发布求助
文献互助 智能选刊 最新文献

2019 European Conference on Mobile Robots (ECMR)最新文献

筛选
英文 中文
Sub-Pixel Resolution Techniques for Ray Casting in Low-Resolution Occupancy Grid Maps 低分辨率占用网格图中光线投射的亚像素分辨率技术
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870966
Cornelia Schulz, A. Zell
{"title":"Sub-Pixel Resolution Techniques for Ray Casting in Low-Resolution Occupancy Grid Maps","authors":"Cornelia Schulz, A. Zell","doi":"10.1109/ECMR.2019.8870966","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870966","url":null,"abstract":"In robotics research, grid-based maps are widely used not only for localization and SLAM, but also as a prerequisite for navigational tasks such as path planning. Depending on the task, the utilized sensor, the chosen tradeoff between accuracy, runtime and memory requirements, and the exact map representation, a low grid resolution may be required. However, due to the involved discretization, occupancy grid maps suffer from aliasing effects and they are susceptible to sensor errors, especially if the resolution is low. In this work, we discuss different sub-pixel resolution methods, which improve the map quality without adapting the grid resolution. Therefore, we examine a grid traversal method inspired by antialiasing, which we use to apply weights to the grid cell updates in order to model straight beams more precisely. Further investigations include implicitly modeling the beam's width and shape. Finally, we inspect methods developed for ONDT maps and conduct extensive experiments to evaluate the discussed techniques.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"04 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130778976","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
A String of Tethered Drones - System Dynamics and Control 一串系留无人机-系统动力学和控制
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870945
B. Kosarnovsky, S. Arogeti
{"title":"A String of Tethered Drones - System Dynamics and Control","authors":"B. Kosarnovsky, S. Arogeti","doi":"10.1109/ECMR.2019.8870945","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870945","url":null,"abstract":"In this paper we present a novel concept of a tethered-drones system. The system includes an arbitrary number of drones connected serially to an active ground station. The considered drones are of quadrotor type. Utilizing a unique pulley-gimbal mechanism, each drone can freely move along the tether and its position is measured with respect to the ground station without the use of standard onboard inertial sensors. The proposed system can be thought of as a robotic arm where each tether section acts as a variable-length link and each drone is a joint actuator. We model the coupled behavior of the ground station and the string, taking into account an arbitrary number of drones. Then, a controller that combines tools from geometric-control and linear-control is suggested. Finally, the concept is demonstrated using numerical simulations, which also illustrate its potential effectiveness.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127095045","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
Long-Term Urban Vehicle Localization Using Pole Landmarks Extracted from 3-D Lidar Scans 利用三维激光雷达扫描提取极点地标的城市车辆长期定位
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870928
A. Schaefer, D. Büscher, Johan Vertens, L. Luft, Wolfram Burgard
{"title":"Long-Term Urban Vehicle Localization Using Pole Landmarks Extracted from 3-D Lidar Scans","authors":"A. Schaefer, D. Büscher, Johan Vertens, L. Luft, Wolfram Burgard","doi":"10.1109/ECMR.2019.8870928","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870928","url":null,"abstract":"Due to their ubiquity and long-term stability, pole-like objects are well suited to serve as landmarks for vehicle localization in urban environments. In this work, we present a complete mapping and long-term localization system based on pole landmarks extracted from 3-D lidar data. Our approach features a novel pole detector, a mapping module, and an online localization module, each of which are described in detail, and for which we provide an open-source implementation [1]. In extensive experiments, we demonstrate that our method improves on the state of the art with respect to long-term reliability and accuracy: First, we prove reliability by tasking the system with localizing a mobile robot over the course of 15 months in an urban area based on an initial map, confronting it with constantly varying routes, differing weather conditions, seasonal changes, and construction sites. Second, we show that the proposed approach clearly outperforms a recently published method in terms of accuracy.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125830704","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: 46
Design of Powered Wearable Elbow Brace for Rehabilitation Applications at Clinic and Home 用于临床和家庭康复的动力可穿戴肘关节支架的设计
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870922
Kevin Bancud, P. Kutílek, V. Křivánek
{"title":"Design of Powered Wearable Elbow Brace for Rehabilitation Applications at Clinic and Home","authors":"Kevin Bancud, P. Kutílek, V. Křivánek","doi":"10.1109/ECMR.2019.8870922","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870922","url":null,"abstract":"Spasticity and contractures are secondary to most neurological and orthopaedic pathologies. The most conservative method of management of spasticity and contractures is passive stretching exercises. Robotic rehabilitation aims to provide a solution to this problem. We describe in details the design of a powered wearable orthosis especially designed for managing spasticity and contractures. The device is fully portable, allowing the patient to undergo repeated-passive-dynamic exercises outside the hospital environment. The design of the device is modular to make it adaptable to different anatomies and pathologies. The device is also fitted with electrogoniometers and torque sensors to record kinematics and dynamics of the patient, improving the insight of the clinicians to the rehabilitation of the patient, as well as providing data for further clinical and scientific investigations. The mechanical integrity of the device elements is simulated and verified.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127845919","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
Robot Path Planning for Multiple Target Regions 多目标区域机器人路径规划
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870971
Shu Ishida, Marc Rigter, Nick Hawes
{"title":"Robot Path Planning for Multiple Target Regions","authors":"Shu Ishida, Marc Rigter, Nick Hawes","doi":"10.1109/ECMR.2019.8870971","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870971","url":null,"abstract":"Optimal path planning to point goals is a well-researched problem. However, in the context of mobile robotics, it is often desirable to generate plans which visit a sequence of regions, rather than point goals. In this paper, we investigate methods for planning paths which visit multiple regions in a specified order, whilst minimising total path cost. We propose Multi-Region A*, an extension to the A* algorithm with an admissible heuristic for traversing multiple target regions. The heuristic is used to trim sub-optimal paths from the search, thereby reducing the computation time required to find the optimal solution. Additionally, we extend this method to create the Windowed Multi-Region A* which plans through overlapping sequences of regions. This provides a mechanism to trade-off optimality against computation time. We evaluate the performance of the proposed methods against point-to-point A* planning methods using a simulation of a wheeled office robot. The evaluation shows that Multi-Region A* with search pruning produces an optimal path, and the Windowed Multi-Region A* with a small window size gives a good approximate solution without compromising the total navigation time, in addition to providing robustness to dynamic obstacles.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133708487","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
A comparative analysis of radar and lidar sensing for localization and mapping 雷达和激光传感定位和制图的比较分析
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870345
Malcolm Mielle, Martin Magnusson, A. Lilienthal
{"title":"A comparative analysis of radar and lidar sensing for localization and mapping","authors":"Malcolm Mielle, Martin Magnusson, A. Lilienthal","doi":"10.1109/ECMR.2019.8870345","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870345","url":null,"abstract":"Lidars and cameras are the sensors most commonly used for Simultaneous Localization And Mapping (SLAM). However, they are not effective in certain scenarios, e.g. when fire and smoke are present in the environment. While radars are much less affected by such conditions, radar and lidar have rarely been compared in terms of the achievable SLAM accuracy. We present a principled comparison of the accuracy of a novel radar sensor against that of a Velodyne lidar, for localization and mapping. We evaluate the performance of both sensors by calculating the displacement in position and orientation relative to a ground-truth reference positioning system, over three experiments in an indoor lab environment. We use two different SLAM algorithms and found that the mean displacement in position when using the radar sensor was less than 0.037 m, compared to 0.011 m for the lidar. We show that while producing slightly less accurate maps than a lidar, the radar can accurately perform SLAM and build a map of the environment, even including details such as corners and small walls.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128517247","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: 20
Battery Charge Scheduling in Long-Life Autonomous Mobile Robots 长寿命自主移动机器人的充电调度
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870951
Milan Tomy, Bruno Lacerda, Nick Hawes, J. Wyatt
{"title":"Battery Charge Scheduling in Long-Life Autonomous Mobile Robots","authors":"Milan Tomy, Bruno Lacerda, Nick Hawes, J. Wyatt","doi":"10.1109/ECMR.2019.8870951","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870951","url":null,"abstract":"The daily working hours of long-life mobile robots are limited primarily by battery life. Most systems use a combination of hard thresholds and fixed periods to decide when to charge. This produces charging behaviour that ignores high-value tasks that must be performed within time-windows or by deadlines. Instead the robot should schedule charging adaptively, taking into account the times of day when it is expected to be given more valuable tasks to perform. This paper proposes an approach that exploits the fact that, during long-term deployments, the robot can learn when it is most probable that valuable tasks are added to the system, thus it can plan to charge on times that are expected to be less busy. We pose the problem of scheduling battery charging as a multi-objective sequential decision making problem over a time-dependent Markov decision process model of expected task rewards and battery behaviour. We compare a typical rule-based approach to our multi-objective scheduler and show that our approach enables for more flexible and efficient robot behaviour, which takes into account both the value of current available tasks and the predicted value of future tasks to decide whether to charge at a given time.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132612199","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: 10
Optimal Trajectory Planning for Autonomous Drone Cinematography 自主无人机摄影的最优轨迹规划
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870950
Bahare Sabetghadam, Alfonso Alcántara, J. Capitán, R. Cunha, A. Ollero, A. Pascoal
{"title":"Optimal Trajectory Planning for Autonomous Drone Cinematography","authors":"Bahare Sabetghadam, Alfonso Alcántara, J. Capitán, R. Cunha, A. Ollero, A. Pascoal","doi":"10.1109/ECMR.2019.8870950","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870950","url":null,"abstract":"This paper presents a method for optimal trajectory planning with applications to drone cinematography. Aerial cinematography with drones is growing fast due to their maneuverability and ability to create unique visual effects. However, planning optimal drone trajectories and camera movements is still a major challenge to autonomous aerial filming. The trajectories must meet the objectives on aesthetic quality of the videos while satisfying several constraints imposed by drone dynamics, gimbal mechanical limits and surrounding obstacles. In this paper, we propose a novel formulation of the problem by decoupling the gimbal and the drone control systems. The problem is formulated as an optimization problem taking into account the gimbal rotation limits and collision avoidance constraints as well as camera angle driven objective functions to ensure feasible and smooth drone trajectories that generate visually pleasing videos. We evaluate the efficacy of our method through simulations and real-world experiments in an outdoor environment.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115163279","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: 15
Semantic Scene Segmentation of Unordered Point Clouds on Autonomous Robots 自主机器人无序点云的语义场景分割
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870932
Ya Wang, A. Zell
{"title":"Semantic Scene Segmentation of Unordered Point Clouds on Autonomous Robots","authors":"Ya Wang, A. Zell","doi":"10.1109/ECMR.2019.8870932","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870932","url":null,"abstract":"This paper describes a 3D semantic scene segmentation with convolutional neural networks for unordered point clouds of autonomous robots. Euclidean coordinates and RGB color spaces are used as well as multi-scaling layers. An outlier removal is designed to optimize the classification rate. We tested our system on real scenes using an RGB-D camera installed on a mobile robot. Additionally, we did comparison experiments on three different scene benchmarks. Compared to state-of-the-art point cloud semantic scene segmentation networks, our network produces better quality of segmentation results and achieves higher training and testing accuracies, as well as average intersection over union (IoU) and overall accuracy.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"195 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116785900","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
Autonomous Robots as Actors in Robotics Theatre - Tribute to the Centenary of R.U.R. 机器人剧院中的自主机器人演员——致敬R.U.R.百年纪念
2019 European Conference on Mobile Robots (ECMR) Pub Date : 2019-09-01 DOI: 10.1109/ECMR.2019.8870908
D. Petrović, Luka Kićinbaći, Frano Petric, Z. Kovačić
{"title":"Autonomous Robots as Actors in Robotics Theatre - Tribute to the Centenary of R.U.R.","authors":"D. Petrović, Luka Kićinbaći, Frano Petric, Z. Kovačić","doi":"10.1109/ECMR.2019.8870908","DOIUrl":"https://doi.org/10.1109/ECMR.2019.8870908","url":null,"abstract":"In the eyes of the roboticists, the play R.U.R. (Rossum's Universal Robots) of Czech writer Karel Čapek is seen as the messenger of the new robot age. R.U.R. is renown for the first mentioning of the word robot for a humanoid machine that looks, moves, feels, thinks and works like a human. Inspired by the 100th anniversary of R.U.R. in 2020, we have decided to make a performance with Pepper and NAO humanoid robots acting together with human actors. Performing in a theatrical performance is very demanding even for human actors, so we see the implementation of R.U.R. with robotic co-actors as a real challenge. For this purpose, we have analyzed human-robot and robot-robot interaction in the R.U.R. script to evaluate whether NAO and Pepper robots that we have are apt to act autonomously. Due to specific robot deficiencies that we found, we have made the robot casting first and then adapted the R.U.R. script to enable Pepper and NAO robots to perform their roles.","PeriodicalId":435630,"journal":{"name":"2019 European Conference on Mobile Robots (ECMR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134525120","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信