2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)最新文献

Indoor SLAM for Micro Aerial Vehicles Control Using Monocular Camera and Sensor Fusion 基于单目摄像机和传感器融合的微型飞行器室内SLAM控制

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.46

Sergio García, M. E. L. Guillén, R. Barea, L. Bergasa, Alejandro Gómez, Eduardo J. Molinos

{"title":"Indoor SLAM for Micro Aerial Vehicles Control Using Monocular Camera and Sensor Fusion","authors":"Sergio García, M. E. L. Guillén, R. Barea, L. Bergasa, Alejandro Gómez, Eduardo J. Molinos","doi":"10.1109/ICARSC.2016.46","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.46","url":null,"abstract":"This paper represents research in progress in Simultaneous Localization and Mapping (SLAM) for Micro Aerial Vehicles (MAVs) in the context of rescue and/or recognition navigation tasks in indoor environments. In this kind of applications, the MAV must rely on its own onboard sensors to autonomously navigate in unknown, hostile and GPS denied environments, such as ruined or semi-demolished buildings. This article aims to investigate a SLAM technique that fuses visual information and measurements from the inertial measurement unit (IMU), to robustly obtain the 6DOF pose estimation of a MAV within a local map of the environment. The monocular visual SLAM algorithm along with the IMU calculate the pose estimation through an Extended Kalman Filter (EKF). The system consists of a low-cost commercial drone and a remote control unit to computationally afford the SLAM algorithms using a distributed node system based on ROS (Robot Operating System). Some experimental results show how sensor fusion improves the position estimation and the obtained map under different test conditions.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123820536","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

The LRU Rover for Autonomous Planetary Exploration and Its Success in the SpaceBotCamp Challenge 用于自主行星探测的LRU漫游车及其在SpaceBotCamp挑战赛中的成功

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.62

M. J. Schuster, Christoph Brand, Sebastian G. Brunner, Peter Lehner, Josef Reill, Sebastian Riedel, T. Bodenmüller, Kristin Bussmann, Stefan Büttner, Andreas Dömel, W. Friedl, I. Grixa, Matthias Hellerer, H. Hirschmüller, M. Kassecker, Zoltán-Csaba Márton, Christian Nissler, Felix Ruess, M. Suppa, A. Wedler

{"title":"The LRU Rover for Autonomous Planetary Exploration and Its Success in the SpaceBotCamp Challenge","authors":"M. J. Schuster, Christoph Brand, Sebastian G. Brunner, Peter Lehner, Josef Reill, Sebastian Riedel, T. Bodenmüller, Kristin Bussmann, Stefan Büttner, Andreas Dömel, W. Friedl, I. Grixa, Matthias Hellerer, H. Hirschmüller, M. Kassecker, Zoltán-Csaba Márton, Christian Nissler, Felix Ruess, M. Suppa, A. Wedler","doi":"10.1109/ICARSC.2016.62","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.62","url":null,"abstract":"The task of planetary exploration poses many challenges for a robot system, from weight and size constraints to sensors and actuators suitable for extraterrestrial environment conditions. In this work, we present the Light Weight Rover Unit (LRU), a small and agile rover prototype that we designed for the challenges of planetary exploration. Its locomotion system with individually steered wheels allows for high maneuverability in rough terrain and the application of stereo cameras as its main sensor ensures the applicability to space missions. We implemented software components for self-localization in GPS-denied environments, environment mapping, object search and localization and for the autonomous pickup and assembly of objects with its arm. Additional high-level mission control components facilitate both autonomous behavior and remote monitoring of the system state over a delayed communication link. We successfully demonstrated the autonomous capabilities of our LRU at the SpaceBotCamp challenge, a national robotics contest with focus on autonomous planetary exploration. A robot had to autonomously explore a moon-like rough-terrain environment, locate and collect two objects and assemble them after transport to a third object - which the LRU did on its first try, in half of the time and fully autonomous.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124818009","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: 26

A Shared Multi-particle Filter for Ball Position Estimation in RoboCup Small Size League Soccer Games 基于共享多粒子滤波的RoboCup小型足球联赛球位估计

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.24

T. Beppu, Shota Aoki, T. Horiuchi

{"title":"A Shared Multi-particle Filter for Ball Position Estimation in RoboCup Small Size League Soccer Games","authors":"T. Beppu, Shota Aoki, T. Horiuchi","doi":"10.1109/ICARSC.2016.24","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.24","url":null,"abstract":"In the RoboCup Small Size League (SSL), teams of six robots which are autonomously controlled by a team AI play soccer games using an orange colored golf ball. In SSL games, an image processing system (SSL-Vision) receives images from four cameras which are installed 4 meters above the field surface, identifies the robots and ball positions. Because the SSL-Vision identifies the robots and the ball positions from all camera images, multiple position coordinates are computed in overlapping regions of the images. A shared multi-particle filter was developed to determine the ball position in the overlapping regions, and to minimize the discontinuity of the moving ball locus across the regions. The shared multi-particle filter consists of 4 particle filters and a particle binder estimates the position of the ball from the median point of a combined distribution. In an experimental setup, the shared multi-particle filter smoothly connected two ball locus vectors with a distance of 17 mm. The distances between each sample of the shared multi-particle filter were almost the same as both sets of data from the two cameras.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132841075","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

Mechanical Design of a Biomimetic Compliant Lower Limb Exoskeleton (BioComEx) 仿生柔性下肢外骨骼(BioComEx)的机械设计

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.51

O. Baser, Hasbi Kizilhan, E. Kiliç

引用次数: 12

Analytical Hierarchy Process based Multi-objective Multiple Traveling Salesman Problem 基于层次分析法的多目标多旅行商问题

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.26

O. Cheikhrouhou, A. Koubâa, Anis Zaard

{"title":"Analytical Hierarchy Process based Multi-objective Multiple Traveling Salesman Problem","authors":"O. Cheikhrouhou, A. Koubâa, Anis Zaard","doi":"10.1109/ICARSC.2016.26","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.26","url":null,"abstract":"The paper addresses the problem of assigning robots to target locations in the context of a disaster management scenario, while minimizing a set of pre-defined objectives. The problem is formulated as a Multi-objective Multiple Traveling Salesman Problem. A three-phase mechanism based on Analytical Hierarchy Process (AHP) is proposed. In the first phase, AHP is used to systematically define weights for each objective. In the second phase, the robots contend for the allocation of available targets using three different approaches. In the third phase, an improvement phase is carried out to refine the targets' allocation. A Matlab simulation studies is used to examine the performance of the proposed solutions with three objective functions namely the total traveled distance, the maximum tour and the deviation rate. The comparison between the three proposed approaches shows that, for large scenario, the marketbased approach gives the best solution over the RTMA and the Balanced approach. Moreover, the comparison of the proposed multi-objective approach with the mono-objective one shows that our proposed approach outperforms the mono-objective one in the global cost when considering the three objectives. A slightly additional cost in the specific objective is considered in the monoobjective approach.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"182 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115458829","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: 8

How to Select a Suitable Action against Strong Pushes in Adult-Size Humanoid Robot: Learning from Past Experiences 成人人形机器人如何选择合适的动作对抗强推力:从过去的经验中学习

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.43

S. M. Kasaei, S. M. Kasaei, E. Shahri, Ali Ahmadi, N. Lau, Artur Pereira

{"title":"How to Select a Suitable Action against Strong Pushes in Adult-Size Humanoid Robot: Learning from Past Experiences","authors":"S. M. Kasaei, S. M. Kasaei, E. Shahri, Ali Ahmadi, N. Lau, Artur Pereira","doi":"10.1109/ICARSC.2016.43","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.43","url":null,"abstract":"Avoiding a fall after strong collisions between two players is an important capability for an adult-size humanoid robot. Particularly in the RoboCup competitions, matches are really competitive and collisions between players are occurred frequently. In the adult-size humanoid league, robots are tall and heavy. Whenever robots contact each other during moving, several unpredicted non-linear forces are entered to the robots. As a consequence, the stability of robots goes out of control and they fall down. In order to maintain and recover balance of an adult-size humanoid robot against external disturbances, a Neural Network is used for learning from past experiments to reduce the effect of disturbances forces by providing proper step sizes and joint angles to the robot. In our approach, the robot's controller is learned using several empirical experiments and tested on a real adult-size humanoid robot namely Ariana from BehRobot humanoid team. Experiments demonstrate after receiving strong pushes during walking, Ariana can efficiently recover its stability in the real environment.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129117407","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

Segmentation of Medieval and Ancient Coins over Complex Backgrounds: A Fast Automatic Method 中古和古钱币在复杂背景上的分割:一种快速的自动方法

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.60

Luis Salgado, C. Santos

引用次数: 0

A Scan Matching Approach to SLAM with a Dynamic Likelihood Field 基于动态似然场的SLAM扫描匹配方法

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.23

E. Pedrosa, Artur Pereira, N. Lau

引用次数: 6

A Clustering Market-Based Approach for Multi-robot Emergency Response Applications 基于市场的多机器人应急响应聚类方法

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.14

S. Trigui, A. Koubâa, O. Cheikhrouhou, B. Qureshi, H. Youssef

{"title":"A Clustering Market-Based Approach for Multi-robot Emergency Response Applications","authors":"S. Trigui, A. Koubâa, O. Cheikhrouhou, B. Qureshi, H. Youssef","doi":"10.1109/ICARSC.2016.14","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.14","url":null,"abstract":"In this paper, we address the problem of multi-robot systems in emergency response applications, where a team of robots/drones has to visit affected locations to provide rescue services. In the literature, the most common approach is to assign target locations individually to robots using centralized or distributed techniques. The problem is that the computation complexity increases significantly with the number of robots and target locations. In addition, target locations may not be assigned uniformly among the robots. In this paper, we propose, CMMTSP, a clustering market-based approach that first groups locations into clusters, then assigns clusters to robots using a market-based approach. We formulate the problem as multiple-depot MTSP and address the multi-objective optimization of three objectives namely, the total traveled distance, the maximum traveled distance and the mission time. Simulations show that CM-MTSP provides a better balance among the three objectives as compared to a single objective optimization, in particular an enhancement of the mission time, and reduces the execution time to at least 80% as compared to a greedy approach.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"67 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113943400","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: 10

Contextual Task Recognition to Assist Mobile Robot Teleoperation with Introspective Estimation Using Gaussian Process 基于高斯过程内省估计的上下文任务识别辅助移动机器人遥操作

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.32

Ming Gao, T. Schamm, Johann Marius Zöllner

引用次数: 2