Journal of Intelligent and Robotic Systems最新文献_第5页

Air-Jet Levitation of Continuum Robots: Stable Head Floating by Passive Thrust Vectoring for Enhancing Mobility 连续体机器人的喷气悬浮:利用被动推力矢量增强机动性的头部稳定悬浮

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-30 DOI: 10.1007/s10846-023-01964-6

Yuichi Ambe, Shuta Kamio, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama, Satoshi Tadokoro

{"title":"Air-Jet Levitation of Continuum Robots: Stable Head Floating by Passive Thrust Vectoring for Enhancing Mobility","authors":"Yuichi Ambe, Shuta Kamio, Yu Yamauchi, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama, Satoshi Tadokoro","doi":"10.1007/s10846-023-01964-6","DOIUrl":"https://doi.org/10.1007/s10846-023-01964-6","url":null,"abstract":"Abstract Flexible, continuum-type robots can access narrow spaces in debris areas during search-and-rescue missions. However, their current problem is the lifting capability of the head, which is necessary to surmount the rubble. This study proposes a passive-thrust vectoring method to stabilize head levitation for air-jet-actuated, long, continuum robots, and thus enhance their step-climbing abilities. An air jet can generate a thrust force that is sufficient for head levitation. A critical issue in levitation involves the backward bending of the head without using any air-jet control; however, thrust control is inappropriate because of the delay caused by the long channel. Therefore, the proposed method maintains the thrust direction constant. Sufficient conditions for global stability are derived and confirmed via dynamic simulations. The proposed method is simple and can be mechanically realized with a passive head-bending mechanism, thus contributing to a lightweight design. Experiments demonstrated that the developed air-floating-type, 7-m long robot, can achieve stabilized head levitation, and that the robot can climb a step with a height of 250 mm. Robot demonstrations in rubble justify the robot’s capacity to surmount the rubble. This passive-thrust vectoring method is expected to contribute to the future enhancement of the mobility of continuum robots owing to its simplicity and practicality.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136336586","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

Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach 面向分布式和不规则结构的视觉检测:一种统一的自治方法

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-27 DOI: 10.1007/s10846-023-01961-9

Vignesh Kottayam Viswanathan, Björn Lindqvist, Sumeet Gajanan Satpute, Christoforos Kanellakis, George Nikolakopoulos

{"title":"Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach","authors":"Vignesh Kottayam Viswanathan, Björn Lindqvist, Sumeet Gajanan Satpute, Christoforos Kanellakis, George Nikolakopoulos","doi":"10.1007/s10846-023-01961-9","DOIUrl":"https://doi.org/10.1007/s10846-023-01961-9","url":null,"abstract":"Abstract This paper highlights the significance of maintaining and enhancing situational awareness in Urban Search and Rescue (USAR) missions. It focuses specifically on investigating the capabilities of Unmanned Aerial Vehicles (UAV) equipped with limited sensing capabilities and onboard computational resources to perform visual inspections of apriori unknown fractured and collapsed structures in unfamiliar environments. The proposed approach, referred to as First Look Inspect-Explore (FLIE), employs a flexible bifurcated behavior tree that leverages real-time RGB image and depth cloud data. By employing a recursive and reactive synthesis of safe view pose within the inspection module, FLIE incorporates a novel active visual guidance scheme for identifying previously inspected surfaces. Furthermore, the integration of a tiered hierarchical exploration module with the visual guidance system enables the UAV to navigate towards new and unexplored structures without relying on a map. This decoupling reduces memory overhead and computational effort by eliminating the need to plan based on an incrementally built, error-prone global map. The proposed autonomy is extensively evaluated through simulation and experimental verification under various scenarios and compared against state-of-art approaches, demonstrating its performance and effectiveness.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135477588","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

A Bayesian Approach to Risk-Based Autonomy, with Applications to Contact-Based Drone Inspections 基于风险的自主贝叶斯方法及其在接触式无人机检测中的应用

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-26 DOI: 10.1007/s10846-023-01934-y

Sverre Velten Rothmund, Christoph Alexander Thieme, Ingrid Bouwer Utne, Tor Arne Johansen

引用次数: 0

G-SAM: A Robust One-Shot Keypoint Detection Framework for PnP Based Robot Pose Estimation G-SAM:一种基于PnP的机器人姿态估计的鲁棒单镜头关键点检测框架

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-22 DOI: 10.1007/s10846-023-01957-5

Xiaopin Zhong, Wenxuan Zhu, Weixiang Liu, Jianye Yi, Chengxiang Liu, Zongze Wu

引用次数: 0

SQ-SLAM: Monocular Semantic SLAM Based on Superquadric Object Representation SQ-SLAM:基于超二次对象表示的单目语义SLAM

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-22 DOI: 10.1007/s10846-023-01960-w

Xiao Han, Lu Yang

引用次数: 1

Shared-Control Teleoperation Paradigms on a Soft-Growing Robot Manipulator 软生长机器人机械手的共享控制遥操作范式

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-22 DOI: 10.1007/s10846-023-01919-x

Fabio Stroppa, Mario Selvaggio, Nathaniel Agharese, Ming Luo, Laura H. Blumenschein, Elliot W. Hawkes, Allison M. Okamura

引用次数: 2

In-Ground-Effect Disturbance-Rejection Altitude Control for Multi-Rotor UAVs 多旋翼无人机地效抗扰高度控制

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-21 DOI: 10.1007/s10846-023-01958-4

Juan Díaz-Téllez, J. Fermi Guerrero-Castellanos, Florian Pouthier, Nicolas Marchand, Sylvain Durand

引用次数: 0

Solving Multi-Agent Pickup and Delivery Problems using Multiobjective Optimization 用多目标优化方法解决多智能体取货问题

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-20 DOI: 10.1007/s10846-023-01951-x

Ana Carolina Queiroz, Alex Vieira, Heder Bernardino

引用次数: 0

Multi-robot Navigation with Graph Attention Neural Network and Hierarchical Motion Planning 基于图注意神经网络和分层运动规划的多机器人导航

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-19 DOI: 10.1007/s10846-023-01959-3

Xiaonan He, Xiaojun Shi, Jiaxiang Hu, Yingxin Wang

引用次数: 0

Auction-Based Task Allocation and Motion Planning for Multi-Robot Systems with Human Supervision 人类监督下基于拍卖的多机器人系统任务分配与运动规划

Journal of Intelligent and Robotic Systems Pub Date : 2023-09-16 DOI: 10.1007/s10846-023-01935-x

Giada Galati, Stefano Primatesta, Alessandro Rizzo

{"title":"Auction-Based Task Allocation and Motion Planning for Multi-Robot Systems with Human Supervision","authors":"Giada Galati, Stefano Primatesta, Alessandro Rizzo","doi":"10.1007/s10846-023-01935-x","DOIUrl":"https://doi.org/10.1007/s10846-023-01935-x","url":null,"abstract":"Abstract This paper presents a task allocation strategy for a multi-robot system with a human supervisor. The multi-robot system consists of a team of heterogeneous robots with different capabilities that operate in a dynamic scenario that can change in the robots’ capabilities or in the operational requirements. The human supervisor can intervene in the operation scenario by approving the final plan before its execution or forcing a robot to execute a specific task. The proposed task allocation strategy leverages an auction-based method in combination with a sampling-based multi-goal motion planning. The latter is used to evaluate the costs of execution of tasks based on realistic features of paths. The proposed architecture enables the allocation of tasks accounting for priorities and precedence constraints, as well as the quick re-allocation of tasks after a dynamic perturbation occurs –a crucial feature when the human supervisor preempts the outcome of the algorithm and makes manual adjustments. An extensive simulation campaign in a rescue scenario validates our approach in dynamic scenarios comprising a sensor failure of a robot, a total failure of a robot, and a human-driven re-allocation. We highlight the benefits of the proposed multi-goal strategy by comparing it with single-goal motion planning strategies at the state of the art. Finally, we provide evidence for the system efficiency by demonstrating the powerful synergistic combination of the auction-based allocation and the multi-goal motion planning approach.","PeriodicalId":404612,"journal":{"name":"Journal of Intelligent and Robotic Systems","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135307976","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