is conducted, and the growth of the telecommunications network and key on-site maintenance challenges are analyzed. Despite numerous challenges, these towers are maintained manually by riggers (certified climbers) worldwide. It raises the question, Is it possible to implement automation by robots for the maintenance of telecommunications towers? The feasibility analysis to deploy the robots is conducted systematically. To access the tower through a robot, detailed information on the type of towers, the climbing arrangements available on the existing towers, and the necessary operations to be carried out at the height is collected. A critical analysis of the climbing robots currently available in the literature, their grasping technology, and control algorithms is performed. The opinion of experts in the telecommunication industry is very helpful in identifying the requirements of robotic systems. The design attributes especially needed for the climbing robot, and the execution of the maintenance in height are highlighted. Due justification is given for deploying robots for field maintenance of telecom towers. The recommended methodology for designing an automation system helps research in the field of maintenance of telecom towers through robots, which could bring a remarkable solution to the telecom sector.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 7","pages":"1860-1883"},"PeriodicalIF":8.3,"publicationDate":"2023-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"6137055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Cover Image, Volume 40, Number 5, August 2023 封面图片，第40卷，第5期，2023年8月

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-07-03 DOI: 10.1002/rob.22226

Haipeng Wang, Yang Yang, Xinghong Ye, Zhiguo He, Pengcheng Jiao

引用次数: 0

Corrigendum for “Research on robotic manipulator fault detection and diagnosis technology based on machine vision in complex environments” “复杂环境下基于机器视觉的机械臂故障检测与诊断技术研究”的勘误表

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-06-19 DOI: 10.1002/rob.22222

Jinghui Pan, Lili Qu, Kaixiang Peng

引用次数: 0

Nonlinear model predictive control for hydrobatics: Experiments with an underactuated AUV 水力学非线性模型预测控制:欠驱动水下航行器实验

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-06-14 DOI: 10.1002/rob.22218

Sriharsha Bhat, Chariklia Panteli, Ivan Stenius, Dimos V. Dimarogonas

{"title":"Nonlinear model predictive control for hydrobatics: Experiments with an underactuated AUV","authors":"Sriharsha Bhat, Chariklia Panteli, Ivan Stenius, Dimos V. Dimarogonas","doi":"10.1002/rob.22218","DOIUrl":"https://doi.org/10.1002/rob.22218","url":null,"abstract":"Hydrobatic autonomous underwater vehicles (AUVs) can be efficient in range and speed, as well as agile in maneuvering. They can be beneficial in scenarios such as obstacle avoidance, inspections, docking, and under-ice operations. However, such AUVs are underactuated systems—this means exploiting the system dynamics is key to achieving elegant hydrobatic maneuvers with minimum controls. This paper explores the use of model predictive control (MPC) techniques to control underactuated AUVs in hydrobatic maneuvers and presents new simulation and experimental results with the small and hydrobatic SAM AUV. Simulations are performed using nonlinear model predictive control (NMPC) on the full AUV system to provide optimal control policies for several hydrobatic maneuvers in Matlab/Simulink. For implementation on AUV hardware in robot operating system, a linear time varying MPC (LTV-MPC) is derived from the nonlinear model to enable real-time control. In simulations, NMPC and LTV-MPC shows promising results to offer much more efficient control strategies than what can be obtained with PID and linear quadratic regulator based controllers in terms of rise-time, overshoot, steady-state error, and robustness. The LTV-MPC shows satisfactory real-time performance in experimental validation. The paper further also demonstrates experimentally that LTV-MPC can be run real-time on the AUV in performing hydrobatic maneouvers.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 7","pages":"1840-1859"},"PeriodicalIF":8.3,"publicationDate":"2023-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22218","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"5688051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Neural network-based optical flow versus traditional optical flow techniques with thermal aerial imaging in real-world settings 在现实环境中，基于神经网络的光流与传统的热航空成像光流技术

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-06-12 DOI: 10.1002/rob.22219

Tran Xuan Bach Nguyen, Kent Rosser, Asanka Perera, Philip Moss, Javaan Chahl

{"title":"Neural network-based optical flow versus traditional optical flow techniques with thermal aerial imaging in real-world settings","authors":"Tran Xuan Bach Nguyen, Kent Rosser, Asanka Perera, Philip Moss, Javaan Chahl","doi":"10.1002/rob.22219","DOIUrl":"https://doi.org/10.1002/rob.22219","url":null,"abstract":"The study explores the feasibility of optical flow-based neural network from real-world thermal aerial imagery. While traditional optical flow techniques have shown adequate performance, sparse techniques do not work well during cold-soaked low-contrast conditions, and dense algorithms are more accurate in low-contrast conditions but suffer from the aperture problem in some scenes. On the other hand, optical flow from convolutional neural networks has demonstrated good performance with strong generalization from several synthetic public data set benchmarks. Ground truth was generated from real-world thermal data estimated with traditional dense optical flow techniques. The state-of-the-art Recurrent All-Pairs Field Transform for the Optical Flow model was trained with both color synthetic data and the captured real-world thermal data across various thermal contrast conditions. The results showed strong performance of the deep-learning network against established sparse and dense optical flow techniques in various environments and weather conditions, at the cost of higher computational demand.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 7","pages":"1817-1839"},"PeriodicalIF":8.3,"publicationDate":"2023-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22219","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"5659444","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

FastFusion: Deep stereo-LiDAR fusion for real-time high-precision dense depth sensing FastFusion:用于实时高精度密集深度传感的深度立体激光雷达融合

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-06-08 DOI: 10.1002/rob.22216

Haitao Meng, Changcai Li, Chonghao Zhong, Jianfeng Gu, Gang Chen, Alois Knoll

{"title":"FastFusion: Deep stereo-LiDAR fusion for real-time high-precision dense depth sensing","authors":"Haitao Meng, Changcai Li, Chonghao Zhong, Jianfeng Gu, Gang Chen, Alois Knoll","doi":"10.1002/rob.22216","DOIUrl":"https://doi.org/10.1002/rob.22216","url":null,"abstract":"Light detection and ranging (LiDAR) and stereo cameras are two generally used solutions for perceiving 3D information. The complementary properties of these two sensor modalities motivate a fusion to derive practicable depth sensing toward real-world applications. Promoted by deep neural network (DNN) techniques, recent works achieve superior performance on accuracy. However, the complex architecture and the sheer number of DNN parameters often lead to poor generalization capacity and non-real-time computing. In this paper, we present FastFusion, a three-stage stereo-LiDAR deep fusion scheme, which integrates the LiDAR priors into each step of classical stereo-matching taxonomy, gaining high-precision dense depth sensing in a real-time manner. We integrate stereo-LiDAR information by taking advantage of a compact binary neural network and utilize the proposed cross-based LiDAR trust aggregation to further fuse the sparse LiDAR measurements in the back-end of stereo matching. To align the photometrical of the input image and the depth of the estimation, we introduce a refinement network to guarantee consistency. More importantly, we present a graphic processing unit-based acceleration framework for providing a low-latency implementation of FastFusion, gaining both accuracy improvement and real-time responsiveness. In the experiments, we demonstrate the effectiveness and practicability of FastFusion, which obtains a significant speedup over state-of-the-art baselines while achieving comparable accuracy on depth sensing. The video demo for real-time depth estimation of FastFusion on the real-world driving scenario is available at https://youtu.be/nP7cls2BA8s.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 7","pages":"1804-1816"},"PeriodicalIF":8.3,"publicationDate":"2023-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"6191662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Traversability analysis for autonomous driving in complex environment: A LiDAR-based terrain modeling approach 复杂环境下自动驾驶可穿越性分析:基于激光雷达的地形建模方法

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-06-05 DOI: 10.1002/rob.22209

Hanzhang Xue, Hao Fu, Liang Xiao, Yiming Fan, Dawei Zhao, Bin Dai

{"title":"Traversability analysis for autonomous driving in complex environment: A LiDAR-based terrain modeling approach","authors":"Hanzhang Xue, Hao Fu, Liang Xiao, Yiming Fan, Dawei Zhao, Bin Dai","doi":"10.1002/rob.22209","DOIUrl":"https://doi.org/10.1002/rob.22209","url":null,"abstract":"For autonomous driving, traversability analysis is one of the most basic and essential tasks. In this paper, we propose a novel LiDAR-based terrain modeling approach, which could output stable, complete, and accurate terrain models and traversability analysis results. As terrain is an inherent property of the environment that does not change with different view angles, our approach adopts a multiframe information fusion strategy for terrain modeling. Specifically, a normal distributions transform mapping approach is adopted to accurately model the terrain by fusing information from consecutive LiDAR frames. Then the spatial-temporal Bayesian generalized kernel inference and bilateral filtering are utilized to promote the stability and completeness of the results while simultaneously retaining the sharp terrain edges. Based on the terrain modeling results, the traversability of each region is obtained by performing geometric connectivity analysis between neighboring terrain regions. Experimental results show that the proposed method could run in real-time and outperforms state-of-the-art approaches.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 7","pages":"1779-1803"},"PeriodicalIF":8.3,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"6101769","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Inertial preintegration for VI-SLAM by the screw motion theory 基于螺旋运动理论的VI-SLAM惯性预积分

IF 8.3 2区计算机科学

Journal of Field Robotics Pub Date : 2023-06-01 DOI: 10.1002/rob.22212

Nassim Bessaad, Bao Qilian, Zhao Jiankang, Nardjess Benoudina, Shuodong Sun, Xuwei Zhang

{"title":"Inertial preintegration for VI-SLAM by the screw motion theory","authors":"Nassim Bessaad, Bao Qilian, Zhao Jiankang, Nardjess Benoudina, Shuodong Sun, Xuwei Zhang","doi":"10.1002/rob.22212","DOIUrl":"https://doi.org/10.1002/rob.22212","url":null,"abstract":"Most smoothing-based visual-inertial simultaneous localization and mapping algorithms (VI-SLAM) rely on the Lie algebra processing of the inertial measurements. This approach is limited in its decoupled update of the attitude by using SO3 and velocity increments by SE3. In addition to limitations on only point transformation between frames. We present a novel approach to handling inertial measurement unit (IMU) measurements between two camera frames by the screw motion theory. Where rigid body dynamics are concisely represented by the compact unit dual quaternion. With this approach, the limitations of point transformation are mitigated by the superior Plücker line transformation and the states update is achieved by a single coupled operation. To harness this consistent framework for a smoothing-based VI-SLAM, the screw motion twist parameter is based on the raw IMU measurements. Then, a consistent residual cost function with the corresponding Jacobian and covariance updates is derived for graph-optimization algorithm respecting the screw motion paradigm. A transition method is proposed to overcome the issues of over-parametrization by the unit dual quaternion. solving all singularity threats while saving the advantages of adopting the twist operator. Finally, the loftier performance of the proposed algorithms is attested by simulation and real-world experiments.","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"40 7","pages":"1766-1778"},"PeriodicalIF":8.3,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"6075174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0