2021 European Conference on Mobile Robots (ECMR)最新文献

A Probabilistic Approach for Complete Coverage Path Planning with low-cost Systems 低成本系统完全覆盖路径规划的概率方法

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568847

Nils Rottmann, Robin Denz, R. Bruder, Elmar Rueckert

{"title":"A Probabilistic Approach for Complete Coverage Path Planning with low-cost Systems","authors":"Nils Rottmann, Robin Denz, R. Bruder, Elmar Rueckert","doi":"10.1109/ecmr50962.2021.9568847","DOIUrl":"https://doi.org/10.1109/ecmr50962.2021.9568847","url":null,"abstract":"Domestic robots, such as vacuum cleaners or lawn mowers, are mostly based on a low-cost design to make them affordable for the consumer. This often results in such robots being equipped with only simple sensors, such as in-/outside area detectors for lawn mowers. Intelligent navigation and planning strategies, however, usually require additional sensors like LiDAR sensors, cameras or time of flight sensors. Thus, there is a lack of intelligent approaches for the complete coverage of the workspace under consideration of only minimal sensing capabilities.In this work, we propose a probabilistic planning method for low-cost robots with limited sensing capabilities to completely cover an enclosed environment. Our planning approach thereby utilizes Monte Carlo Localization for estimating coverage probabilities based on the particle distribution. These coverage probabilities are stored in a grid map on the basis of which an intelligent path planning approach determines the next locations to be visited. We demonstrate our approach in different simulation scenarios for a realistic autonomous lawn mower with only in-/outside area detection capabilities. As comparison benchmark we use the common random walk mowing pattern.","PeriodicalId":200521,"journal":{"name":"2021 European Conference on Mobile Robots (ECMR)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129090911","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

Combining Local and Global Viewpoint Planning for Fruit Coverage 结合当地和全球视角规划水果覆盖

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568836

Tobias Zaenker, Christopher F. Lehnert, C. McCool, Maren Bennewitz

{"title":"Combining Local and Global Viewpoint Planning for Fruit Coverage","authors":"Tobias Zaenker, Christopher F. Lehnert, C. McCool, Maren Bennewitz","doi":"10.1109/ecmr50962.2021.9568836","DOIUrl":"https://doi.org/10.1109/ecmr50962.2021.9568836","url":null,"abstract":"Obtaining 3D sensor data of complete plants or plant parts (e.g., the crop or fruit) is difficult due to their complex structure and a high degree of occlusion. However, especially for the estimation of the position and size of fruits, it is necessary to avoid occlusions as much as possible and acquire sensor information of the relevant parts. Global viewpoint planners exist that suggest a series of viewpoints to cover the regions of interest up to a certain degree, but they usually prioritize global coverage and do not emphasize the avoidance of local occlusions. On the other hand, there are approaches that aim at avoiding local occlusions, but they cannot be used in larger environments since they only reach a local maximum of coverage. In this paper, we therefore propose to combine a local, gradient-based method with global viewpoint planning to enable local occlusion avoidance while still being able to cover large areas. Our simulated experiments with a robotic arm equipped with a camera array as well as an RGB-D camera show that this combination leads to a significantly increased coverage of the regions of interest compared to just applying global coverage planning.","PeriodicalId":200521,"journal":{"name":"2021 European Conference on Mobile Robots (ECMR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121602033","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: 13

Fast Haptic Terrain Classification for Legged Robots Using Transformer 基于变压器的腿式机器人快速触觉地形分类

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568808

Michał Bednarek, Mikolaj Lysakowski, J. Bednarek, Michał R. Nowicki, K. Walas

引用次数: 7

Robust Efficient Localization of Robots in Pipe Networks using a Particle Filter for Hybrid Metric-Topological Space 基于混合度量-拓扑空间粒子滤波的管道网络机器人鲁棒高效定位

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568829

R. Worley, S. Anderson

引用次数: 1

Combining Task and Motion Planning through Rapidly-Exploring Random Trees 结合任务和运动规划通过快速探索随机树

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568803

R. Caccavale, Alberto Finzi

引用次数: 0

Null Space Based Efficient Reinforcement Learning with Hierarchical Safety Constraints 基于零空间的分层安全约束的高效强化学习

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568848

Quantao Yang, J. A. Stork, Todor Stoyanov

{"title":"Null Space Based Efficient Reinforcement Learning with Hierarchical Safety Constraints","authors":"Quantao Yang, J. A. Stork, Todor Stoyanov","doi":"10.1109/ecmr50962.2021.9568848","DOIUrl":"https://doi.org/10.1109/ecmr50962.2021.9568848","url":null,"abstract":"Reinforcement learning is inherently unsafe for use in physical systems, as learning by trial-and-error can cause harm to the environment or the robot itself. One way to avoid unpredictable exploration is to add constraints in the action space to restrict the robot behavior. In this paper, we propose a null space based framework of integrating reinforcement learning methods in constrained continuous action spaces. We leverage a hierarchical control framework to decompose target robotic skills into higher ranked tasks (e. g., joint limits and obstacle avoidance) and lower ranked reinforcement learning task. Safe exploration is guaranteed by only learning policies in the null space of higher prioritized constraints. Meanwhile multiple constraint phases for different operational spaces are constructed to guide the robot exploration. Also, we add penalty loss for violating higher ranked constraints to accelerate the learning procedure. We have evaluated our method on different redundant robotic tasks in simulation and show that our null space based reinforcement learning method can explore and learn safely and efficiently.","PeriodicalId":200521,"journal":{"name":"2021 European Conference on Mobile Robots (ECMR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115430992","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: 4

On-plate autonomous exploration for an inspection robot using ultrasonic guided waves 基于超声导波的检测机器人板上自主探测

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568841

Ayoub Ridani, Othmane-Latif Ouabi, N. Declercq, C. Pradalier

引用次数: 0

Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance 力与触觉反馈的双手遥控与预测极限规避

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568842

Christian Lenz, Sven Behnke

{"title":"Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance","authors":"Christian Lenz, Sven Behnke","doi":"10.1109/ecmr50962.2021.9568842","DOIUrl":"https://doi.org/10.1109/ecmr50962.2021.9568842","url":null,"abstract":"Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity, especially for solving unexpected problems. A main challenge in teleoperation consists of providing enough feedback to the human operator for situation awareness and thus create full immersion, as well as offering the operator suitable control interfaces to achieve efficient and robust task fulfillment. We present a bimanual telemanipulation system consisting of an anthropomorphic avatar robot and an operator station providing force and haptic feedback to the human operator. The avatar arms are controlled in Cartesian space with a 1:1 mapping of the operator movements. The measured forces and torques on the avatar side are haptically displayed directly to the operator. We developed a predictive avatar model for limit avoidance which runs on the operator side, ensuring low latency. Only off-the-shelf components were used to build the system. It is evaluated in lab experiments and by untrained operators in a small user study.","PeriodicalId":200521,"journal":{"name":"2021 European Conference on Mobile Robots (ECMR)","volume":"96 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126050682","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: 5

Remote driving testbed with force feedback based on slip angle estimation 基于滑移角估计的力反馈远程驾驶试验台

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568828

Quang Son Le, S. Arogeti, A. Borowsky

引用次数: 0

Comparison of Three Meta-heuristic Algorithms for Solving Inverse Kinematics Problems of Variable Curvature Continuum Robots 求解变曲率连续体机器人逆运动学问题的三种元启发式算法比较

2021 European Conference on Mobile Robots (ECMR) Pub Date : 2021-08-01 DOI: 10.1109/ecmr50962.2021.9568789

S. Djeffal, Chawki Mahfoudi, A. Amouri

{"title":"Comparison of Three Meta-heuristic Algorithms for Solving Inverse Kinematics Problems of Variable Curvature Continuum Robots","authors":"S. Djeffal, Chawki Mahfoudi, A. Amouri","doi":"10.1109/ecmr50962.2021.9568789","DOIUrl":"https://doi.org/10.1109/ecmr50962.2021.9568789","url":null,"abstract":"Since the analytical solutions of kinematics problems of continuum robots, especially those having a complex form, are not yet available, an alternative method is to obtain fast and accurate solutions using meta-heuristic algorithms. In this paper, we present a comparison between the use of three meta-heuristic algorithms namely: Artificial Bee Colony (ABC), Particle Swarm Optimization (PSO) and Genetic Algorithm (GA) for solving the inverse kinematic problems of continuum robots so-called variable curvature continuum robots. Simulation analysis is performed through Matlab Software which shows the performance of the studied algorithms in terms of the computation time and accuracy during path tracking. It is found that the developed code on Matlab Software for the three meta-heuristic algorithms can perfectly imitate the behavior of continuum robots which makes it a realistic-like environment for the simulation analysis. Concerning the efficiency of the developed meta-heuristic algorithms, ABC algorithm provides a remarkable accuracy for the tracking of the prescribed trajectories yet it takes time for the accomplishment of the prescribed task. For GA and PSO, they are suitable when it comes to real time application compared to ABC.","PeriodicalId":200521,"journal":{"name":"2021 European Conference on Mobile Robots (ECMR)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115637699","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