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2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol最新文献

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Intelligent Control Architecture for Human-Robot Interaction 人机交互智能控制体系结构
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.54
S. Alves, Ivan N. Silva, Humberto Ferasoli Filho
{"title":"Intelligent Control Architecture for Human-Robot Interaction","authors":"S. Alves, Ivan N. Silva, Humberto Ferasoli Filho","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.54","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.54","url":null,"abstract":"Due to constant price reduction and miniaturization of the devices that compose a mobile robot, mobile robotics has become increasingly accessible for the public, and it is reasonable to assume that in the near future robots will be \"living\" among us. To create robots capable of living in human society, various disciplines have contributed to theoretical and technological frameworks, of which two stand out: Control Architectures and Human-Robot Interaction. This paper presents a work in progress that proposes an intelligent control architecture inspired by natural models, whose main purpose is to allow the robot to interact with people intuitively and to motivate collaboration between people and robots.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"38 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":"134299842","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: 2
A Hybrid Approach for Path Planning and Execution for Autonomous Mobile Robots 自主移动机器人路径规划与执行的混合方法
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.44
V. De Carvalho Santos, Cláudio Fabiano Motta Toledo, F. Osório
{"title":"A Hybrid Approach for Path Planning and Execution for Autonomous Mobile Robots","authors":"V. De Carvalho Santos, Cláudio Fabiano Motta Toledo, F. Osório","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.44","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.44","url":null,"abstract":"Path planning and execution are very important tasks for autonomous mobile robots. In the environment considered in this study, first the path must be planned from a source point to a destination point. Next, the control navigation is executed from a set of possible actions. Several works based on metric map can be found in the literature. This paper address an approach in which a path as a sequence of actions is executed by a robot from some decision points in the environment, so that the robot does not need to constantly update its localization in termos of (x, y) coordinates. The decision points are not known in advance and the robot must identify them during its navigation. A hybrid approach is proposed so that a genetic algorithm can find the sequence of reactive behaviors the robot should execute to reach the destination and a pattern recognizer is used to identify the decision points. The robot needs to automatically recognize the decision points to select a new action for each situation. Experiments were performed in the Player/Stage simulator and the hybrid approach achieved promising results regarding the path planning and execution under the conditions defined.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"37 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":"131661969","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
On Maintaining Connectivity of a Colony of Autonomous Explorer Mobile Robots 自主探索移动机器人群的连通性保持问题
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.50
Jonathan Matias Palma Olate, C. Duran-Faundez
{"title":"On Maintaining Connectivity of a Colony of Autonomous Explorer Mobile Robots","authors":"Jonathan Matias Palma Olate, C. Duran-Faundez","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.50","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.50","url":null,"abstract":"In the context of multi-robot exploring, we work on the particular problem of maintaining communication links between an explorer robots and a base station using autonomous robot routers. In this paper, we propose and describe a kind of exploring application which considers a variable amount of robots over time. This problem opens various research challenges. Afterwards, we focus on the problem of maintaining a single chain of router robots between an explorer and the base station. We propose an simple algorithm for driving router robots. The algorithm generates reactions using a heuristic that considers network changes perceived by RSSI measures. Actions performed by router robots depend on achieving goals consisting in algebraic relationships between current and past RSSI values. Simulation results show effectiveness of the proposal allowing to drive router robots to good positions, in a free-of-obstacles environment, considering the proposed heuristic and the adopted simulation model.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"4 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":"121966498","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
A Mechanism for Reproducing Human Gait in Footwear Comfort Tests 在鞋类舒适测试中再现人类步态的机制
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.17
A. Markus, M. Sobczyk, R. A. Laranja, M. Zaro
{"title":"A Mechanism for Reproducing Human Gait in Footwear Comfort Tests","authors":"A. Markus, M. Sobczyk, R. A. Laranja, M. Zaro","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.17","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.17","url":null,"abstract":"This work describes the development of a conceptual articulated mechanism, which aims to reproduce the human foot movement during a walking gait in comfort tests for evaluating the quality of footwear. The main goal is to emulate such movement with relatively few degrees of freedom, so that the automatic control of the mechanism is facilitated. The general design of the mechanism is developed by reviewing current projects in the robotic field and comparing them to the anatomy of a real foot. Also, experimental data from video gammetry tests are employed to define the actual dimensions and the final configuration of the proposed system.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"49 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":"122653267","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: 2
Small Wheeled Autonomous Mobile Soccer Robot 小型轮式自主移动足球机器人
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.33
André Cavalcanti, M. Araújo, Diogo P. F. Pedrosa
{"title":"Small Wheeled Autonomous Mobile Soccer Robot","authors":"André Cavalcanti, M. Araújo, Diogo P. F. Pedrosa","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.33","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.33","url":null,"abstract":"This paper presents the main mechanical and electrical characteristics of autonomous mobile robots with differential drive used in robot soccer competitions. The robots are endowed with embedded electronics powered by rechargeable batteries, wireless communication system, and the kick mechanism. Automatic kick mechanism is able to propel the ball with more speed, increasing the chance to score goals during the match. Several experiments that show the speed of the robot as a function of applied voltage in motors and also the speed of the ball as a function of the applied voltage kick mechanism will be presented, was also measured traction force to the robot as a function of applied voltage on the wheel motors, all of these experiments is to raise the characteristics of the robot but also find the equations between voltage actuators and robot speed, ball speed and range, and traction force of the robot. All these equations will be used by the robot control system.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"30 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":"117050740","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
Adaptive Selection of Color Images or Depth to Align RGB-D Point Clouds 自适应选择颜色图像或深度对齐RGB-D点云
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.40
Juan Carlos Perafan Villota, Anna Helena Reali Costa
{"title":"Adaptive Selection of Color Images or Depth to Align RGB-D Point Clouds","authors":"Juan Carlos Perafan Villota, Anna Helena Reali Costa","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.40","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.40","url":null,"abstract":"Alignment of pair wise image point clouds is an important task in building environment maps with partial information. The combination of depth information and images provided by RGB-D cameras are often used to improve such alignment. However, when the environment is structured and its images show little texture, depth information is more reliable, on the other hand, when the images of the environment have enough texture, better results are achieved when texture information is used. In this paper, we propose a new adaptive approach to make the most effective selection of image or depth information in order to find a better alignment of points and thus better define the rigid transformation between two point clouds. Our approach uses an adaptive parameter based on the degree of texture of the scene, selecting not only FPFH and SURF descriptors, but also weighting the iterative ICP process. Datasets containing RGB-D data with textured and non textured images are used to validate our proposal.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"51 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":"126586375","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: 2
Automating Cataloging and Discovery of Services for Service-Oriented Robotic Systems 面向服务的机器人系统服务的自动编目和发现
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.31
Lucas Bueno R. Oliveira, Diogo Brandao Martins, Felipe Augusto do Amaral, F. Oquendo, Elisa Yumi Nakagawa
{"title":"Automating Cataloging and Discovery of Services for Service-Oriented Robotic Systems","authors":"Lucas Bueno R. Oliveira, Diogo Brandao Martins, Felipe Augusto do Amaral, F. Oquendo, Elisa Yumi Nakagawa","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.31","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.31","url":null,"abstract":"Recently, a range of different types of robots has been developed for several sectors of the society. To cope with this demand and increasing complexity, diverse ways have been investigated to support the development of robotic systems, i.e., The software systems that control robots. In particular, Service-Oriented Architecture (SOA) is a promising solution to organize elements that compose robotic systems and can be used to overcome inherent problems of development in robotics, such as integration of heterogeneous hardware devices and reuse of complex software modules. In this scenario, companies and research institutes have released tools and environments specially focused on the development of robotic systems based on SOA. However, none of these environments provide a mechanism that makes it possible to efficiently catalog and discover the various services available for composing such systems, thus reducing the potential of reuse provided by SOA. This paper presents Robo SeT, a mechanism that supports cataloging and discovery of services for the development of robotic systems. It is based on semantic search and uses a taxonomy of the robotics domain to classify services. Results of our case study indicate that Robo SeT facilitates the development of robotic systems, since it presents the potential to widely promote reusability of robotics services.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"68 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":"129042196","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
Multiple UAV Guidance Using the Multi-layer Control Scheme and Delaunay Triangulation 基于多层控制和Delaunay三角测量的多无人机制导
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.29
A. Brandão, J. Barbosa, Valentin Mendoza, M. Sarcinelli-Filho
{"title":"Multiple UAV Guidance Using the Multi-layer Control Scheme and Delaunay Triangulation","authors":"A. Brandão, J. Barbosa, Valentin Mendoza, M. Sarcinelli-Filho","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.29","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.29","url":null,"abstract":"This work presents a strategy to guide a formation of multiple unmanned aerial vehicles (MUAV) to accomplish positioning and trajectory-tracking tasks. Delaunay triangulation is here used to split the platoon of UAVs in N-triangles, which are individually guided by the multi-layer control scheme (MLCS). The advantage of this proposal is to reduce the possibility of intra-formation collision, since there is no intersection between the line segments composing the sides of the N-triangles. The advantage of the MLCS is to maintain the order of the Jacobian matrix constant, regardless of the number of robots in the formation, which reduces the complexity of the control problem. Before sending the control signals to each robot, they are weighted according to the number of triangles to which a specific robot belongs. Simulation results demonstrate the ability to accomplish the aforementioned tasks, thus validating the proposal.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"7 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":"134379063","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
Data Fusion Obtained from Multiple Images Aiming the Navigation of Autonomous Intelligent Vehicles in Agricultural Environment 面向农业环境下自主智能车辆导航的多图像数据融合
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.21
V. M. Utino, D. Wolf, F. Osório
{"title":"Data Fusion Obtained from Multiple Images Aiming the Navigation of Autonomous Intelligent Vehicles in Agricultural Environment","authors":"V. M. Utino, D. Wolf, F. Osório","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.21","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.21","url":null,"abstract":"Visual navigation is an important research field in robotics due to low cost of cameras and the good results that these systems usually achieve. This paper presents monocular and stereo vision-based detection methods. The obstacles are detected and fused through the Dempster-Shafer theory for generating a cloud of points that contains the probability of the existence of obstacles in the environment and its distance from the autonomous vehicle. The experiments were performed in a real rural environment to evaluate and validate the approach. The proposed system has shown to be a promising approach for obstacle detection aimed at navigating an autonomous vehicle in rural and agricultural environments.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"33 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":"124911455","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: 2
Stability Analysis of a Multirotor UAV with Robust Backstepping Controller 鲁棒反步控制器多旋翼无人机稳定性分析
2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol Pub Date : 2014-10-18 DOI: 10.1109/SBR.LARS.ROBOCONTROL.2014.24
A. Sanca, P. Alsina, Jés Jesus Fiais Cerqueira
{"title":"Stability Analysis of a Multirotor UAV with Robust Backstepping Controller","authors":"A. Sanca, P. Alsina, Jés Jesus Fiais Cerqueira","doi":"10.1109/SBR.LARS.ROBOCONTROL.2014.24","DOIUrl":"https://doi.org/10.1109/SBR.LARS.ROBOCONTROL.2014.24","url":null,"abstract":"In this paper, the stability analysis of an hexarotor micro-aerial vehicle for outdoor applications using IMU sensors is presented. The dynamic model of the hexarotor was expressed using the Newton-Euler laws jointly with a full state robust backstepping controller, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The experimental hexarotor is equipped with an IMU/sonar sensors, which appropriately provides measurements of attitude and altitude. For the performance of the robust controller, sensors were modeled as real measurements with unknown bias and white noise. The bounded attitude/altitude controller were derived on the robust practical stability that deals with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances.","PeriodicalId":264928,"journal":{"name":"2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol","volume":"334 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":"123777359","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: 6
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