2016 IEEE International Conference on Robotics and Automation (ICRA)最新文献

Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods 采用非线性优化方法从动力系数中提取可行的机器人参数

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-06-09 DOI: 10.1109/ICRA.2016.7487356

C. Gaz, F. Flacco, Alessandro De Luca

引用次数: 35

Design and analysis of a wire-driven flexible manipulator for bronchoscopic interventions 一种用于支气管镜干预的线驱动柔性机械臂的设计与分析

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-06-09 DOI: 10.1109/ICRA.2016.7487597

Ning Liu, C. Bergeles, Guang-Zhong Yang

{"title":"Design and analysis of a wire-driven flexible manipulator for bronchoscopic interventions","authors":"Ning Liu, C. Bergeles, Guang-Zhong Yang","doi":"10.1109/ICRA.2016.7487597","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487597","url":null,"abstract":"Bronchoscopic interventions are widely performed for the diagnosis and treatment of lung diseases. However, for most endobronchial devices, the lack of a bendable tip restricts their access ability to get into distal bronchi with complex bifurcations. This paper presents the design of a new wire-driven continuum manipulator to help guide these devices. The proposed manipulator is built by assembling miniaturized blocks that are featured with interlocking circular joints. It has the capability of maintaining its integrity when the lengths of actuation wires change due to the shaft flex. It allows the existence of a relatively large central cavity to pass through other instruments and enables two rotational degrees of freedom. All these features make it suitable for procedures where tubular anatomies are involved and the flexible shafts have to be considerably bent in usage, just like bronchoscopic interventions. A kinematic model is built to estimate the relationship between the translations of actuation wires and the manipulator tip position. A scale-up model is produced for evaluation experiments and the results validate the performance of the proposed mechanism.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122940891","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: 11

Direct semi-dense SLAM for rolling shutter cameras 直接半密集SLAM用于卷帘式相机

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-06-09 DOI: 10.1109/ICRA.2016.7487263

Jae-Hak Kim, César Cadena, I. Reid

{"title":"Direct semi-dense SLAM for rolling shutter cameras","authors":"Jae-Hak Kim, César Cadena, I. Reid","doi":"10.1109/ICRA.2016.7487263","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487263","url":null,"abstract":"In this paper, we present a monocular Direct and Semi-dense SLAM (Simultaneous Localization And Mapping) system for rolling shutter cameras. In a rolling shutter camera, the pose is different for each row of each image, and this yields poor pose estimates and poor structure estimates when using a state-of-the-art semi-dense direct method designed for global shutter cameras. To address this issue in tracking, we model the smooth and continuous camera trajectory using a B-spline curve of degree k??1 for poses in the Lie algebra, se(3).We solve for the camera poses at each row-time by a direct optimisation of photometric error as a function of the control points of the spline. Likewise for mapping, we develop generalised epipolar geometry for the rolling shutter case and solve for point depths using photometric error. Although each of these issues has been previously tackled, to the best of our knowledge ours is the first full solution to monocular, direct (feature-less) SLAM. We benchmark our method for pose accuracy and map accuracy against the state-of-the-art semi-dense SLAM system, LSD-SLAM, demonstrating the improved efficacy of our approach when using rolling shutter cameras via synthetic sequences with known ground-truth and real sequences.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126226987","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: 44

Pursuit-evasion with fixed beams 用固定的光束追踪躲避

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-06-09 DOI: 10.1109/ICRA.2016.7487621

Nicholas M. Stiffler, J. O’Kane

引用次数: 15

Probabilistic map fusion for fast, incremental occupancy mapping with 3D Hilbert maps 概率地图融合快速，增量占用映射与3D希尔伯特地图

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487233

K. Doherty, Jinkun Wang, Brendan Englot

引用次数: 32

Application of an approximate model predictive control scheme on an unmanned aerial vehicle 一种近似模型预测控制方案在无人机上的应用

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487459

M. Hofer, Michael Muehlebach, R. D’Andrea

引用次数: 30

Reactive high-level behavior synthesis for an Atlas humanoid robot Atlas类人机器人反应性高级行为综合

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487613

Spyros Maniatopoulos, Philipp Schillinger, Vitchyr H. Pong, David C. Conner, H. Kress-Gazit

{"title":"Reactive high-level behavior synthesis for an Atlas humanoid robot","authors":"Spyros Maniatopoulos, Philipp Schillinger, Vitchyr H. Pong, David C. Conner, H. Kress-Gazit","doi":"10.1109/ICRA.2016.7487613","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487613","url":null,"abstract":"In this work, we take a step towards bridging the gap between the theory of formal synthesis and its application to real-world, complex, robotic systems. In particular, we present an end-to-end approach for the automatic generation of code that implements high-level robot behaviors in a verifiably correct manner, including reaction to the possible failures of low-level actions. We start with a description of the system defined a priori. Thus, a non-expert user need only specify a high-level task. We automatically construct a formal specification, in a fragment of Linear Temporal Logic (LTL), that encodes the system's capabilities and constraints, the task, and the desired reaction to low-level failures. We then synthesize a reactive mission plan that is guaranteed to satisfy the formal specification, i.e., achieve the task's goals or correctly react to failures. Lastly, we automatically generate a state machine that instantiates the synthesized symbolic plan in software. We showcase our approach using Team ViGIR's software and Atlas humanoid robot and present lab experiments, thus demonstrating the application of formal synthesis techniques to complex robotic systems. The proposed approach has been implemented and open-sourced as a collection of Robot Operating System (ROS) packages, which are adaptable to other systems.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116930959","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: 41

Independent control of two millimeter-scale soft-bodied magnetic robotic swimmers 独立控制两毫米尺度的软体磁性机器人游泳者

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487339

Jiachen Zhang, P. Jain, E. Diller

{"title":"Independent control of two millimeter-scale soft-bodied magnetic robotic swimmers","authors":"Jiachen Zhang, P. Jain, E. Diller","doi":"10.1109/ICRA.2016.7487339","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487339","url":null,"abstract":"We present a method to independently control two millimeter-scale soft-bodied magnetic swimmers, with nominal dimensions of 1.5 × 4.9 × 0.06 mm. A swimmer's speed depends on its relative angle with the actuation magnetic field. The two swimmers under control have different directions of net magnetic moments, and assume distinct orientations in one global magnetic field. With this fixed heading difference between two swimmers, the global actuation field forms different relative angles with the two swimmers. By manipulating these two relative angles, the two swimmers can exhibit different speeds. Theoretically, any speed ratios can be achieved between the two swimmers. In practice, a relatively accurate speed ratio can be obtained when both swimmers have nonzero speeds and one swimmer is no more than twice as fast as the other. Adding the control over the strength of actuation field, two swimmers can obtain independent speeds within a certain range. Two feedback controllers are proposed to control two such swimmers to arrive at independent global points (positioning) and move along paths (path following). Type I Sequential Controller manipulates two swimmers to move to their respective goals in sequence, while Type II Parallel Controller moves both swimmers simultaneously. Experiments are presented in which two swimmers are controlled to pass a series of points to form the letters “UT”.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121378146","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: 11

SUAV:Q - a hybrid approach to solar-powered flight SUAV:Q——一种太阳能动力飞行的混合方法

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487501

Ruben D'Sa, Devon Jenson, N. Papanikolopoulos

{"title":"SUAV:Q - a hybrid approach to solar-powered flight","authors":"Ruben D'Sa, Devon Jenson, N. Papanikolopoulos","doi":"10.1109/ICRA.2016.7487501","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487501","url":null,"abstract":"Selecting an aerial platform for an application typically requires compromise. A choice must be made between the flight time and long-range capabilities of a fixed-wing aircraft or the maneuverability and stationary characteristics of a multi-rotor platform. Recent developments of small-scale solar-powered UAVs have leveraged the advances in solar cell, energy storage, and propulsion system technology to reach extended flight times capable of all-day and multi-day flight. This paper presents the concept of a small-scale hybrid unmanned aerial vehicle capable of augmenting the maneuverability of a quad-rotor with the energy collection and supply of a solar-powered fixed-wing aircraft. An investigation into the aircraft design, transforming mechanism, and energy management of the multi-state system is presented. A proof-of-concept prototype has been constructed to demonstrate the airframe operating in a quad-rotor configuration. Power electronics capable of simultaneous battery charging and power loading from a solar array have been validated. Additional work in optimization of the propulsion system and airframe needs to be completed to maximize the performance of the hybrid system.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127263675","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: 14

Preliminary study of cooperative navigation of underwater vehicles without a DVL utilizing range and range-rate observations 基于距离和距离速率观测的无DVL水下航行器协同导航初步研究

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487420

Zachary J. Harris, L. Whitcomb

{"title":"Preliminary study of cooperative navigation of underwater vehicles without a DVL utilizing range and range-rate observations","authors":"Zachary J. Harris, L. Whitcomb","doi":"10.1109/ICRA.2016.7487420","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487420","url":null,"abstract":"This paper reports a preliminary study of a method for combined underwater communication and navigation of underwater vehicles (cooperative navigation) equipped with an acoustic modem, attitude, and depth sensors, but lacking a Doppler velocity log (DVL), and a surface vehicle equipped with an acoustic modem and GPS. Few previously reported studies have utilized acoustic range rate in addition to acoustic range for the general navigation of underwater vehicles. This paper reports an observation model for range-rate measurements and preliminary anecdotal simulation studies for cooperative navigation of one underwater vehicle client with one surface vehicle server employing both range and range-rate observations to estimate the vehicle states with a delayed-state extended Kalman filter in the absence of DVL velocity observations. The preliminary studies suggest that the addition of range-rate measurements may offer advantages over the case of range-only observations in a limited set of circumstances, such as poor range-observation accuracy. The present study is preliminary, however, and directions for future study are suggested.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127305350","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: 14