2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)最新文献_第4页

Scene Recognition for Urban Search and Rescue using Global Description and Semi-Supervised Labelling 基于全局描述和半监督标签的城市搜救场景识别

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-11-08 DOI: 10.1109/SSRR56537.2022.10018660

J. Sanchez-Diaz, Francisco Javier Gañán, R. Tapia, J. R. M. Dios, A. Ollero

引用次数: 0

Low-gain Control Strategy for Robot Manipulators Based on Sparse Feature Learning Dynamics with an Application to Collision Detection 基于稀疏特征学习动力学的机械臂低增益控制策略及其在碰撞检测中的应用

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-11-08 DOI: 10.1109/SSRR56537.2022.10018693

Chenglong Yu, Zhiqi Li, Weixin Chou, Hong Liu

{"title":"Low-gain Control Strategy for Robot Manipulators Based on Sparse Feature Learning Dynamics with an Application to Collision Detection","authors":"Chenglong Yu, Zhiqi Li, Weixin Chou, Hong Liu","doi":"10.1109/SSRR56537.2022.10018693","DOIUrl":"https://doi.org/10.1109/SSRR56537.2022.10018693","url":null,"abstract":"Recently, with the robotic technique developing toward precision and intelligence, robots have been used more widely in human life and production. As a common feature in the foreseen applications, robots should be able to detect unexpected collisions while ensuring dynamic accuracy, so as to improve safety at work. In the previous model-based collision detection solution, most methods assume that the robot dynamic model is complete and accurate. Unfortunately, reliable robot dynamics is hard to obtain due to model uncertainties, assembly errors, and the lack of information provided by manufacturers. This paper proposed a novel low-gain control strategy based on sparse feature learning dynamics. Firstly, without considering the physical structure parameters, the dynamics was learned directly via the data-driven technique. Secondly, according to the learned accurate dynamics, a model-based low-gain controller was designed to ensure control performance while avoiding excessive unspecified force. Finally, using this control strategy, sensorless collision detection was realized in a 7-DOF manipulator and the performance of the proposed method was evaluated.","PeriodicalId":272862,"journal":{"name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133347754","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

On the Development of Tethered, Modular, Self-Attaching, Reconfigurable Vehicles for Aerial Grasping and Package Delivery 空中抓取和包裹递送用系留、模块化、自附、可重构车辆的开发

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-11-08 DOI: 10.1109/SSRR56537.2022.10018678

Zane Imran, Adam Scott, Joao Buzzatto, Minas Liarokapis

{"title":"On the Development of Tethered, Modular, Self-Attaching, Reconfigurable Vehicles for Aerial Grasping and Package Delivery","authors":"Zane Imran, Adam Scott, Joao Buzzatto, Minas Liarokapis","doi":"10.1109/SSRR56537.2022.10018678","DOIUrl":"https://doi.org/10.1109/SSRR56537.2022.10018678","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) are quickly becoming the future of payload delivery. Over the past few years, many designs have surfaced with a variety of different solutions to this problem. Current systems are often bulky and designed for a specific purpose. This makes them difficult to adapt to new environments or payloads. This paper details the design and development of a novel, reconfigurable vehicle system that is able to adapt to a variety of environments and payload dimensions. The system consists of multiple individual mobile modules equipped with rotors, which work collaboratively to grasp a single payload. Each module has the capability to act independently of one another and can move along a 2D plane in any direction, like a mobile robot. Grasping is accomplished using a tethering system which joins adjacent modules together and allows them to clamp onto a payload. The payload becomes the backbone that offers rigidity to the formed drone. Thus, upon reconfiguration, the system is essentially a rigid body with the modules on the exterior surrounding the payload. The system could then takeoff and transport the package to a different location. Significant testing was carried out with the designed prototype, and open loop takeoff was achieved, proving the feasibility of the concept. The system has been experimentally tested to provide up to 14 N per vehicle with a theoretical capacity of 20 N. This results in each module having an estimated payload of 500 g with 25% thrust capacity still available.","PeriodicalId":272862,"journal":{"name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124039117","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

3D Coverage Path Planning for Efficient Construction Progress Monitoring 高效施工进度监测的三维覆盖路径规划

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-11-08 DOI: 10.1109/SSRR56537.2022.10018726

Katrin Becker, M. Oehler, O. Stryk

{"title":"3D Coverage Path Planning for Efficient Construction Progress Monitoring","authors":"Katrin Becker, M. Oehler, O. Stryk","doi":"10.1109/SSRR56537.2022.10018726","DOIUrl":"https://doi.org/10.1109/SSRR56537.2022.10018726","url":null,"abstract":"Ahstract- On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile robotscan document the state of construction with high data quality and consistency. However, finding a path that fully covers the construction site is a challenging task as it can be large, slowly changing over time, and contain dynamic objects. Existing approaches are either exploration approaches that require a long time to explore the entire building, object scanning approaches that are not suitable for large and complex buildings, or planning approaches that only consider 2D coverage. In this paper, we present a novel approach for planning an efficient 3D path for progress monitoring on large construction sites with multiple levels. By making use of an existing 3D model we ensure that all surfaces of the building are covered by the sensor payload such as a 360-degree camera or a lidar. This enables the consistent and reliable monitoring of construction site progress with an autonomous ground robot. We demonstrate the effectiveness of the proposed planner on an artificial and a real building model, showing that much shorter paths and better coverage are achieved than with a traditional exploration planner.","PeriodicalId":272862,"journal":{"name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122660515","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

Multi-Cam ARM-SLAM: Robust Multi-Modal State Estimation Using Truncated Signed Distance Functions for Mobile Rescue Robots 多凸轮臂slam:基于截断签名距离函数的移动救援机器人鲁棒多模态估计

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-11-08 DOI: 10.1109/SSRR56537.2022.10018752

Jasper Süß, Marius Schnaubelt, O. Stryk

{"title":"Multi-Cam ARM-SLAM: Robust Multi-Modal State Estimation Using Truncated Signed Distance Functions for Mobile Rescue Robots","authors":"Jasper Süß, Marius Schnaubelt, O. Stryk","doi":"10.1109/SSRR56537.2022.10018752","DOIUrl":"https://doi.org/10.1109/SSRR56537.2022.10018752","url":null,"abstract":"To be able to perform manipulation tasks within an unknown environment, rescue robots require a detailed model of their surroundings, which is often generated using registered depth images as an input. However, erroneous camera registrations due to noisy motor encoder readings, a faulty kinematic model or other error sources can drastically reduce the model quality. Most existing approaches register the pose of a free-floating single camera without considering constraints by the kinematic robot configuration. In contrast, ARM-SLAM [1] performs dense localization and mapping in the configuration space of the robot arm, implicitly tracking the pose of a single camera and creating a volumetric model. However, using a single camera only allows to cover a small field of view and can only constrain up to six degrees of freedom. Therefore, we propose the Multi-Cam ARM-SLAM (MC-ARM-SLAM) framework, which fuses information of multiple depth cameras mounted on the robot into a joint model. The use of multiple cameras allows to also estimate the motion of the robot base that is modeled as a virtual kinematic chain additionally to the motion of the arm. Furthermore, we use a robust bivariate error formulation, which helps to boost the accuracy of the method and mitigates the influence of outliers. The proposed method is extensively evaluated in simulation and on a real rescue robot. It is shown that the method is able to correct errors in the motor encoders and the kinematic model and outperforms the base version of ARM-SLAM.","PeriodicalId":272862,"journal":{"name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115829955","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

Mobile 3D scanning and mapping for freely rotating and vertically descended LiDAR 移动3D扫描和测绘自由旋转和垂直下降的激光雷达

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-11-08 DOI: 10.1109/SSRR56537.2022.10018586

F. Arzberger, J. Zevering, A. Bredenbeck, D. Borrmann, A. Nüchter

{"title":"Mobile 3D scanning and mapping for freely rotating and vertically descended LiDAR","authors":"F. Arzberger, J. Zevering, A. Bredenbeck, D. Borrmann, A. Nüchter","doi":"10.1109/SSRR56537.2022.10018586","DOIUrl":"https://doi.org/10.1109/SSRR56537.2022.10018586","url":null,"abstract":"Situational awareness in search and rescue missions is key to successful operations, e.g., in collapsed buildings, underground mine shafts, construction sites, and underwater caves. LiDAR sensors in robotics play an increasingly important role in this context, as do robust and application-specific algorithms for simultaneous localization and mapping (SLAM). In many of these scenarios mapping requires the utilization of a vertically descended scanning system. This work presents a mobile system designed to solve this task, including a SLAM approach for descended LiDAR sensors with small field of view (FoV), which are in uncontrolled rotation. The SLAM approach is based on planar polygon matching and is not limited to the presented scenario. We test the system by lowering it from a crane inside a tall building at a fire-fighter school, applying our offline SLAM approach, and comparing the resulting point clouds of the environment with ground truth maps acquired by a terrestrial laser scanner (TLS). We also compare the SLAM approach to a state-of-the-art approach with respect to runtime and accuracy of the resulting maps. Our solution achieves comparable mapping accuracy at 0.2% of the runtime.","PeriodicalId":272862,"journal":{"name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131707928","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

Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements 基于磁体的非线性弹性元件的渐进式串联弹性驱动

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-11-08 DOI: 10.1109/SSRR56537.2022.10018635

B. Okken, S. Stramigioli, W. Roozing

引用次数: 0

Haptic Teleoperation goes Wireless: Evaluation and Benchmarking of a High-Performance Low-Power Wireless Control Technology 触觉遥操作走向无线:一种高性能低功耗无线控制技术的评估与基准测试

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-10-13 DOI: 10.1109/SSRR56537.2022.10018764

J. Bolarinwa, Alex Smith, Adnan Aijaz, Aleksandar Stanoev, M. Sooriyabandara, M. Giuliani

引用次数: 0

Online Multi Camera-IMU Calibration 在线多相机- imu校准

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-09-28 DOI: 10.1109/SSRR56537.2022.10018692

Jacob Hartzer, S. Saripalli

{"title":"Online Multi Camera-IMU Calibration","authors":"Jacob Hartzer, S. Saripalli","doi":"10.1109/SSRR56537.2022.10018692","DOIUrl":"https://doi.org/10.1109/SSRR56537.2022.10018692","url":null,"abstract":"Visual-inertial navigation systems are powerful in their ability to accurately estimate localization of mobile systems within complex environments that preclude the use of global navigation satellite systems. However, these navigation systems are reliant on accurate and up-to-date temporospatial calibrations of the sensors being used. As such, online estimators for these parameters are useful in resilient systems. This paper presents an extension to existing Kalman Filter based frameworks for estimating and calibrating the extrinsic parameters of multi-camera IMU systems. In addition to extending the filter framework to include multiple camera sensors, the measurement model was reformulated to make use of measurement data that is typically made available in fiducial detection software. A secondary filter layer was used to estimate time translation parameters without closed-loop feedback of sensor data. Experimental calibration results, including the use of cameras with non-overlapping fields of view, were used to validate the stability and accuracy of the filter formulation when compared to offline methods. Finally the generalized filter code has been open-sourced and is available online.","PeriodicalId":272862,"journal":{"name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121858272","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

Collaborative Human-Robot Exploration via Implicit Coordination 基于隐式协调的人机协作探索

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-09-19 DOI: 10.1109/SSRR56537.2022.10018729

Yves Georgy Daoud, K. Goel, Nathan Michael, Wennie Tabib

引用次数: 1