Journal of Field Robotics最新文献_第3页

AutoMine: A Multimodal Dataset for Robot Navigation in Open-Pit Mines AutoMine：用于露天矿机器人导航的多模态数据集

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-11-18 DOI: 10.1002/rob.22469

Yuchen Li, Siyu Teng, Junhui Wang, Yunfeng Ai, Bin Tian, Zhe Xuanyuan, Zhenshan Bing, Alois C. Knoll, Fei-Yue Wang, Long Chen

{"title":"AutoMine: A Multimodal Dataset for Robot Navigation in Open-Pit Mines","authors":"Yuchen Li, Siyu Teng, Junhui Wang, Yunfeng Ai, Bin Tian, Zhe Xuanyuan, Zhenshan Bing, Alois C. Knoll, Fei-Yue Wang, Long Chen","doi":"10.1002/rob.22469","DOIUrl":"https://doi.org/10.1002/rob.22469","url":null,"abstract":"<div>\u0000 \u0000 <p>In the past decade, autonomous driving has witnessed significant advancements, largely attributable to the evolution of precise algorithms and efficient computing platforms. Nevertheless, the open-pit mine, a typical scenario within closed-field environments, has garnered limited attention in autonomous driving, primarily owing to the scarcity of data and experimental benchmarks. This work presents original data collected from five platforms, comprising one passenger vehicle, three wide-body trucks, and one mining truck, across eight different mining sites. We provide a comprehensive elucidation of platform types, sensors, calibration methodologies, synchronization techniques, data collection approaches, and a thorough analysis of the data characteristics. In addition, we offer a detailed benchmark comparison of short and long odometry and navigation performance across multiple vehicles in open-pit mines. With comprehensive data characteristics, experimental performance evaluations, and thorough analysis, we believe that this work establishes a robust research foundation for navigation and fusion methods in open-pit mines, thereby constituting a significant contribution to the autonomous driving and field robotics communities.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1523-1536"},"PeriodicalIF":4.2,"publicationDate":"2024-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950268","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

Internal Model-Based Anti-Disturbances Low-Level Control for Drones Considering Actuator Dynamics 考虑致动器动力学的无人机内模抗干扰低阶控制

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-11-11 DOI: 10.1002/rob.22460

Jian Di, Yu Kang, Kun Li, Yijia Zhou, Pengfei Li

引用次数: 0

Robust Shared Control With Stable Contact Servoing for Enhanced Object Transportation by Telerobotic Bimanual Mobile Manipulators 基于稳定接触伺服的鲁棒共享控制在远程机械手增强物体运输中的应用

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-11-08 DOI: 10.1002/rob.22464

Tao Teng, Xi Wu, Zhihao Li, Darwin Caldwell, Fei Chen

{"title":"Robust Shared Control With Stable Contact Servoing for Enhanced Object Transportation by Telerobotic Bimanual Mobile Manipulators","authors":"Tao Teng, Xi Wu, Zhihao Li, Darwin Caldwell, Fei Chen","doi":"10.1002/rob.22464","DOIUrl":"https://doi.org/10.1002/rob.22464","url":null,"abstract":"<div>\u0000 \u0000 <p>Bimanual mobile manipulation significantly enhances the capabilities of field robots that interact with diverse dynamic environments and expands the range of possible manipulation actions. This paper introduces a robust shared control architecture for remote manipulation of the Collaborative Dual-arm Robot Manipulator (CURI), aimed at stable object transportation. Given that stable contact is pivotal for successful object transportation, our focus is on stabilizing the contact between the robot end-effectors and the object using a contact servoing strategy. To maintain stable contact, it is essential that the contact wrenches consistently stay within the predefined friction cones throughout the task. We propose a novel shared control strategy to stabilize the contact using the contact parameterization model. This model formulates the contact stability manifold using a set of unconstrained reparameterized variables through a bijective mapping function, ensuring that the controller derived from these unconstrained reparameterized variables consistently maintains contact stability. The efficacy of the proposed approach is convincingly demonstrated through a series of experiments involving representative bimanual transportation tasks within a logistics context. Both theoretical analysis and experimental validations confirm that our proposed control strategy not only ensures the stable transportation of objects by CURI but also substantially enhances the overall robustness of the shared control system.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1491-1507"},"PeriodicalIF":4.2,"publicationDate":"2024-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950177","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

Green Fruit-Stem Pairing and Clustering for Machine Vision System in Robotic Thinning of Apples 果干配对与聚类在苹果机器人削枝中的应用

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-11-05 DOI: 10.1002/rob.22465

Magni Hussain, Long He, James Schupp, David Lyons, Paul Heinemann

{"title":"Green Fruit-Stem Pairing and Clustering for Machine Vision System in Robotic Thinning of Apples","authors":"Magni Hussain, Long He, James Schupp, David Lyons, Paul Heinemann","doi":"10.1002/rob.22465","DOIUrl":"https://doi.org/10.1002/rob.22465","url":null,"abstract":"<p>Apples are one of the most highly-valued specialty crops in the United States. Recent labor shortages have made crop production difficult for fruit growers, including the task of green fruit thinning. Current methods including hand, chemical, and mechanical thinning impose tradeoffs between selectivity, cost, tree damage, and speed. A robotic green fruit thinning system could potentially selectively thin fruit in a quick, cost-effective, and non-damaging manner. The machine vision system would be a critical component for robotic thinning, and would not only need to perform green fruit detection/segmentation, but also fruit-stem pairing and clustering to facilitate proper decision-making for thinning. A neural network-based fruit and stem pairing algorithm was devised and evaluated; an LSTM-based clustering algorithm was devised and compared to the density-based clustering algorithm, OPTICS. The algorithms were evaluated on an image data set consisting of GoldRush, Fuji, and Golden Delicious cultivars at the green fruit stage, with evaluations on overall performance, cultivar-wise performance, cluster size-specific performance, and feature importance. For fruit and stem pairing, the neural network-based pairing algorithm achieved an AP of 81.4% on all fruits and stems, and that reached 90.6% when only fruits and stems with labeled angles were considered. For green fruit clustering, the LSTM-based clustering achieved a clustering success rate of 68.4%, whereas the OPTICS algorithm obtained 50.9%. The algorithms will be further implemented in a pipeline of a future green fruit thinning vision system, as well as integrate the use of point clouds and other 3D orchard information to improve pairing and clustering performance.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1463-1490"},"PeriodicalIF":4.2,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22465","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143949878","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

Cover Image, Volume 41, Number 8, December 2024 封面图片，第 41 卷第 8 号，2024 年 12 月

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-11-05 DOI: 10.1002/rob.22467

Guy Elmakis, Matan Coronel, David Zarrouk

引用次数: 0

Development of a Load-Bearing, Terrain-Adaptive Hexapod Robot With Chebyshev-Linkage Legs 车比舍夫连杆腿承载、地形自适应六足机器人的研制

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-11-04 DOI: 10.1002/rob.22463

Zhongjin Ju, Rui Wu, Dameng Guo, Yundou Xu

{"title":"Development of a Load-Bearing, Terrain-Adaptive Hexapod Robot With Chebyshev-Linkage Legs","authors":"Zhongjin Ju, Rui Wu, Dameng Guo, Yundou Xu","doi":"10.1002/rob.22463","DOIUrl":"https://doi.org/10.1002/rob.22463","url":null,"abstract":"<div>\u0000 \u0000 <p>This study introduces an exploratory design for a hexapod load-carrying robot, aiming to address challenges commonly associated with quadruped robots, including limited load capacity and high control complexity. By leveraging a Chebyshev linkage-based overconstrained leg-foot architecture that combines high rigidity and low friction, along with a multi-drive system for lateral movement, we propose a robot with improved adaptability to diverse terrains, such as snow, sand, puddles, ice, and deserts. This versatility suggests potential applications in areas such as factory inspection, field reconnaissance and transport, and desert exploration. Using static and dynamic analyses, we evaluated the leg structure's stress distribution and motion requirements, employing simulations in Workbench and Adams to cross-validate our theoretical calculations. The development of a prototype and its subsequent testing under various environmental conditions aimed to demonstrate the design's practicality and the robot's operational capabilities in real-world settings. Although the findings indicate progress toward enhancing load-bearing capabilities and terrain adaptability with reduced control complexity, further research and development are necessary to fully realize the potential of such robotic systems in practical applications.</p></div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1439-1462"},"PeriodicalIF":4.2,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950165","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

Distributed Cooperative Control of Heterogeneous Multiagent Systems for Air-to-Ground Formation 地空编队异构多智能体系统的分布式协同控制

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-10-30 DOI: 10.1002/rob.22462

Chaoxu Mu, Jiayang Yao, Hongjiu Yang, Peng Li

{"title":"Distributed Cooperative Control of Heterogeneous Multiagent Systems for Air-to-Ground Formation","authors":"Chaoxu Mu, Jiayang Yao, Hongjiu Yang, Peng Li","doi":"10.1002/rob.22462","DOIUrl":"https://doi.org/10.1002/rob.22462","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper is concerned with a distributed cooperative formation problem for a heterogeneous multiagent system with a car-like mobile robot, a quadrotor, and an omnidirectional wheeled mobile robot. In the heterogeneous multiagent system, a three-layer distributed cooperative formation control strategy is constructed to achieve air-to-ground formation, the car-like mobile robot tracks a virtual leader, the quadrotor, and the omnidirectional wheeled mobile robot track the car-like mobile robot. Two nonlinear leader-follower controllers based on exponential virtual control laws are designed to maintain formation for the quadrotor and the omnidirectional wheeled mobile robot. A kinematics controller with continuous functions, an improved adaptive sliding mode controller and a suitable back-stepping controller are introduced in the heterogeneous multiagent system, respectively. Multiagent communication is one of the key steps to accomplish multiagent time synchronization. Experimental results are given to illustrate the applicability of the proposed distributed cooperative control strategy.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1427-1438"},"PeriodicalIF":4.2,"publicationDate":"2024-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950576","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

Robust Collision Avoidance and Path-Following of USVs With Reduced Conservativeness: A Control Barrier Function-Based Approach 降低保守性的usv鲁棒避碰与路径跟踪：一种基于控制障碍函数的方法

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-10-25 DOI: 10.1002/rob.22456

Guanghui Wen, Junjie Fu, Hang Lu, Jianfei Sun, Han Shen

{"title":"Robust Collision Avoidance and Path-Following of USVs With Reduced Conservativeness: A Control Barrier Function-Based Approach","authors":"Guanghui Wen, Junjie Fu, Hang Lu, Jianfei Sun, Han Shen","doi":"10.1002/rob.22456","DOIUrl":"https://doi.org/10.1002/rob.22456","url":null,"abstract":"<div>\u0000 \u0000 <p>The collision avoidance and path-following problem is fundamental for unmanned surface vehicles (USVs) to accomplish various tasks in different water environments. However, addressing this issue is challenging, as USVs are inevitably affected by environmental disturbances in practice. In this study, we address the robust collision avoidance path-following problem for USVs with unknown bounded environmental disturbances by using the control barrier function (CBF)-based approach. To reduce the conservativeness for the collision avoidance actions, the elliptical shape of the USV is considered when designing the control law. Furthermore, a high-order control barrier function (HOCBF)-based approach is proposed to achieve the robust collision avoidance with respect to both static and dynamic obstacles. Specifically, a nominal robust path-following controller is first designed utilizing the predefined-time observers without considering the collision avoidance requirement. Then, by considering the elliptical USV and the circular obstacles, collision avoidance input constraints are derived by the proper HOCBFs. Finally, a local quadratic programming (QP)-based controller is proposed to achieve robust collision avoidance and path-following of the USV. Simulation and experimental results are presented to demonstrate the effectiveness of the proposed control strategy.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1388-1400"},"PeriodicalIF":4.2,"publicationDate":"2024-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950221","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

Enhancing Greenhouse Performance Through Robotic Roof Cleaning Solutions: A Review 通过机器人屋顶清洁解决方案提高温室性能：综述

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-10-25 DOI: 10.1002/rob.22459

Ahmed Amin, Xiaochan Wang, Yanyu Chen, Sun Guoxiang, Huang Xuekai, Luke Toroitich Rottok, Hassan A. A. Sayed, Mahmoud Okasha, Reda Hassanien Emam Hassanien

{"title":"Enhancing Greenhouse Performance Through Robotic Roof Cleaning Solutions: A Review","authors":"Ahmed Amin, Xiaochan Wang, Yanyu Chen, Sun Guoxiang, Huang Xuekai, Luke Toroitich Rottok, Hassan A. A. Sayed, Mahmoud Okasha, Reda Hassanien Emam Hassanien","doi":"10.1002/rob.22459","DOIUrl":"https://doi.org/10.1002/rob.22459","url":null,"abstract":"<div>\u0000 \u0000 <p>The robotics industry has seen significant growth and advancement in the agricultural sector, particularly, in agricultural greenhouses. This study presents the most common cleaning methods for greenhouse roofs, including manual and automatic cleaning techniques. On the other hand, it provides greenhouse types, designs, and factors affecting lighting. It highlights the importance of cleaning and discusses the challenges of various robot designs and their future prospects. It was found that dust accumulation on greenhouse roofs could decrease the light intensity by 30%. Consequently, it could reduce the crop yield and quality by over 30%. Therefore, regular cleaning is crucial to provide the optimal light intensity for crops. The manual or traditional cleaning methods can cause damage, injuries, inefficiency, high costs, and labor shortages. This study investigates greenhouse-cleaning robots and devices in terms of their operation, specifications, quality, and accuracy. Meanwhile, it summarizes the pros and cons of automatic cleaning. Furthermore, it evaluates robots based on a movement system, cleaning efficiency, and all characteristics in different countries. It was found that robots for Venlo-type greenhouses are the most common and advanced robots, which achieve a light transmittance of up to 88% after cleaning. China and the Netherlands are at the forefront of commercial research technology applications. In conclusion, this study recommends investing more in robotic greenhouse cleaners to boost productivity and develop an intelligent cleaning system for greenhouse roofs. In addition, further research should be implemented to improve the durability and decrease the prices of robots.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 4","pages":"1401-1426"},"PeriodicalIF":4.2,"publicationDate":"2024-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143950223","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

Tractor Mounted Grapevine Pruning System 拖拉机安装葡萄藤修剪系统

IF 4.2 2区计算机科学

Journal of Field Robotics Pub Date : 2024-10-24 DOI: 10.1002/rob.22453

Matthew J. Felicetti, Robert Ross, Stuart Putland, Stephen Bennett

引用次数: 0