2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第4页

Clone Swarms: Learning to Predict and Control Multi-Robot Systems by Imitation 克隆群体:通过模仿学习预测和控制多机器人系统

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967824

Siyu Zhou, Mariano Phielipp, J. Sefair, S. Walker, H. B. Amor

引用次数: 13

Position-based monocular visual servoing of an unknown target using online self-supervised learning 基于在线自监督学习的未知目标位置单目视觉伺服

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968216

Chungkeun Lee, Hoseong Seo, H. Kim

{"title":"Position-based monocular visual servoing of an unknown target using online self-supervised learning","authors":"Chungkeun Lee, Hoseong Seo, H. Kim","doi":"10.1109/IROS40897.2019.8968216","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8968216","url":null,"abstract":"Visual servoing, i.e. control with visual information, is a valuable capability in many robotic applications. In particular, position based visual servoing (PBVS) estimates position information from the observed image to generate visual servo control. However, the estimation of the position of an unknown target using monocular images is still difficult due to the complexity of the image information. For the target estimation problem, we propose to integrate three complementary techniques for monocular visual servoing. First, to estimate the probability of a target’s existence, the learning model with spatial features from convolution neural network is proposed. Second, the extended Kalman filter based on epipolar geometry estimates the 3D position of the target; moreover, from this 3D position, the perception model is trained online by self-generated virtual ground-truth. Finally, visual servo control is generated, and the resulting movement helps to construct epipolar geometry. Finally. the experimental validation is performed in a challenging setting involving occlusion and target’s shape change.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"111 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120873611","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: 5

Ergodic Flocking 遍历植绒

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968265

Conan Veitch, Duncan Render, Alex Aravind

引用次数: 6

State Representation Learning with Robotic Priors for Partially Observable Environments 部分可观察环境下机器人先验状态表示学习

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967938

Marco Morik, Divyam Rastogi, Rico Jonschkowski, O. Brock

引用次数: 6

Long-Term Visual Inertial SLAM based on Time Series Map Prediction 基于时间序列地图预测的长期视觉惯性SLAM

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968017

B. Song, Weidong Chen, Jingchuan Wang, Hesheng Wang

引用次数: 8

Operational Space Control Framework for Torque Controlled Humanoid Robots with Joint Elasticity 关节弹性转矩控制类人机器人的操作空间控制框架

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8967613

Jaesug Jung, Donghyeon Kim, Jaeheung Park

引用次数: 4

A Method for Guiding a Person Combining Robot Movement and Projection 机器人运动与投影相结合的人导向方法

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968523

Aki Tamai, Tetsushi Ikeda, S. Iwaki

{"title":"A Method for Guiding a Person Combining Robot Movement and Projection","authors":"Aki Tamai, Tetsushi Ikeda, S. Iwaki","doi":"10.1109/IROS40897.2019.8968523","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8968523","url":null,"abstract":"This paper proposes a new method to guide a person along with a route when a mobile robot explains an exhibition. In previous work, there were problems that people overtake the robot and go out of the guide route, and that people move to positions that interferes with the movement of the robot. In response to these problems, a conventional solution is to frequently instruct people to move by using voice, displays, etc., and it was not a comfortable for people who are guided. In this paper, we focus on a mobile robot with a projection function and propose a method of controlling human positions without explicit instructions by combining movement and projection of a robot. We introduce three basic guiding behaviors combining projection and movement, each controlling a person and a robot into different positional relationship according to the situation of guiding. Experiments of basic guiding behaviors showed that both the existence of the robot and the position of the projected image are combined to affect the movement of the guided person. The result indicates that by selecting appropriate guide behavior according to the situation of guiding, the robot can guide a person effectively while controlling the position of the person.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121509808","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: 5

FLAME: Feature-Likelihood Based Mapping and Localization for Autonomous Vehicles FLAME:基于特征似然的自动驾驶汽车映射和定位

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968082

Su Pang, Daniel Kent, Daniel Morris, H. Radha

{"title":"FLAME: Feature-Likelihood Based Mapping and Localization for Autonomous Vehicles","authors":"Su Pang, Daniel Kent, Daniel Morris, H. Radha","doi":"10.1109/IROS40897.2019.8968082","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8968082","url":null,"abstract":"Accurate vehicle localization is arguably the most critical and fundamental task for autonomous vehicle navigation. While dense 3D point-cloud-based maps enable precise localization, they impose significant storage and transmission burdens when used in city-scale environments. In this paper, we propose a highly compressed representation for LiDAR maps, along with an efficient and robust real-time alignment algorithm for on-vehicle LiDAR scans. The proposed mapping framework, which we refer to as Feature Likelihood Acquisition Map Emulation (FLAME), requires less than 0.1% of the storage space of the original 3D point cloud map. In essence, FLAME emulates an original map through feature likelihood functions. In particular, FLAME models planar, pole and curb features. These three feature classes are long-term stable, distinct and common among vehicular roadways. Multiclass feature points are extracted from LiDAR scans through feature detection. A new multiclass-based point-to-distribution alignment method is proposed to find the association and alignment between the multiclass feature points and the FLAME map. The experimental results show that the proposed framework can achieve the same level of accuracy (less than 10cm) as the 3D point cloud based localization.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121546701","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

Information Filter Occupancy Mapping using Decomposable Radial Kernels 基于可分解径向核的信息过滤占用映射

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968609

Siwei Guo, Nikolay A. Atanasov

引用次数: 3

Combining spiking motor primitives with a behaviour-based architecture to model locomotion for six-legged robots 结合脉冲运动原语和基于行为的结构来模拟六足机器人的运动

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2019-11-01 DOI: 10.1109/IROS40897.2019.8968128

J. C. V. Tieck, Jacqueline Rutschke, Jacques Kaiser, Martin Schulze, Timothee Buettner, Daniel Reichard, A. Roennau, R. Dillmann

{"title":"Combining spiking motor primitives with a behaviour-based architecture to model locomotion for six-legged robots","authors":"J. C. V. Tieck, Jacqueline Rutschke, Jacques Kaiser, Martin Schulze, Timothee Buettner, Daniel Reichard, A. Roennau, R. Dillmann","doi":"10.1109/IROS40897.2019.8968128","DOIUrl":"https://doi.org/10.1109/IROS40897.2019.8968128","url":null,"abstract":"Bio-inspired robots take advantage of millions of years of evolution to provide interesting and flexible solutions for issues related to motion and perception. Often, they have challenging kinematics classical robotics control mechanisms are not always able to take advantage of them. A concrete example of this is LAURON V, a six-legged robot for space exploration inspired by the stick insects. The main goals of this work is to combine classical behaviour-based control with motor primitives implemented with SNN for motion representation. We extend a previously presented bio-inspired approach to represent hand and arm motion using motor primitives, and combine it with a behaviour-based architecture to model different locomotion behaviours for a multi-legged robot. There are four main components. First, to model the individual leg motions we use two motor primitives implemented with spiking neural networks for the swing and stance phases. Second, to control the motor primitives of each leg there are local behaviours corresponding to each phase, and corresponding to each activation pattern. Third, the activation patterns are used to facilitate multi-leg coordination and generate different walking behaviours. Fourth, a high-level control interface integrates control signals from other sources and activates the patterns. We conducted five different experiments to evaluate our approach in a simulated environment using the Neurorobotics Platform (NRP). The results show that our modelling approach with motor primitives is flexible enough to represent different types of motions, and also highlight the value of the NRP for robotics development.","PeriodicalId":428768,"journal":{"name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114754915","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: 11