2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)最新文献_第2页

Development of a Biofeedback Approach Using Body Tracking with Active Depth Sensor in ASBGo Smart Walker 利用 ASBGo 智能助步器中的主动深度传感器进行身体跟踪，开发生物反馈方法

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.34

Inês Caetano, Joana Alves, José Gonçalves, M. Martins, C. Santos

{"title":"Development of a Biofeedback Approach Using Body Tracking with Active Depth Sensor in ASBGo Smart Walker","authors":"Inês Caetano, Joana Alves, José Gonçalves, M. Martins, C. Santos","doi":"10.1109/ICARSC.2016.34","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.34","url":null,"abstract":"There is a considerable number of people with balance problems. Thus, the development of devices that can support and aid patients these patients is a very important question in our days. One important point to take into account during their treatment is which relevant information should be presented to them to improve their motivation and movement control. Biofeedback is an important tool since it shows to the patient his/her real performance [1]. This article tackles the challenge of integrating such a tool in a smart walker. It presents an application that was developed to aid patients with balance problems while walking assisted with the Adaptive System Behavior Group (ASBGo) smart walker (SW). Through a built-in Active Depth Sensor (ADS), it is possible to recognize the upper body and extract data about the user's performance. Such information is processed with the developed application and displayed in a graphic's interface in real time. Results show the high potential of this application to be used during a clinical trial using the smart walker as a rehabilitation tool.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"5 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":"127386239","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

Turtlebot at Office: A Service-Oriented Software Architecture for Personal Assistant Robots Using ROS Turtlebot at Office:基于ROS的面向服务的个人助理机器人软件体系结构

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.66

A. Koubâa, Mohamed-Foued Sriti, Yasir Javed, Maram Alajlan, B. Qureshi, Fatma Ellouze, Abdelrahman Mahmoud

{"title":"Turtlebot at Office: A Service-Oriented Software Architecture for Personal Assistant Robots Using ROS","authors":"A. Koubâa, Mohamed-Foued Sriti, Yasir Javed, Maram Alajlan, B. Qureshi, Fatma Ellouze, Abdelrahman Mahmoud","doi":"10.1109/ICARSC.2016.66","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.66","url":null,"abstract":"This paper presents the design of an assistive mobile robot to support people in their everyday activities in office and home environments. The contribution of this paper consists in the design of a modular component-based software architecture that provides different abstraction layers on top of Robot Operating System (ROS) to make easier the design and development of service robots with ROS. The first abstraction layer is the COROS framework composed of complementary software subsystems providing different interfaces between ROS and the client applications. The second abstraction layer is the integration of Web services into ROS to allow client applications to seamlessly and transparently interact with the robot while hiding all implementation details. The proposed software architecture was validated through a experimental prototype of Turtlebot deployed in University campus. Furthermore, we outline the challenges incurred during experimentation and focus on lessons learned throughout the implementation and deployment.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"47 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114045116","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

Towards a Unified Decentralized Swarm Management and Maintenance Coordination Based on MAVLink 基于MAVLink的分散集群统一管理与维护协调

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-04 DOI: 10.1109/ICARSC.2016.64

T. Dietrich, Oleksandr Andryeyev, A. Zimmermann, A. Mitschele-Thiel

引用次数: 18

ISEP/INESC TEC Aerial Robotics Team for Search and Rescue Operations at the EuRathlon Challenge 2015 ISEP/INESC TEC空中机器人团队参加2015年欧洲athlon挑战赛的搜索和救援行动

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/icarsc.2016.49

P. Sousa, A. Ferreira, M. Moreira, T. Santos, A. Martins, A. Dias, J. Almeida, E. Silva

引用次数: 8

A Learning Approach for Robotic Grasp Selection in Open-Ended Domains 开放式领域机器人抓取选择的一种学习方法

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.17

Nima Shafii, S. Kasaei, L. Lopes

{"title":"A Learning Approach for Robotic Grasp Selection in Open-Ended Domains","authors":"Nima Shafii, S. Kasaei, L. Lopes","doi":"10.1109/ICARSC.2016.17","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.17","url":null,"abstract":"Enabling a robot to grasp unknown objects is still an ongoing challenge in robotics. The main problem is to find an appropriate grasp configuration including the position and orientation of the arm relative to the object and fingers configuration. One approach is to recognize an appropriate grasp pose for an object based on one or more grasp demonstrations of the same or other objects. We focus on familiar objects, i.e. unknown objects sharing some features with known objects. The underlying assumption in grasping familiar objects is that, where they are similar to known ones, they may be grasped in a similar way. However finding an object representation and a similarity metric are still the main challenge to transfer grasp experiences to new objects. In this paper, we present an interactive object view recognition approach and a similarity metric to grasp familiar objects. Object view recognition is incrementally capable of recognizing object view labels. The grasp pose learning approach learns a grasp template for a recognized object view using local and global visual features of a demonstrated grasp. In grasp pose recognition, a similarity measure based on Mahalanobis distance is used for grasp template matching. The experimental results reveal the high reliability of the developed template matching approach. We also demonstrate how the proposed grasp learning system can incrementally improve its performance in grasping familiar objects.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125516914","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

A Validation Framework for Visible Light Positioning in Mobile Robotics 移动机器人中可见光定位的验证框架

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.25

Miguel Vieira, R. Costa, Artur Pereira, Pedro Fonseca

引用次数: 4

Extendable Matrix Camera Using Aerial Networks 使用空中网络的可扩展矩阵相机

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.38

L. Pinto, Luis Oliveira, L. Almeida, Anthony G. Rowe

{"title":"Extendable Matrix Camera Using Aerial Networks","authors":"L. Pinto, Luis Oliveira, L. Almeida, Anthony G. Rowe","doi":"10.1109/ICARSC.2016.38","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.38","url":null,"abstract":"Recent advances in Unmanned Aerial Vehicles (UAVs) have enabled a myriad of new applications many of which provide aerial vision-based sensing. In intrusion detection or target tracking applications, it is important to reach a given area of interest in the shortest time, and create an online data streaming connection to a monitoring station for immediate delivery of content to the operator. However, if the area of interest (AOI) is not contained in the field of view of a single UAV, it is necessary to move the sensor-UAV to sweep the region in order to provide the most fresh information as possible. In order to improve the collection time of the AOI, we can cooperatively use multiple UAVs creating an array of moving cameras, that always remain connected without breaks in communication. In this work, we validate our approach with a simulation that captures physical models and the application layer of each UAV, as well as the wireless network. We propose an optimal solution to sweep the AOI as well as a decentralised formation control algorithm that maintains UAVs equally separated along the optimal path that covers the whole AOI, even with external disturbances such as wind gusts. We show a seven-fold increase in the refresh rate of the AOI coverage when comparing to a solution without the optimal sweeping and decentralised formation control.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134500529","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: 1

Histogram Based Visual Place Recognition for Improving SLAM Performance 基于直方图的视觉位置识别提高SLAM性能

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.42

Oguzhan Guclu, Ahmet Burak Can

引用次数: 3

A Novel Approach for Natural Landmarks Identification Using RGB-D Sensors 基于RGB-D传感器的自然地标识别新方法

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.20

A. Castro, Yooh B. de Brito, L. A. Souto, T. Nascimento

{"title":"A Novel Approach for Natural Landmarks Identification Using RGB-D Sensors","authors":"A. Castro, Yooh B. de Brito, L. A. Souto, T. Nascimento","doi":"10.1109/ICARSC.2016.20","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.20","url":null,"abstract":"With the advance in the research of mobile robots localization algorithms, the need for natural landmark identification has increased. These mobile platforms should have a similar concept of the environment as humans do, without having everything supervised beforehand. The detection of natural landmarks is challenging because their appearance can be different in shape and designs, as well as suffer influence of environment illumination. A typical 2D object recognition algorithm may not be able to handle the large optical variety of doors and staircases in large corridors. Improvements of low-cost 3D sensors enable robots to perceive their environment as spatial structure. Therefore we propose a novel landmark identification algorithm that exploits the basic structural knowledge about these landmarks and enables to extract their edges creating a cloud of edge points based on their calculated normals. These points are subjected to a l0-norm minimization algorithm and then used in a final identification step. To demonstrate the validity of our approach, a realistic dataset of doors and staircases from different angles and distances were acquired.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128463956","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: 1

Motion Primitives for Human-to-Humanoid Skill Transfer under Balance Constraint 平衡约束下人-类人技能转移的运动原语

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.53

J. Rosado, Filipe M. T. Silva, Vítor M. F. Santos

{"title":"Motion Primitives for Human-to-Humanoid Skill Transfer under Balance Constraint","authors":"J. Rosado, Filipe M. T. Silva, Vítor M. F. Santos","doi":"10.1109/ICARSC.2016.53","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.53","url":null,"abstract":"In order to properly function in real-world environments, the gait of a humanoid robot must be able to adapt to new situations as well as to deal with unexpected perturbations. A promising research direction is the modular generation of movements that results from the combination of a set of basic primitives. Humans seem to be able to adapt their motion in an effortless way and efficient way. In this work we present a methodology to extract a single demonstration signal from a human teacher that can be used in a biped robot to walk in an efficient way and quickly adapt to new situations. Instead of using a normal human gait, the demonstrator walks on a gait we called \"robot-like\". It is our belief that the retargeting task will be more efficient and easier by using this methodology. The acquired signal is then used to train a set of Dynamic Movement Primitives (DMP) that directly retrieves the trajectories of the end effector in the Cartesian space. In previous works we have used this methodology with efficiency in several tasks, e.g., walking over irregularities, overcoming an obstacle. Now, by combining rhythmic DMP with discrete DMP, we show that the adaptability performance to new situations that require precise foot placement is increased.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128617733","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: 1