Intelligence & Robotics最新文献_第4页

Operational control with set-points tuning - application to mobile robots 带设定值调整的操作控制——在移动机器人中的应用

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2023.06

Xiaomo Yan, Hong Wang

引用次数: 0

Evolution of adaptive learning for nonlinear dynamic systems: a systematic survey 非线性动态系统的自适应学习演化研究

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2021.19

Mouhcine Harib, H. Chaoui, S. Miah

{"title":"Evolution of adaptive learning for nonlinear dynamic systems: a systematic survey","authors":"Mouhcine Harib, H. Chaoui, S. Miah","doi":"10.20517/ir.2021.19","DOIUrl":"https://doi.org/10.20517/ir.2021.19","url":null,"abstract":"The extreme nonlinearity of robotic systems renders the control design step harder. The consideration of adaptive control in robotic manipulation started in the 1970s. However, in the presence of bounded disturbances, the limitations of adaptive control rise considerably, which led researchers to exploit some “algorithm modifications”. Unfortunately, these modifications often require a priori knowledge of bounds on the parameters and the perturbations and noise. In the 1990s, the field of Artificial Neural Networks was hugely investigated in general, and for control of dynamical systems in particular. Several types of Neural Networks (NNs) appear to be promising candidates for control system applications. In robotics, it all boils down to making the actuator perform the desired action. While purely control-based robots use the system model to define their input-output relations, Artificial Intelligence (AI)-based robots may or may not use the system model and rather manipulate the robot based on the experience they have with the system while training or possibly enhance it in real-time as well. In this paper, after discussing the drawbacks of adaptive control with bounded disturbances and the proposed modifications to overcome these limitations, we focus on presenting the work that implemented AI in nonlinear dynamical systems and particularly in robotics. We cite some work that targeted the inverted pendulum control problem using NNs. Finally, we emphasize the previous research concerning RL and Deep RL-based control problems and their implementation in robotics manipulation, while highlighting some of their major drawbacks in the field.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"106 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":"134287610","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: 1

An informative planning-based multi-layer robot navigation system as applied in a poultry barn 基于信息规划的多层机器人导航系统在禽舍中的应用

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.18

Tingjun Lei, Guoming Li, C. Luo, Li Zhang, Lantao Liu, R. Gates

{"title":"An informative planning-based multi-layer robot navigation system as applied in a poultry barn","authors":"Tingjun Lei, Guoming Li, C. Luo, Li Zhang, Lantao Liu, R. Gates","doi":"10.20517/ir.2022.18","DOIUrl":"https://doi.org/10.20517/ir.2022.18","url":null,"abstract":"Many real-world robot applications, as found in precision agriculture, poultry farms, disaster response, and environment monitoring, require search, locate, and removal (SLR) operations by autonomous mobile robots. In such application settings, the robots initially search and explore the entire workspace to find the targets, so that the subsequent robots conveniently move directly to the targets to fulfill the task. A multi-layer robot navigation system is necessary for SLR operations. The scenario of interest is the removal of broiler mortality by autonomous robots in poultry barns in this paper. Daily manual collection of broiler mortality is time- and labor-consuming, and an autonomous robotic system can solve this issue effectively. In this paper, a multi-layer navigation system is developed to detect and remove broiler mortality with two robots. One robot is assigned to search a large-scale workspace in a coverage mode and find and locate objects, whereas the second robot directly moves to the located targets to remove the objects. Directed coverage path planning (DCPP) fused with an informative planning protocol (IPP) is proposed to efficiently search the entire workspace. IPP is proposed for coverage directions in DCPP devoted to rapidly achieving spatial coverage with the least estimation uncertainty in the decomposed grids. The detection robot consists of a developed informative-based directed coverage path planner and a You Only Look Once (YOLO) V4-based dead bird detector. It refines and optimizes the coverage path based on historical data on broiler mortality distribution in a broiler barn. The removal robot collects dead broilers driven by a new hub-based multi-target path routing (HMTR) scheme, which is applicable to row-based environments. The proposed methods show great potential to navigate in broiler barns efficiently and safely, thus being a useful component for robotics. The effectiveness and robustness of the proposed methods are validated through simulation and comparison studies.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"1 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":"114460138","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: 6

Deep reinforcement learning for real-world quadrupedal locomotion: a comprehensive review 现实世界四足运动的深度强化学习:全面回顾

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.20

Hongyin Zhang, Li He, Donglin Wang

引用次数: 2

Opponent modeling with trajectory representation clustering 基于轨迹表示聚类的对手建模

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.09

Yongliang Lv, Yan Zheng, Jianye Hao

引用次数: 0

A node selection algorithm to graph-based multi-waypoint optimization navigation and mapping 一种基于图的多路点优化导航与映射的节点选择算法

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.21

Tim Sellers, Tingjun Lei, C. Luo, G. Jan, Ma Junfeng

{"title":"A node selection algorithm to graph-based multi-waypoint optimization navigation and mapping","authors":"Tim Sellers, Tingjun Lei, C. Luo, G. Jan, Ma Junfeng","doi":"10.20517/ir.2022.21","DOIUrl":"https://doi.org/10.20517/ir.2022.21","url":null,"abstract":"Autonomous robot multi-waypoint navigation and mapping have been demanded in many real-world applications found in search and rescue (SAR), environmental exploration, and disaster response. Many solutions to this issue have been discovered via graph-based methods in need of switching the robotos trajectory between the nodes and edges within the graph to create a trajectory for waypoint-to-waypoint navigation. However, studies of how waypoints are locally bridged to nodes or edges on the graphs have not been adequately undertaken. In this paper, an adjacent node selection (ANS) algorithm is developed to implement such a protocol to build up regional path from waypoints to nearest nodes or edges on the graph. We propose this node selection algorithm along with the generalized Voronoi diagram (GVD) and Improved Particle Swarm Optimization (IPSO) algorithm as well as a local navigator to solve the safety-aware concurrent graph-based multi-waypoint navigation and mapping problem. Firstly, GVD is used to form a Voronoi diagram in an obstacle populated environment to construct safety-aware routes. Secondly, the sequence of multiple waypoints is created by the IPSO algorithm to minimize the total travelling cost. Thirdly, while the robot attempts to visit multiple waypoints, it traverses along the edges of the GVD to plan a collision-free trajectory. The regional path from waypoints to the nearest nodes or edges needs to be created to join the trajectory by the proposed ANS algorithm. Finally, a sensor-based histogram local reactive navigator is adopted for moving obstacle avoidance while local maps are constructed as the robot moves. An improved -spline curve-based smooth scheme is adopted that further refines the trajectory and enables the robot to be navigated smoothly. Simulation and comparison studies validate the effectiveness and robustness of the proposed model.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"61 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":"117263974","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: 7

Application of distributed and decentralized technologies in the management of intelligent transport systems 分布式和分散式技术在智能交通系统管理中的应用

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2023.09

L. Eremina, Anton Mamoiko, Guo Aohua

{"title":"Application of distributed and decentralized technologies in the management of intelligent transport systems","authors":"L. Eremina, Anton Mamoiko, Guo Aohua","doi":"10.20517/ir.2023.09","DOIUrl":"https://doi.org/10.20517/ir.2023.09","url":null,"abstract":"Shifting focus from the field of distributed and decentralized technologies in the management of intelligent transportation systems (ITS), we now delve into the specific application of blockchain in transportation management. Blockchain is a fundamental component of distributed and decentralized technologies. The research paper discusses the utilization of blockchain technology in managing transportation systems through multi-agent systems. Specifically, the use of blockchain technology is examined in the context of the quick road system (QRS) in ITS to provide a service for obtaining a special fare status. This service aims to establish a decentralized network that facilitates real-time road lane sharing. The study indicates that depending on traffic situations, drivers can share their lane space with other vehicles traveling on the same route by exchanging incentives via blockchain with other private car owners, thereby allowing for faster travel for individuals in a hurry or those requiring priority access to fast lanes. The paper also addresses the increasing number of connected devices in ITS due to the development of the internet of things (IoT) technology. It highlights the importance of efficiently utilizing large datasets and identifies the internet of vehicles (IoV) as a crucial area of integration for existing IoT technologies to address smart traffic within multi-agent systems.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"44 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":"133436964","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

Development and experimental verification of search and rescue ROV 搜索与救援ROV的研制与实验验证

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.23

Bing Sun, W. Pang, Mingzhi Chen, Daqi Zhu

引用次数: 0

A review of causality-based fairness machine learning 基于因果关系的公平机器学习综述

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.17

Cong Su, Guoxian Yu, J. Wang, Zhongmin Yan, Li-zhen Cui

{"title":"A review of causality-based fairness machine learning","authors":"Cong Su, Guoxian Yu, J. Wang, Zhongmin Yan, Li-zhen Cui","doi":"10.20517/ir.2022.17","DOIUrl":"https://doi.org/10.20517/ir.2022.17","url":null,"abstract":"With the wide application of machine learning driven automated decisions (e.g., education, loan approval, and hiring) in daily life, it is critical to address the problem of discriminatory behavior toward certain individuals or groups. Early studies focused on defining the correlation/association-based notions, such as statistical parity, equalized odds, etc. However, recent studies reflect that it is necessary to use causality to address the problem of fairness. This review provides an exhaustive overview of notions and methods for detecting and eliminating algorithmic discrimination from a causality perspective. The review begins by introducing the common causality-based definitions and measures for fairness. We then review causality-based fairness-enhancing methods from the perspective of pre-processing, in-processing and post-processing mechanisms, and conduct a comprehensive analysis of the advantages, disadvantages, and applicability of these mechanisms. In addition, this review also examines other domains where researchers have observed unfair outcomes and the ways they have tried to address them. There are still many challenges that hinder the practical application of causality-based fairness notions, specifically the difficulty of acquiring causal graphs and identifiability of causal effects. One of the main purposes of this review is to spark more researchers to tackle these challenges in the near future.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"4 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":"116472481","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

GMAW welding procedure expert system based on machine learning 基于机器学习的GMAW焊接工艺专家系统

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2023.03

Xuewu Wang, Qianghong Chen, Hao Sun, Xiuwei Wang, Huaicheng Yan

引用次数: 0

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Intelligence & Robotics最新文献