发布求助
文献互助 智能选刊 最新文献

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)最新文献

筛选
英文 中文
Implementation of a central pattern generator for the control of legged robots 用于有腿机器人控制的中央模式生成器的实现
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215319
O. Santana, M. P. S. Dantas, Massao Henrique da Silva
{"title":"Implementation of a central pattern generator for the control of legged robots","authors":"O. Santana, M. P. S. Dantas, Massao Henrique da Silva","doi":"10.1109/SBR-LARS-R.2017.8215319","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215319","url":null,"abstract":"This paper proposes a modeling for articulated robots based in an adaptation of the Kuramotos model. In order to simplify and help new people interested in work with it, mathematical models were made for the differential equations of first and second order from these. The modeling of this problem was based on computational modeling for solving ordinary differential equations. Among the available methods, we used Eulers method. From the mathematical modeling, we used our results to realize three experiments with the movements of the articulated robot. The three experiments gave us satisfactory results. All the movements that were passed on as parameters were realized by the robot as we expected.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116855049","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
Using polynomial eigenvalue problem modeling to improve monocular visual odometry and 3D mapping 利用多项式特征值问题建模改进单目视觉里程计和三维映射
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215323
A. Souza, B. Datta, L. Gonçalves
{"title":"Using polynomial eigenvalue problem modeling to improve monocular visual odometry and 3D mapping","authors":"A. Souza, B. Datta, L. Gonçalves","doi":"10.1109/SBR-LARS-R.2017.8215323","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215323","url":null,"abstract":"Visual Odometry (VO) is the process of calculating the motion of an agent (such as, robot and vehicle), using images captured by a single or multiple cameras embedded to it. VO is an important process to supplement autonomous navigation systems, since VO can provide accurate trajectory estimates. This process can be used to perform a 3D mapping, in order to provide more information during a vehicle navigation. However, algorithms of VO work with several steps of hard numerical computation which generate numerical errors and demand considerable processing time. In this paper, we propose the use of a mathematical framework for monocular VO process and mapping based on Polynomial Eigenvalue Problem (PEP) modeling in order to achieve both more accurate motion estimation and faithful 3D maps. Some previous experiments are shown in order to validate the proposed framework.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":" 40","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113950763","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
Counterexample guided inductive optimization applied to mobile robots path planning 反例引导下的归纳优化在移动机器人路径规划中的应用
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-08-14 DOI: 10.1109/SBR-LARS-R.2017.8215336
Rodrigo F. Araujo, Alexandre Ribeiro, I. Bessa, L. Cordeiro, J. E. C. Filho
{"title":"Counterexample guided inductive optimization applied to mobile robots path planning","authors":"Rodrigo F. Araujo, Alexandre Ribeiro, I. Bessa, L. Cordeiro, J. E. C. Filho","doi":"10.1109/SBR-LARS-R.2017.8215336","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215336","url":null,"abstract":"We describe and evaluate a novel optimization-based off-line path planning algorithm for mobile robots based on the Counterexample-Guided Inductive Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, in order to guide the optimization process and to ensure global optimization. This paper marks the first application of CEGIO for planning mobile robot path. In particular, CEGIO has been successfully applied to obtain optimal two-dimensional paths for autonomous mobile robots using off-the-shelf SAT and SMT solvers.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133962825","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
ORB-ODOM: Stereo and odometer sensor fusion for simultaneous localization and mapping ORB-ODOM:立体和里程表传感器融合，同时定位和绘图
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 1900-01-01 DOI: 10.1109/SBR-LARS-R.2017.8215301
Brenno A. C. Caldato, Ricardo Achilles Filho, J. Castanho
{"title":"ORB-ODOM: Stereo and odometer sensor fusion for simultaneous localization and mapping","authors":"Brenno A. C. Caldato, Ricardo Achilles Filho, J. Castanho","doi":"10.1109/SBR-LARS-R.2017.8215301","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215301","url":null,"abstract":"ORB-SLAM2 is one of the better-known open source SLAM implementations available. However, the dependence of visual features causes it to fail in featureless environments. With the present work, we propose a new technique to improve visual odometry results given by ORB-SLAM2 using a tightly Sensor Fusion approach to integrate camera and odometer data. In this work, we use odometer readings to improve the tracking results by adding graph constraints between frames and introduce a new method for preventing the tracking loss. We test our method using three different datasets, and show an improvement in the estimated trajectory, allowing a continuous tracking without losses.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"2 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":"132562930","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
首页 上一页
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：604180095
Book学术官方微信
小红书