2018 Second IEEE International Conference on Robotic Computing (IRC)最新文献_第2页

A Build System for Software Development in Robotic Academic Collaborative Environments 机器人学术协作环境下软件开发的构建系统

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 2018-01-01 DOI: 10.1109/IRC.2018.00014

Daniele E. Domenichelli, Silvio Traversaro, L. Muratore, A. Rocchi, F. Nori, L. Natale

{"title":"A Build System for Software Development in Robotic Academic Collaborative Environments","authors":"Daniele E. Domenichelli, Silvio Traversaro, L. Muratore, A. Rocchi, F. Nori, L. Natale","doi":"10.1109/IRC.2018.00014","DOIUrl":"https://doi.org/10.1109/IRC.2018.00014","url":null,"abstract":"The software development cycle in the robotic research environment is hectic and heavily driven by project or paper deadlines. Developers have only little time available for packaging the C/C++ code they write, develop and maintain the build system and continuous integration tools. Research projects are joint efforts of different groups working remotely and asynchronously. The typical solution is to rely on binary distributions and/or large repositories that compile all software and dependencies. This approach hinders code sharing and reuse and often leads to repositories whose inter-dependencies are difficult to manage. Following many years of experience leading software integration is research projects we developed YCM, a tool that supports our best practices addressing these issues. YCM is a set of CMake scripts that provides (1) build system support: to develop and package software libraries and components, and (2) superbuild deployment: to prepare and distribute sets of packages in source form as a single meta build. In this paper we describe YCM and report on our experience adopting it as a tool for managing software repositories in large research projects.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122674673","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

Gilbreth: A Conveyor-Belt Based Pick-and-Sort Industrial Robotics Application 基于传送带的拾取分拣工业机器人应用

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 2018-01-01 DOI: 10.1109/IRC.2018.00012

Yizhe Zhang, Lianjun Li, M. Ripperger, J. Nicho, M. Veeraraghavan, A. Fumagalli

引用次数: 23

Robotic Control for Cognitive UWB Radar 认知超宽带雷达的机器人控制

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 2017-10-11 DOI: 10.1109/IRC.2018.00063

S. Brüggenwirth, F. Rial

引用次数: 3

Grasping Unknown Objects in Clutter by Superquadric Representation 杂波中未知物体的超二次表示抓取

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 2017-10-05 DOI: 10.1109/IRC.2018.00062

A. Makhal, F. Thomas, A. P. Gracia

{"title":"Grasping Unknown Objects in Clutter by Superquadric Representation","authors":"A. Makhal, F. Thomas, A. P. Gracia","doi":"10.1109/IRC.2018.00062","DOIUrl":"https://doi.org/10.1109/IRC.2018.00062","url":null,"abstract":"In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object modelling, well suited for unknown symmetric objects in cluttered scenarios which is followed by optimized antipodal grasping. The incomplete object models are processed through a mirroring algorithm that assumes symmetry to first create an approximate complete model and then fit for SQ representation. The grasping algorithm is designed for maximum force balance and stability, taking advantage of the quick retrieval of dimension and surface curvature information from the SQ parameters. The pose of the SQs with respect to the direction of gravity is calculated and used together with the parameters of the SQs and specification of the gripper, to select the best direction of approach and contact points. The SQ fitting method has been tested on custom datasets containing objects in isolation as well as in clutter. The grasping algorithm is evaluated on a PR2 robot and real time results are presented. Initial results indicate that though the method is based on simplistic shape information, it outperforms other learning based grasping algorithms that also work in clutter in terms of time-efficiency and accuracy.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127957049","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: 36

Reuleaux: Robot Base Placement by Reachability Analysis releaux:基于可达性分析的机器人基地布局

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 2017-10-03 DOI: 10.1109/IRC.2018.00028

A. Makhal, Alex K. Goins

{"title":"Reuleaux: Robot Base Placement by Reachability Analysis","authors":"A. Makhal, Alex K. Goins","doi":"10.1109/IRC.2018.00028","DOIUrl":"https://doi.org/10.1109/IRC.2018.00028","url":null,"abstract":"Before beginning any robot task, users must position the robot's base, a task that now depends entirely on user intuition. While slight perturbation is tolerable for robots with moveable bases, correcting the problem is imperative for fixed- base robots if some essential task sections are out of reach. For mobile manipulation robots, it is necessary to decide on a specific base position before beginning manipulation tasks. This paper presents Reuleaux, an open source library for robot reachability analyses and base placement. It reduces the amount of extra repositioning and removes the manual work of identifying potential base locations. Based on the reachability map, base placement locations of a whole robot or only the arm can be efficiently determined. This can be applied to both statically mounted robots, where the position of the robot and workpiece ensure the maximum amount of work performed, and to mobile robots, where the maximum amount of workable area can be reached. The methods were tested on different robots of different specifications and evaluated for tasks in simulation and real world environment. Evaluation results indicate that Reuleaux had significantly improved performance than prior existing methods in terms of time-efficiency and range of applicability.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116680127","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: 41

Accurate Plane Estimation Based on the Error Model of Time-of-Flight Camera 基于飞行时间相机误差模型的精确平面估计

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00064

Yosuke Konno, Masayuki Tanaka, M. Okutomi, Y. Yanagawa, Koichi Kinoshita, M. Kawade, Yuki Hasegawa

引用次数: 1

Interval-Arithmetic-Based Trajectory Scaling and Collision Detection for Robots with Uncertain Dynamics 基于区间算法的不确定机器人轨迹缩放与碰撞检测

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00015

Michael Wagner, Stefan B. Liu, Andrea Giusti, M. Althoff

引用次数: 9

The Designed of Four-Wheeled Person Carrier Robot System 四轮载客机器人系统的设计

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00071

Youngjae Yun, Donghyeon Seo, Dong Han Kim

引用次数: 4

Laser-Based Control Law for Autonomous Parallel and Perpendicular Parking 基于激光的自主平行与垂直泊车控制律

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00018

David Pérez-Morales, Olivier Kermorgant, S. D. Quijada, P. Martinet

引用次数: 6

Efficient Decentralized Collaborative Mapping for Outdoor Environments 户外环境的高效分散协同映射

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00017

Luis F. Contreras-Samame, Olivier Kermorgant, P. Martinet

引用次数: 7