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Dynamic Planning Navigation Technique Optimized with Genetic Algorithm 遗传算法优化的动态规划导航技术
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.26
Atila V. F. M. De Oliveira, Marcelo A. C. Fernandes
{"title":"Dynamic Planning Navigation Technique Optimized with Genetic Algorithm","authors":"Atila V. F. M. De Oliveira, Marcelo A. C. Fernandes","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.26","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.26","url":null,"abstract":"This article proposes a new dynamic planning navigation strategy for use with mobile terrestrial robots. The strategy was applied to situations in which the environment and obstacles were unknown. After each displacement event, the robot replanned its route using a control algorithm that minimized the distance to the target and maximized the distance between the obstacles. Using a spatial localization sensor and a set of distance sensors, the proposed navigation strategy was able to dynamically plan optimum routes that were free of collisions. Simulations performed using different types of environment demonstrated that the technique offers a high degree of flexibility and robustness, and validated its potential use in real applications involving mobile terrestrial robots.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127536182","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
Control of a Biped Robot Using the Robot Operating System 基于机器人操作系统的双足机器人控制
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.46
Eduardo Henrique Maciel, Renato Ventura Bayan Henriques, W. Fetter Lages
{"title":"Control of a Biped Robot Using the Robot Operating System","authors":"Eduardo Henrique Maciel, Renato Ventura Bayan Henriques, W. Fetter Lages","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.46","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.46","url":null,"abstract":"This paper presents the development of a simplified model of the lower limbs of a biped robot, composed, basically, of a waist, two femurs, two tibiae and two feet. This mechanical structure has six degrees of freedom and has the approximate dimensions of a human being. The control system was implemented on the Robot Operating System (ROS). Contrariwise to most ROS controllers, a multi-input, multi-output (MIMO) controller using the computed-torque technique is proposed. The Gazebo simulator is used to validate the model and the control system.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129203528","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
A Fast Visual Odometry and Mapping System for RGB-D Cameras RGB-D相机的快速视觉里程测量与制图系统
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.35
Bruno M. F. Silva, L. Gonçalves
{"title":"A Fast Visual Odometry and Mapping System for RGB-D Cameras","authors":"Bruno M. F. Silva, L. Gonçalves","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.35","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.35","url":null,"abstract":"The introduction of low cost range sensing devices such as RGB-D cameras allows applications for Robotics to exploit novel and real-time capabilities. One such application is Visual Odometry, a module responsible to use the synchronized color/depth streams captured by this class of sensors to estimate the position and orientation of a robot at the same time that a map representation of the environment is built. Aiming to localize robots in a fast and efficient way, we design a Visual Odometry system for RGB-D sensors that allows real-time (approximately 25 Hz) camera pose estimation despite the fact that no specialized hardware (such as modern GPUs) is employed. Experiments carried out on publicly available benchmark and datasets demonstrate the usefulness of the method, which achieved localization accuracy superior to the state-of-the-art RGB-D SLAM algorithm.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"68 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133020998","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
Telepresence Robot with Image-Based Face Tracking and 3D Perception with Human Gesture Interface Using Kinect Sensor 基于图像的人脸跟踪和三维感知的远程临场感机器人，使用Kinect传感器
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.11
R. Berri, D. Wolf, F. Osório
{"title":"Telepresence Robot with Image-Based Face Tracking and 3D Perception with Human Gesture Interface Using Kinect Sensor","authors":"R. Berri, D. Wolf, F. Osório","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.11","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.11","url":null,"abstract":"This paper presents a Telepresence Mobile Robot using a Kinect sensor as the main perception/interface device. Firstly, using the Kinect camera (Webcam) and image processing techniques, it is possible to detect a human face, allowing the robot to track the face, getting closer of a person, moving forward and rotating to get a better position to interact with him/her. Besides that, it is possible to recognize hand gestures using the Kinect 3D sensor, when correctly positioned related to the person. The proposed gesture recognition method tracks the hands positions and movements, when moving it forward towards the robot, and then recognizing a set of predefined gestures/commands. Finally, the 3D perception provided by the Kinect also allows us to detect obstacles, avoiding collisions and helping to move safely and to search for someone in the environment. Practical experiments are presented demonstrating the obtained results in the searching, tracking of faces and obot positioning related to the user, and also, in the gesture recognition.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117125450","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
Using Reinforcement Learning Techniques to Select the Best Action in Setplays with Multiple Possibilities in Robocup Soccer Simulation Teams 使用强化学习技术在机器人世界杯足球模拟团队中选择具有多种可能性的最佳动作
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.47
J. A. Fabro, Luis Paulo Reis, N. Lau
{"title":"Using Reinforcement Learning Techniques to Select the Best Action in Setplays with Multiple Possibilities in Robocup Soccer Simulation Teams","authors":"J. A. Fabro, Luis Paulo Reis, N. Lau","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.47","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.47","url":null,"abstract":"Set plays are predefined collaborative coordinate actions that players from any sport can use to gain advantage over its adversaries. Recently, a complete framework for creation and execution of this kind of coordinate behavior by teams composed of multiple independent agents was launched as free software (the Set play Framework). In this paper, an approach based on Reinforcement Learning(RL) is proposed, that allows the use of experience to devise the better course of action in set plays with multiple choices. Simulations results show that the proposed approach allows a team of simulated agents to improve its performance against a known adversary team, achieving better results than previously proposed approaches using RL.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117192297","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: 9
Uncertainty Analysis of a Two-Link Robot Manipulator under Fuzzy Parameters 模糊参数下双连杆机器人机械手的不确定性分析
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.25
F. A. Lara-Molina, E. H. Koroishi, V. Steffen
{"title":"Uncertainty Analysis of a Two-Link Robot Manipulator under Fuzzy Parameters","authors":"F. A. Lara-Molina, E. H. Koroishi, V. Steffen","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.25","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.25","url":null,"abstract":"This paper aims at analyzing the effect of uncertain parameters on a two-link planar manipulator using a fuzzy dynamic approach. The uncertain parameters are modeled as fuzzy variables and the dynamic simulation of the robot is performed by using fuzzy dynamic analysis. The dynamic model of the manipulator under uncertain payload and friction force is analyzed, additionally, the tracking control performance of the manipulator subject to uncertainties is studied. Numerical simulations illustrate the proposed methodology so that the effect of fuzzy uncertain parameters on the dynamic performance of the robot manipulator is properly described.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"943 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116433164","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: 9
Attention Based Object Recogniton Applied to a Humanoid Robot 基于注意力的物体识别在仿人机器人中的应用
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.19
A. H. M. Pinto, L. O. de Oliveira, R. C. G. Meneghetti, R. Romero, A. X. Benicasa
{"title":"Attention Based Object Recogniton Applied to a Humanoid Robot","authors":"A. H. M. Pinto, L. O. de Oliveira, R. C. G. Meneghetti, R. Romero, A. X. Benicasa","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.19","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.19","url":null,"abstract":"Analysis and recognition of objects in complex scenes is a demanding task for a computer. There is a selection mechanism, named visual attention, that optimizes the visual system, in which only the important parts of the scene are considered at a time. In this work, an object-based visual attention model with both bottom-up and top-down modulation is applied to the humanoid robot NAO to allow a new attention procedure to the robot. This means that the robot, by using its cameras, can recognize geometric figures even with the competition for the attention of all the objects in the image in real time. The proposed method is validated through some tests with 13 to 14 year old kids interacting with the robot NAO that provides some tips (such as the perimeter and area calculation formulas) and recognizes the figure showed by these children. The results are very promissor and show that the proposed approach can contribute for inserting robotics in the educacional context.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127950842","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
Analysis of Prediction Models for Multi-robot System NMPFC 多机器人系统NMPFC预测模型分析
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.12
Diego S. Azevedo, L. F. Costa, A. Brito, T. Nascimento
{"title":"Analysis of Prediction Models for Multi-robot System NMPFC","authors":"Diego S. Azevedo, L. F. Costa, A. Brito, T. Nascimento","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.12","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.12","url":null,"abstract":"This paper analyzes the prediction model of a nonlinear model predictive formation controller (NMPFC) applied to control the formation of a team of omni directional mobile robots. The prediction model calculates future formation behaviors with respect to obstacles, team mates in formation, target, orientation, position in formation and control effort using a kinematic model to predict most of the formation terms. Nevertheless, the prediction of the robots in formation can be done by either dynamic models or pure kinematic models. Therefore, this paper presents an analysis in order to find a balanced robot's prediction model that stimulates the robots the converge in less time and minimizing the controller's cost function. Finally, results of experiments with simulated robots are presented and discussed.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114170925","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
Grid Ant Colony Optimization Applied to a Multi-robotic Garbage Collection System 网格蚁群算法在多机器人垃圾收集系统中的应用
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.45
D. Sales, M. A. Dias, F. Osório
{"title":"Grid Ant Colony Optimization Applied to a Multi-robotic Garbage Collection System","authors":"D. Sales, M. A. Dias, F. Osório","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.45","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.45","url":null,"abstract":"Garbage recycling and collection problem is an interesting problem that researchers are applying swarm intelligence algorithms to solve. Some previous approaches used particle swarm optimization, immune systems and ant colony optimization algorithms and achieved good results. Ant colony optimization is a well-known swarm intelligence algorithm that is normally used to solve computational problems which can be reduced to finding good paths in graphs. A multi-robotic system can be applied to solve this problem but it will need a control algorithm to accomplish the task. Applying the regular ant colony optimization algorithm to control the multi-robotic system is not a trivial task due to the graph representation needed. This work proposes modifications in the ant colony optimization algorithm that uses grid representation and applies the modified algorithm to solve this problem. The results showed a decrease of one order of magnitude in the number of iterations needed to solve the problem compared to the previous version of the algorithm. Considering the results the proposed algorithm showed to be able to control a multi-robotic system for the chosen problem.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133496320","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
A Single Camera Vision System for a Humanoid Robot 仿人机器人的单摄像头视觉系统
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.51
Claudio O. Vilão, D. Perico, I. J. Silva, T. P. D. Homem, Flavio Tonidandel, Reinaldo A. C. Bianchi
{"title":"A Single Camera Vision System for a Humanoid Robot","authors":"Claudio O. Vilão, D. Perico, I. J. Silva, T. P. D. Homem, Flavio Tonidandel, Reinaldo A. C. Bianchi","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.51","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.51","url":null,"abstract":"This paper describes a monocular vision system for humanoid robots designed and built to compete in the RoboCup Humanoid KidSize League. The proposed vision system allows the robots to track a ball, identify goals, field lines, team mates and opponents, providing information such as distances and estimated location for the robots simultaneously, using threads. With experiments using the real robots it was possible to run the vision system in real time with Full HD camera resolution, thus achieving the main goal of this work.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114176489","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: 15
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