2018 Second IEEE International Conference on Robotic Computing (IRC)最新文献_第6页

Computer Vision Based Novel Steering Angle Calculation for Autonomous Vehicles 基于计算机视觉的自动驾驶汽车转向角计算方法

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00029

R. Meganathan, Aarthi Alagammai Kasi, Sujatha Jagannath

引用次数: 11

A Data-Driven Deployment Approach for Persistent Monitoring in Aquatic Environments 水生环境持续监测的数据驱动部署方法

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00030

Tauhidul Alam, G. Reis, Leonardo Bobadilla, Ryan N. Smith

{"title":"A Data-Driven Deployment Approach for Persistent Monitoring in Aquatic Environments","authors":"Tauhidul Alam, G. Reis, Leonardo Bobadilla, Ryan N. Smith","doi":"10.1109/IRC.2018.00030","DOIUrl":"https://doi.org/10.1109/IRC.2018.00030","url":null,"abstract":"Processes of scientific interest in the aquatic environment occur across multiple spatio-temporal time scales. To properly assess and understand these processes, we must observe aquatic ecosystems over long time periods. This requires examination of the problem of deploying multiple, inexpensive, and minimally-actuated drifting vehicles. We aim to utilize these persistent assets to explore all locations on the water surface, and examine the entirety an underwater environment through the visibility of downward-facing cameras. In this work, we propose a data-driven approach for the deployment of drifters that creates a stochastic model, finds the generalized flow pattern of the water, and studies the long-term behavior of an aquatic environment from a flow point-of-view. Given the long-term behavior of the environment, our approach finds attractors and their transient groups as the domains of attractions. We then determine a minimum number of deployment locations for the drifters using these attractors and their transient groups. Our simulation results based on actual ocean model prediction data demonstrate the applicability of our approach.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132309969","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

A Performance Study of 14-Channel and 5-Channel EEG Systems for Real-Time Control of Unmanned Aerial Vehicles (UAVs) 用于无人机实时控制的14通道和5通道脑电系统性能研究

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00040

A. Vijayendra, Saumya Kumaar Saksena, Ravi M. Vishwanath, S. Omkar

{"title":"A Performance Study of 14-Channel and 5-Channel EEG Systems for Real-Time Control of Unmanned Aerial Vehicles (UAVs)","authors":"A. Vijayendra, Saumya Kumaar Saksena, Ravi M. Vishwanath, S. Omkar","doi":"10.1109/IRC.2018.00040","DOIUrl":"https://doi.org/10.1109/IRC.2018.00040","url":null,"abstract":"Brain-computer interface (BCI), an actively re-searched multi-disciplinary domain, has completely trans-formed the approach to robotic control problems. Researchers have focused on developing algorithms that optimize robotic movement to achieve desired trajectories, and it's a general understanding that route optimization problems are difficult to solve mathematically. Humans, on the other hand, tend to optimize their day-to-day activities intuitively. In order to achieve the desired results, the brain exploits a multi-level filtering approach, where the macro features are weighted in the first layer and the microfeatures in further layers. This optimization inside the brain interestingly, leave distinct traces in electroencephalography (EEG) plots. Based on the observations, we propose to use artificial neural networks to classify the EEG data, which intuitively should give a high classification rate, because the human brain also exploits a network of neurons to classify auditory (time-series) and visual (spatial) data. In this paper, we discuss the performances of 14- channel and 5-channel EEG headsets for robotic applications. Data is acquired from 20 subjects corresponding to four different tasks. Using neural nets, we have been successfully able to classify the EEG input into four different classes. We get an overall classification accuracy of 98.8% for 14-channel and 84.5% 5-channel system. As a real-time demonstration of the interface, the predicted class number is sent to a multi-rotor via a wireless link as an appropriate velocity command.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115064728","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: 8

jUAV: A Real-Time Java UAV Autopilot jUAV:实时Java无人机自动驾驶仪

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00054

Adam Czerniejewski, Karthik Dantu, Lukasz Ziarek

{"title":"jUAV: A Real-Time Java UAV Autopilot","authors":"Adam Czerniejewski, Karthik Dantu, Lukasz Ziarek","doi":"10.1109/IRC.2018.00054","DOIUrl":"https://doi.org/10.1109/IRC.2018.00054","url":null,"abstract":"Recent developments in computing, sensing, and control have enabled the development of complex robot autonomy systems. Most such stacks involve time-critical tasks such as aerial vehicle control/collision avoidance and several noncritical tasks such as sensor processing and estimation. The vast majority of this software is written in low-level languages such as C/C++ with no formal platform support for expression of timeliness requirements requiring the developer hand-tunes algorithms and manually verify their effectiveness. However, other embedded real-time (RT) systems have successfully leveraged higher level languages such as Java (and its RT variants) for timeliness specification. Such platforms allow developers to specify their requirements and the platform ensures they are met, allowing the developer to focus on algorithm development rather then how they may affect critical system timeliness. In this work, we port a popular Unmanned Aerial Vehicle (UAV) autopilot called Paparazzi UAV to Java and the Real-Time Specification for Java (RTSJ). In simulation, we demonstrate that by leveraging a RT Java Virtual Machine (JVM), which uses Real-Time Operating System (RTOS) scheduling, predictable timeliness can be achieved when compared to a standard JVM.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114039569","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

SARRI: A SmArt Rapiro Robot Integrating a Framework for Automatic High-Level Surveillance Event Detection SARRI:一种集成自动高级监视事件检测框架的智能Rapiro机器人

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00050

D. D’Auria, Fabio Persia, Fabio Bettini, S. Helmer, B. Siciliano

引用次数: 7

Multi-agent Cooperation Using Snow-Drift Evolutionary Game Model: Case Study in Foraging Task 基于积雪漂移进化博弈模型的多智能体合作:觅食任务案例研究

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00065

Ahmad Esmaeili, Zahra Ghorrati, E. Matson

引用次数: 6

Practically Classifying Unmanned Aerial Vehicles Sound Using Convolutional Neural Networks 卷积神经网络在无人机声音分类中的应用

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00051

Donghyun Lim, HeonGyeom Kim, SangGi Hong, Sanghee Lee, GaYoung Kim, Austin Snail, Lucy Gotwals, John C. Gallagher

引用次数: 7

Dynamic Area Coverage for Multi-UAV Using Distributed UGVs: A Two-Stage Density Estimation Approach 基于分布式ugv的多无人机动态区域覆盖:一种两阶段密度估计方法

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00033

Senthilnath Jayavelu, Harikumar Kandath, S. Sundaram

引用次数: 6

Integrating Reactive Behavior and Planning: Optimizing Execution Time Through Predictive Preparation of State Machine Tasks 整合反应性行为和计划:通过状态机任务的预测性准备优化执行时间

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00022

A. Schierl, A. Hoffmann, Ludwig Nägele, W. Reif

引用次数: 1

Descartes-Agent: Verifying Formal Specifications Using the Model Checking Technique 笛卡尔- agent:使用模型检查技术验证形式规范

2018 Second IEEE International Conference on Robotic Computing (IRC) Pub Date : 1900-01-01 DOI: 10.1109/IRC.2018.00081

V. Subburaj, J. E. Urban

{"title":"Descartes-Agent: Verifying Formal Specifications Using the Model Checking Technique","authors":"V. Subburaj, J. E. Urban","doi":"10.1109/IRC.2018.00081","DOIUrl":"https://doi.org/10.1109/IRC.2018.00081","url":null,"abstract":"The field of software engineering is seeking ways to close the gaps that exist between the phases of software development, right from requirements specification until testing to deliver reliable software systems. The concepts discussed in this paper intends to reduce that gap using formal methods. This paper introduces new methods and tools that potentially would significantly reduce the time and cost of developing software systems while increasing their reliability. This paper describes a methodology using formal methods to verify software specifications. The use of formal methods during the different phases of a software development life cycle has proven advantages of resulting in a reliable software system. Understanding the importance of using formal methods to specify software systems and then to verify the specifications for correctness forms the first sub problem. Tools and framework needed to formally verify software specifications written for agent systems is also discussed in this paper. This research explores using the model checking methods along with the executable Descartes – Agent specifications to provide a basis for formal verification of agent systems and, generally reliable systems. The Descartes – Agent grammar previously developed was used to implement an algorithm that converts the agent specifications into an intermediate form in linear temporal logic form. Popular model checking tools such as Promela and SPIN were also used to provide a complete framework of verifiable formal specifications.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134421909","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: 2