Journal of Intelligent and Robotic Systems最新文献_第4页

Push Recovery Control Based on Model Predictive Control of Hydraulic Quadruped Robots 基于模型预测控制的液压四足机器人推力恢复控制

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01972-6

Qingjun Yang, Congfei Li, Rui Zhu, Yulong Li, Dianxin Wang, Xuan Wang

引用次数: 0

Quasi-Static State Feedback Output Tracking for a Slung Load System with Rotor Drag Compensation: PX4-SITL Validation 带有转子阻力补偿的悬挂负载系统的准静态反馈输出跟踪:PX4-SITL验证

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01937-9

Zifei Jiang, Mohamed Al Lawati, Alan Lynch

引用次数: 0

A Survey of Off-Road Mobile Robots: Slippage Estimation, Robot Control, and Sensing Technology 越野移动机器人综述:滑移估计、机器人控制与传感技术

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01968-2

Mulugeta Debebe Teji, Ting Zou, Dinku Seyoum Zeleke

引用次数: 0

Wavelet-Based Gesture Recognition Method for Human-Machine Interaction in Aviation 基于小波的航空人机交互手势识别方法

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01973-5

Tuğba Zeybek, Ufuk Sakarya

{"title":"Wavelet-Based Gesture Recognition Method for Human-Machine Interaction in Aviation","authors":"Tuğba Zeybek, Ufuk Sakarya","doi":"10.1007/s10846-023-01973-5","DOIUrl":"https://doi.org/10.1007/s10846-023-01973-5","url":null,"abstract":"Human-machine interaction (HMI) has been an important research area in many scientific fields for many years with the development of sensor technologies. With the general use of unmanned aerial vehicles (UAVs) in recent years, the gesture recognition concept for HMI has become a considerable study in UAVs. They can be used in different domains and for different purposes. The main motivation for this paper is to create as simple a human-machine interface design for UAVs as possible. The vector-based features can be arranged in low memory size and the low-complexity decision process on them can be aimed. The gesture recognition problem for HMI in UAVs can be modeled as a pattern recognition problem in a multi-sensor system with vectorial data from various types of sensors. The speed of the action and the magnitude of the action can be different even within the same class of gesture action. In other words, user-independent gesture action recognition is difficult due to large intra-class differences in gesture action patterns. This paper introduces the wavelet-based vectorial feature extraction and the discriminant function-based decision in the supervised-based reduced vectorial dimension. According to experimental studies, the promising method is put forward for gesture recognition in the control of UAVs.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134935914","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

Safe Feedback Motion Planning in Unknown Environments: An Instantaneous Local Control Barrier Function Approach 未知环境下的安全反馈运动规划:一种瞬时局部控制障碍函数方法

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01962-8

Cong Li, Zengjie Zhang, Nesrin Ahmed, Qingchen Liu, Fangzhou Liu, Martin Buss

{"title":"Safe Feedback Motion Planning in Unknown Environments: An Instantaneous Local Control Barrier Function Approach","authors":"Cong Li, Zengjie Zhang, Nesrin Ahmed, Qingchen Liu, Fangzhou Liu, Martin Buss","doi":"10.1007/s10846-023-01962-8","DOIUrl":"https://doi.org/10.1007/s10846-023-01962-8","url":null,"abstract":"Abstract Mobile robots are desired with resilience to safely interact with prior-unknown environments and finally accomplish given tasks. This paper utilizes instantaneous local sensory data to stimulate the safe feedback motion planning (SFMP) strategy with adaptability to diverse prior-unknown environments without building a global map. This is achieved by the numerical optimization with the constraints, referred to as instantaneous local control barrier functions (IL-CBFs) and goal-driven control Lyapunov functions (GD-CLFs), learned from perceptional signals. In particular, the IL-CBFs reflecting potential collisions and GD-CLFs encoding incrementally discovered subgoals are first online learned from local perceptual data. Then, the learned IL-CBFs are united with GD-CLFs in the context of quadratic programming (QP) to generate the safe feedback motion planning strategy. Rather importantly, an optimization over the admissible control space of IL-CBFs is conducted to enhance the solution feasibility of QP. The SFMP strategy is developed with theoretically guaranteed collision avoidance and convergence to destinations. Numerical simulations are conducted to reveal the effectiveness of the proposed SFMP strategy that drives mobile robots to safely reach the destination incrementally in diverse prior-unknown environments.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135762713","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

Hierarchical Goal-Guided Learning for the Evasive Maneuver of Fixed-Wing UAVs based on Deep Reinforcement Learning 基于深度强化学习的固定翼无人机避障机动分层目标引导学习

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01953-9

Yinlong Yuan, Jian Yang, Zhu Liang Yu, Yun Cheng, Pengpeng Jiao, Liang Hua

引用次数: 0

Vision and Tactile Robotic System to Grasp Litter in Outdoor Environments 视觉触觉机器人系统在室外环境中抓取垃圾

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01930-2

Ignacio de Loyola Páez-Ubieta, Julio Castaño-Amorós, Santiago T. Puente, Pablo Gil

{"title":"Vision and Tactile Robotic System to Grasp Litter in Outdoor Environments","authors":"Ignacio de Loyola Páez-Ubieta, Julio Castaño-Amorós, Santiago T. Puente, Pablo Gil","doi":"10.1007/s10846-023-01930-2","DOIUrl":"https://doi.org/10.1007/s10846-023-01930-2","url":null,"abstract":"Abstract The accumulation of litter is increasing in many places and is consequently becoming a problem that must be dealt with. In this paper, we present a manipulator robotic system to collect litter in outdoor environments. This system has three functionalities. Firstly, it uses colour images to detect and recognise litter comprising different materials. Secondly, depth data are combined with pixels of waste objects to compute a 3D location and segment three-dimensional point clouds of the litter items in the scene. The grasp in 3 Degrees of Freedom (DoFs) is then estimated for a robot arm with a gripper for the segmented cloud of each instance of waste. Finally, two tactile-based algorithms are implemented and then employed in order to provide the gripper with a sense of touch. This work uses two low-cost visual-based tactile sensors at the fingertips. One of them addresses the detection of contact (which is obtained from tactile images) between the gripper and solid waste, while another has been designed to detect slippage in order to prevent the objects grasped from falling. Our proposal was successfully tested by carrying out extensive experimentation with different objects varying in size, texture, geometry and materials in different outdoor environments (a tiled pavement, a surface of stone/soil, and grass). Our system achieved an average score of 94% for the detection and Collection Success Rate (CSR) as regards its overall performance, and of 80% for the collection of items of litter at the first attempt.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135761210","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

Multi-modal Swarm Coordination via Hopf Bifurcations 基于Hopf分岔的多模态群体协调

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01966-4

Kleio Baxevani, Herbert G. Tanner

引用次数: 0

Multimodal Feature Association-based Stereo Visual SLAM Method 基于多模态特征关联的立体视觉SLAM方法

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01976-2

Shangzhe Li, Yafei Liu, Huiqing Wang, Xiaoguo Zhang

引用次数: 0

JIRS Editorial, October 2023 JIRS社论，2023年10月

Journal of Intelligent and Robotic Systems Pub Date : 2023-10-01 DOI: 10.1007/s10846-023-01993-1

Kimon P. Valavanis

引用次数: 0