2013 16th International Conference on Advanced Robotics (ICAR)最新文献

Interactive robot learning of visuospatial skills 交互式机器人视觉空间技能学习

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-30 DOI: 10.1109/ICAR.2013.6766597

S. Ahmadzadeh, Petar Kormushev, D. Caldwell

引用次数: 4

A variable stiffness mechanism for improving energy efficiency of a planar single-legged hopping robot 一种提高平面单足跳跃机器人能量效率的变刚度机构

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-29 DOI: 10.1109/ICAR.2013.6766488

H. Q. Vu, H. Hauser, D. Leach, R. Pfeifer

引用次数: 25

Monocular navigation for long-term autonomy 单目导航，实现长期自主

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-28 DOI: 10.1109/ICAR.2013.6766591

T. Krajník, S. Pedre, L. Preucil

引用次数: 9

External localization system for mobile robotics 移动机器人外部定位系统

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-26 DOI: 10.1109/ICAR.2013.6766520

T. Krajník, M. Nitsche, J. Faigl, T. Duckett, M. Mejail, L. Preucil

引用次数: 38

Pseudo-linear measurement approach for heterogeneous multi-robot relative localization 异构多机器人相对定位的伪线性测量方法

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766521

Thumeera R. Wanasinghe, G. Mann, R. Gosine

{"title":"Pseudo-linear measurement approach for heterogeneous multi-robot relative localization","authors":"Thumeera R. Wanasinghe, G. Mann, R. Gosine","doi":"10.1109/ICAR.2013.6766521","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766521","url":null,"abstract":"The purpose of relative localization (RL) is to locate and track one or more robots in another moving robot body-fixed coordinate frame using relative range and/or bearing measurements. Most available RL methods assume known initial conditions at the first encounter of an arbitrary robot, and the tracking is then followed using an extended Kalman filter (EKF). In case of poor filter initialization, these EKF based methods sometimes cause instability or demand longer settling time. To overcome this issue, this paper proposes a pseudo-linear measurement (PM) based technique for RL where true nonlinear measurements are algebraically transformed into PM. The proposed RL scheme is tested in Monte Carlo simulations for a heterogeneous multi-robot system comprising both aerial and ground robots. Results demonstrate that the proposed method performs RL with 5~10 cm positional accuracy and 0.075~0.1 rad orientational accuracy. The performance of the PM based RL is then compared against traditional EKF based methods with unknown filter initialization. The results demonstrate that the proposed method able to achieve both the positional and orientational accuracy within 12 iterations, whereas the traditional methods requires more than 250 iterations to achieve the same accuracy. The experiment validation of the proposed method was performed and results are congruent with the simulations.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123070878","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

Navigation control in FPGA for a differential-drive mobile robot 基于FPGA的差动驱动移动机器人导航控制

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766532

A. E. Velasquez, H. B. Guerrero, Ingrid Lorena Argote Pedraza, D. V. Magalhães, M. Becker, G. Caurin

引用次数: 1

Design and control of an under-actuated robot leg, using state feedback and impulse shaping 基于状态反馈和脉冲整形的欠驱动机器人腿的设计与控制

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766535

Yunha Kim, V. Salvucci, Y. Hori

引用次数: 3

The highly performant and realtime deterministic communication layer of the aRDx software framework aRDx软件框架的高性能、实时确定性通信层

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766584

Tobias Hammer, B. Bäuml

引用次数: 14

Simulation-based approach for avoiding external faults 基于仿真的外部故障避免方法

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766551

Naveed Akhtar, Anastassia Küstenmacher, P. Plöger, G. Lakemeyer

{"title":"Simulation-based approach for avoiding external faults","authors":"Naveed Akhtar, Anastassia Küstenmacher, P. Plöger, G. Lakemeyer","doi":"10.1109/ICAR.2013.6766551","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766551","url":null,"abstract":"When a robot interacts with its environment to perform tasks, it often faces unexpected situations which render its actions unsuccessful despite perfect functioning of its components. These situations occur as deviations of properties of the objects (manipulated by the robot) from their acceptable values. Hence, they are experienced by the robot as external faults. In this work, we propose a simulation-based approach for avoiding the external faults that occur during the manipulation actions of a robot which involve releasing of objects. With the help of a single example simulation, that shows the behavior of the manipulated object for successful completion of the action, the proposed approach constructs different examples of the object's behavior and labels them as `desired' or `undesired'. These labelled examples are used by an algorithm, which we refer as N-Bins, to suggest a releasing state of the object that avoids the occurrence of external faults. Once exposed to the labelled examples, N-Bins can also be used for predicting the occurrence of external faults for a given releasing state of the object. These abilities of N-Bins are used by the approach to modify the releasing action of the robot for avoiding external faults. We present the approach as a four-step scheme that performs the above mentioned tasks completely autonomously.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127002504","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: 8

Multi kinect people detection for intuitive and safe human robot cooperation in the operating room 多kinect人体检测，实现人机在手术室的直观安全配合

2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766594

Timo Beyl, Philip Nicolai, J. Raczkowsky, H. Wörn, Mirko Daniele Comparetti, E. Momi

引用次数: 17