2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献_第8页

Analysis of Hybrid Cable-Thruster actuated ROV in heavy lifting interventions 复合式缆索推力器驱动ROV在重型起重干预作业中的应用分析

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981861

Nikolas Sacchi, E. Simetti, G. Antonelli, G. Indiveri, V. Creuze, M. Gouttefarde

引用次数: 1

Adaptive Sampling Site Selection for Robotic Exploration in Unknown Environments 未知环境下机器人探索的自适应采样点选择

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982113

Pranay Thangeda, Melkior Ornik

{"title":"Adaptive Sampling Site Selection for Robotic Exploration in Unknown Environments","authors":"Pranay Thangeda, Melkior Ornik","doi":"10.1109/IROS47612.2022.9982113","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9982113","url":null,"abstract":"Autonomously selecting the right sequence of locations to sample is critical during exploration missions in unknown environments, with constraints on the number of samples that can be collected, and a possibility of system failure. A key idea for decision-making in unknown environments is to exploit side information available to the agent, combined with the information gained from samples collected so far, to estimate the sampling values. In this paper, we pose the problem of sampling site selection as a problem of finding the optimal policy in a Markov decision process modeling the unknown sampling values and the outcomes associated with sampling attempts at different locations. Our solution exploits the fact that the partially unknown rewards of this Markov decision process are correlated to each other to devise a strategy that attempts to maximize the total sample value while also ensuring that the agent achieves its minimum mission requirement. We validate the utility of the proposed approach by evaluating the method against a baseline strategy that pursues collecting the samples that are estimated to be of the highest value. Our evaluations use a simulated sampling problem on Martian terrain and using OceanWATERS, a high-fidelity simulator of a future Europa lander mission.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124114804","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

Block-based Novel Haptic Data Reduction for Time-delayed Teleoperation 基于块的延时遥操作触觉数据简化方法

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982156

Minghui. Gui, Xiao Xu, E. Steinbach

{"title":"Block-based Novel Haptic Data Reduction for Time-delayed Teleoperation","authors":"Minghui. Gui, Xiao Xu, E. Steinbach","doi":"10.1109/IROS47612.2022.9982156","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9982156","url":null,"abstract":"This work proposes a novel haptic data reduction scheme for time-delayed teleoperation by coding information as blocks. State-of-the-art (SOTA) haptic data reduction approaches are mainly sampled-based schemes. They encode haptic signals sample by sample in order to minimize the introduced coding delay. In contrast, our proposed block-based coding approach transmits a sample block as a single unit (haptic packet). Although it introduces additional algorithmic delays that are proportional to the block length, block coding has benefits since the packet rate is easy to control, the coding approach can be lossless, and the intra-block information can be employed to improve the force feedback quality. We further develop an energy adjustment approach that uses the information in a block to mitigate force oscillations caused by the Time Domain Passivity Approach. Simulation experiments and subjective tests demonstrate that our method reduces network load and significantly increases force feedback quality compared with the SOTA sample-based coding schemes, particularly for mid- to high-latency networks and low packet rates.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124220220","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

Generalized Laplace Particle Filter on Lie Groups Applied to Ambiguous Doppler Navigation 李群上广义拉普拉斯粒子滤波在模糊多普勒导航中的应用

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9982086

C. Chahbazian, Nicolas Merlinge, K. Dahia, Bénédicte Winter-Bonnet, Aurelien Blanc, C. Musso

引用次数: 0

On the Importance of Label Encoding and Uncertainty Estimation for Robotic Grasp Detection 标签编码和不确定性估计在机器人抓取检测中的重要性

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981866

Benedict Stephan, Dustin Aganian, Lars Hinneburg, M. Eisenbach, Steffen Müller, H. Groß

{"title":"On the Importance of Label Encoding and Uncertainty Estimation for Robotic Grasp Detection","authors":"Benedict Stephan, Dustin Aganian, Lars Hinneburg, M. Eisenbach, Steffen Müller, H. Groß","doi":"10.1109/IROS47612.2022.9981866","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981866","url":null,"abstract":"Automated grasping of arbitrary objects is an essential skill for many applications such as smart manufacturing and human robot interaction. This makes grasp detection a vital skill for automated robotic systems. Recent work in model-free grasp detection uses point cloud data as input and typically outperforms the earlier work on RGB(D)-based methods. We show that RGB(D)-based methods are being underestimated due to suboptimal label encodings used for training. Using the evaluation pipeline of the GraspNet-1Billion dataset, we investigate different encodings and propose a novel encoding that significantly improves grasp detection on depth images. Additionally, we show shortcomings of the 2D rectangle grasps supplied by the GraspNet-1Billion dataset and propose a filtering scheme by which the ground truth labels can be improved significantly. Furthermore, we apply established methods for uncertainty estimation on our trained models since knowing when we can trust the model's decisions provides an advantage for real-world application. By doing so, we are the first to directly estimate uncertainties of detected grasps. We also investigate the applicability of the estimated aleatoric and epistemic uncertainties based on their theoretical properties. Additionally, we demonstrate the correlation between estimated uncertainties and grasp quality, thus improving selection of high quality grasp detections. By all these modifications, our approach using only depth images can compete with point-cloud-based approaches for grasp detection despite the lower degree of freedom for grasp poses in 2D image space.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124391724","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

A Soft Fluidic Sensor-Actuator for Active Sensing of Force and Displacement in Biomedical Applications 用于生物医学应用中力和位移主动传感的软流体传感器-执行器

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981059

Joanna Jones, Dana D. Damian

引用次数: 2

DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing 鲁棒机器人自识别与视觉伺服的密集图像雅可比估计

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981868

Yasunori Toshimitsu, Kento Kawaharazuka, Akihiro Miki, K. Okada, M. Inaba

引用次数: 0

Collaborative Teleoperation with Haptic Feedback for Collision-Free Navigation of Ground Robots 基于触觉反馈的地面机器人无碰撞导航协同遥操作

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981426

Mela C. Coffey, Alyssa Pierson

引用次数: 1

WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue 用于荒野搜索和救援的标记视觉和热图像数据集

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981298

Daniel Broyles, Christopher R. Hayner, Karen Leung

{"title":"WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue","authors":"Daniel Broyles, Christopher R. Hayner, Karen Leung","doi":"10.1109/IROS47612.2022.9981298","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981298","url":null,"abstract":"Sensor-equipped unoccupied aerial vehicles (UAVs) have the potential to help reduce search times and alleviate safety risks for first responders carrying out Wilderness Search and Rescue (WiSAR) operations, the process of finding and rescuing person(s) lost in wilderness areas. Unfortunately, visual sensors alone do not address the need for robustness across all the possible terrains, weather, and lighting conditions that WiSAR operations can be conducted in. The use of multi-modal sensors, specifically visual-thermal cameras, is critical in enabling WiSAR UAVs to perform in diverse operating conditions. However, due to the unique challenges posed by the wilderness context, existing dataset benchmarks are inadequate for developing vision-based algorithms for autonomous WiSAR UAVs. To this end, we present WiSARD, a dataset with roughly 56,000 labeled visual and thermal images collected from UAV flights in various terrains, seasons, weather, and lighting conditions. To the best of our knowledge, WiSARD is the first large-scale dataset collected with multi-modal sensors for autonomous WiSAR operations. We envision that our dataset will provide researchers with a diverse and challenging benchmark that can test the robustness of their algorithms when applied to real-world (life-saving) applications. Link to dataset: https://sites.google.com/uw.edu/wisard/","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114734434","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

UWRange: An Open ROS Framework for Simulating Acoustic Ranging and Localization for Underwater Robots under Realistic Conditions UWRange:一个开放的ROS框架，用于模拟水下机器人在现实条件下的声测距和定位

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2022-10-23 DOI: 10.1109/IROS47612.2022.9981364

Fabian Steinmetz, Daniel A. Duecker, Nils Sichert, Christian Busse, E. Kreuzer, C. Renner

{"title":"UWRange: An Open ROS Framework for Simulating Acoustic Ranging and Localization for Underwater Robots under Realistic Conditions","authors":"Fabian Steinmetz, Daniel A. Duecker, Nils Sichert, Christian Busse, E. Kreuzer, C. Renner","doi":"10.1109/IROS47612.2022.9981364","DOIUrl":"https://doi.org/10.1109/IROS47612.2022.9981364","url":null,"abstract":"Considering realistic characteristics of acoustic localization methods is crucial for roboticists when developing guidance and control algorithms for small and agile underwater robots. Current simulators either rely purely on geometric distancing, i.e. do not consider dynamic effects such as robot motion during acoustic signal propagation, or they are too complex for usage by non-communication experts and, thus, vulnerable to misconfiguration. We propose an open ROS-based framework that extends existing robot simulators (e. g. Gazebo) by simulating the effects of realistic acoustic ranging for underwater robot localization. Thus, our simulator enables realistic real-time analysis and evaluation of guidance, navigation, and control algorithms in software in-the-loop systems. For this purpose, we incorporate and encapsulate the non-trivial characteristics of acoustic communication and ranging such as robot motion during signal propagation, packet reception failure, and modem timings. This ensures the applicability of the tool by roboticists who are typically non-experts in acoustic communication and guarantees accurate and realistic simulation results. We demonstrate the functionality and performance of our framework and validate it on real-world experimental data on the example of a two-way ranging method. Our open-source release includes well-defined interfaces and parameters as well as a tutorial. This targets other roboticists who can either use our framework directly or easily adapt it to their individual setup, e. g., by adding further acoustic-ranging protocols.","PeriodicalId":431373,"journal":{"name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115087739","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