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2010 IEEE International Conference on Robotics and Automation最新文献

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Learning to navigate through crowded environments 学会在拥挤的环境中穿行
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509772
Peter Henry, Christian Vollmer, B. Ferris, D. Fox
{"title":"Learning to navigate through crowded environments","authors":"Peter Henry, Christian Vollmer, B. Ferris, D. Fox","doi":"10.1109/ROBOT.2010.5509772","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509772","url":null,"abstract":"The goal of this research is to enable mobile robots to navigate through crowded environments such as indoor shopping malls, airports, or downtown side walks. The key research question addressed in this paper is how to learn planners that generate human-like motion behavior. Our approach uses inverse reinforcement learning (IRL) to learn human-like navigation behavior based on example paths. Since robots have only limited sensing, we extend existing IRL methods to the case of partially observable environments. We demonstrate the capabilities of our approach using a realistic crowd flow simulator in which we modeled multiple scenarios in crowded environments. We show that our planner learned to guide the robot along the flow of people when the environment is crowded, and along the shortest path if no people are around.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130568427","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: 252
VICP: Velocity updating iterative closest point algorithm 速度更新迭代最近点算法
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509312
Seungpyo Hong, H. Ko, Jinwook Kim
{"title":"VICP: Velocity updating iterative closest point algorithm","authors":"Seungpyo Hong, H. Ko, Jinwook Kim","doi":"10.1109/ROBOT.2010.5509312","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509312","url":null,"abstract":"We propose a novel method to enhance a family of ICP(iterative closest point) algorithms by updating velocity. Even though ICP algorithms play a dominant role in a model based tracking, it is difficult to avoid an accumulated tracking error during a continuous motion. It is because that typical ICP algorithms assumes that each of the point in one scan are measured simultaneously while most of the available rangefinders measure each point sequentially. Hence conventional ICP algorithms are prone to be erroneous under a fast motion and an accumulated error during the motion cannot be ignored in many cases. In our approach, we estimate a velocity of a rangefinder numerically over ICP iterations. As a result, distortion of a scan due to the motion can be compensated using estimated velocity. In addition, outliers are effectively rejected during the iteration of velocity update, which means that more accurate and robust motion is trackable. Also we verify a performance and an accuracy of our method by demonstrating simulation and real-world experiment results.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123818174","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: 64
Control of robotic manipulators under time-varying sensing-control delays 时变传感控制时滞下的机械臂控制
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509524
N. Chopra
{"title":"Control of robotic manipulators under time-varying sensing-control delays","authors":"N. Chopra","doi":"10.1109/ROBOT.2010.5509524","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509524","url":null,"abstract":"Time-varying input/output delays in a control system can significantly degrade the stability and performance of the closed loop system. Recently, passivity based control has emerged as a promising candidate to guarantee delay independent stability of passive systems with delays in the input-output channel. In this paper we study set point control of rigid robots with time-varying sensing/control delays. We first show that the classical PD controller can be modified to regulate the robotic manipulator, provided scattering transformation along with additional gains are used in the communication path. While this results in a stable system, asymptotic regulation cannot be guaranteed. Hence, a (delay dependent) gain margin for a proportional position feedback controller is provided to guarantee stability and asymptotic convergence of the regulation error to the origin. To improve closed loop performance, scattering transformation based design of a damping injection scheme is also discussed. The proposed algorithms are numerically verified on a two-degree-of-freedom manipulator.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123875938","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: 12
Registration of 3D facial surfaces using covariance matrix pyramids 使用协方差矩阵金字塔的三维曲面配准
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509629
M. Kaiser, B. Kwolek, C. Staub, G. Rigoll
{"title":"Registration of 3D facial surfaces using covariance matrix pyramids","authors":"M. Kaiser, B. Kwolek, C. Staub, G. Rigoll","doi":"10.1109/ROBOT.2010.5509629","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509629","url":null,"abstract":"Registration of 3D facial surfaces means establishing point-to-point correspondence between two 3D facial surfaces. Difficulties typical for the registration of 3D facial surfaces are varying illumination, pose or viewpoint changes, varying facial expressions, and different appearance of individuals. In this work we propose to use a covariance matrix as descriptor for the neighborhood of a salient point in a face. It encodes the variance of the channels, such as red, green, blue, depth, etc., their correlations with each other, and spatial layout, while filtering out the influence of the disturbing effects mentioned above. A pyramidal approach is applied where first the location of a corresponding point is computed roughly and then the position is gradually refined. The method does not require any training. Particle Swarm Optimization makes the search for corresponding points more efficient. Results with a challenging dataset confirm that the approach works greatly for a variety of disturbing effects.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123532440","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
Sancta simplicitas - on the efficiency and achievable results of SLAM using ICP-based incremental registration 简单之处——基于icp的增量配准SLAM的效率和可实现的结果
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509918
D. Holz, Sven Behnke
{"title":"Sancta simplicitas - on the efficiency and achievable results of SLAM using ICP-based incremental registration","authors":"D. Holz, Sven Behnke","doi":"10.1109/ROBOT.2010.5509918","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509918","url":null,"abstract":"This paper presents an efficient combination of algorithms for SLAM in dynamic environments. The overall approach is based on range image registration using the ICP algorithm. Different extensions to this algorithm are used to incrementally construct point models of the robot's workspace. A simple heuristic allows for determining which points in a newly acquired range image are already contained in the point model and for adding only those points that provide new information. Furthermore, the means for dealing with environment dynamics are presented which allow for continuously conducting SLAM and updating the point model according to changes in a dynamic environment. The achievable results of the overall approach are compared to Rao-Blackwellized Particle Filters as a state-of-the-art solution to the SLAM problem and evaluated using a recently published benchmark by Burgard et al. (2009).","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123637353","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: 57
Design of an improved land/air miniature robot 一种改进型陆空微型机器人的设计
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509453
Alex Kossett, Ruben D'Sa, Jesse Purvey, N. Papanikolopoulos
{"title":"Design of an improved land/air miniature robot","authors":"Alex Kossett, Ruben D'Sa, Jesse Purvey, N. Papanikolopoulos","doi":"10.1109/ROBOT.2010.5509453","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509453","url":null,"abstract":"Small ground robots remain limited in their locomotion capabilities, often prevented from accessing areas restricted by tall obstacles or rough terrain. This paper presents the improved design of a hybrid-locomotion robot made to address this issue. It uses wheels for ground travel and rotary-wing flight for scaling obstacles and flying over rough terrain.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121161533","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: 25
Fluidic manipulation for scalable stochastic 3D assembly of modular robots 模块化机器人可伸缩随机三维装配的流体操纵
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509664
M. Tolley, Hod Lipson
{"title":"Fluidic manipulation for scalable stochastic 3D assembly of modular robots","authors":"M. Tolley, Hod Lipson","doi":"10.1109/ROBOT.2010.5509664","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509664","url":null,"abstract":"One of the grand challenges of self-reconfiguring modular robotics is the assembly of a functional system from thousands of components. However, to date, only systems comprised of small numbers of modules have been demonstrated. One approach to scaling to large numbers of modules is to simplify module design by relieving the modules of the typical power, control, and actuation requirements necessary for locomotion. Assembly is accomplished by taking advantage of stochastic environmental motions to move the modules into place. Here we present an experimental system in which we assemble 3D target structures stochastically from simple, 15 mm-scaled components by manipulating the fluid flow in a 1.3 L tank. We also demonstrate fundamental assembly and repair operations experimentally, and discuss initial assembly statistics.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121389271","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: 32
Multi-robot coordination with periodic connectivity 具有周期性连通性的多机器人协调
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509175
Geoffrey A. Hollinger, Sanjiv Singh
{"title":"Multi-robot coordination with periodic connectivity","authors":"Geoffrey A. Hollinger, Sanjiv Singh","doi":"10.1109/ROBOT.2010.5509175","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509175","url":null,"abstract":"We consider the problem of multi-robot coordination subject to constraints on the configuration. Specifically, we examine the case in which a mobile network of robots must search, survey, or cover an environment while remaining connected. While many algorithms utilize continual connectivity for such tasks, we relax this requirement and introduce the idea of periodic connectivity, where the network must regain connectivity at a fixed interval. We show that, in some cases, this problem reduces to the well-studied NP-hard multi-robot informative path planning (MIPP) problem, and we propose an online algorithm that scales linearly in the number of robots and allows for arbitrary periodic connectivity constraints. We prove theoretical performance guarantees and validate our approach in the coordinated search domain in simulation and in real-world experiments. Our proposed algorithm significantly outperforms a gradient method that requires continual connectivity and performs competitively with a market-based approach, but at a fraction of the computational cost.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121419325","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: 101
Autonomous maneuver of a farm vehicle with a trailed implement: motion planner and lateral-longitudinal controllers 农用车辆的自动机动:运动规划器和横向纵向控制器
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509447
C. Cariou, R. Lenain, B. Thuilot, P. Martinet
{"title":"Autonomous maneuver of a farm vehicle with a trailed implement: motion planner and lateral-longitudinal controllers","authors":"C. Cariou, R. Lenain, B. Thuilot, P. Martinet","doi":"10.1109/ROBOT.2010.5509447","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509447","url":null,"abstract":"This paper addresses the problem of path generation and motion control for the autonomous maneuver of a farm vehicle with a trailed implement in headland. A reverse turn planner is firstly investigated, based on primitives connected together to easily generate the reference motion. Then, both steering and speed control algorithms are presented to accurately guide the vehicle-trailer system. They are based on a kinematic model extended with additional sliding parameters and on model predictive control approaches. Real world experiments have been carried out on a low friction terrain with an experimental mobile robot pulling a trailer. At the end of each row, the reverse turn is automatically generated to connect the next reference track, and the maneuver is autonomously performed by the vehicle-trailer system. Reported experiments demonstrate the capabilities of the proposed algorithms.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114208142","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: 23
Whole-body cooperative force control for a two-armed and two-wheeled mobile robot using Generalized Inverse Dynamics and Idealized Joint Units 基于广义逆动力学和理想关节单元的双臂两轮移动机器人全身协同力控制
2010 IEEE International Conference on Robotics and Automation Pub Date : 2010-05-03 DOI: 10.1109/ROBOT.2010.5509474
K. Nagasaka, Yasunori Kawanami, Satoru Shimizu, Takashi Kito, Toshimitsu Tsuboi, A. Miyamoto, T. Fukushima, H. Shimomura
{"title":"Whole-body cooperative force control for a two-armed and two-wheeled mobile robot using Generalized Inverse Dynamics and Idealized Joint Units","authors":"K. Nagasaka, Yasunori Kawanami, Satoru Shimizu, Takashi Kito, Toshimitsu Tsuboi, A. Miyamoto, T. Fukushima, H. Shimomura","doi":"10.1109/ROBOT.2010.5509474","DOIUrl":"https://doi.org/10.1109/ROBOT.2010.5509474","url":null,"abstract":"This paper proposes a control framework for a two-armed and two-wheeled mobile robot that can coordinate all the joint forces to achieve diverse motion objectives such as position, velocity, acceleration, force and impedance at any part of the body. The framework comprises two components: 1) Generalized Inverse Dynamics (GID) that determines joint forces satisfying multiple objectives considering task priorities and various constraints and 2) the Idealized Joint Unit (IJU) that generates accurate torque with assigned apparent inertia and viscosity. GID treats the robot as a single manipulator with multiple branches using a joint model with 2-DOF motion subspace equivalent to two opposing wheels. A 21-DOF mobile robot equipped with IJUs is set up and GID is applied to it. The result shows that GID works well in the examples of physical human-robot interaction and object manipulation where motion objectives are attained coordinating the whole body while keeping passivity due to the redundancy and the assigned impedance property.","PeriodicalId":289706,"journal":{"name":"2010 IEEE International Conference on Robotics and Automation","volume":"2013 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114552173","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: 32
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