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

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Monty Hall Particle filter: A new method to tackle predictive model uncertainties Monty Hall粒子滤波:一种处理预测模型不确定性的新方法
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766512
Ilari Vallivaara, Anssi Kemppainen, Katja Poikselkä, J. Röning
{"title":"Monty Hall Particle filter: A new method to tackle predictive model uncertainties","authors":"Ilari Vallivaara, Anssi Kemppainen, Katja Poikselkä, J. Röning","doi":"10.1109/ICAR.2013.6766512","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766512","url":null,"abstract":"This paper proposes a simple adaptive weight computing method for particle filters that utilizes knowledge about predictive model uncertainty. In each time step the particles are assigned into subsets based on the corresponding uncertainty estimates. The weights are then updated based on accumulated subset-inclusion and likelihood information using a discrete set of measurement likelihood functions. By controlling the aggressiveness of the weight computing, the method strives to achieve faster convergence without losing robustness to model errors. Two localization experiments are conducted to verify that the method has a clear advantage over particle filters with single likelihood function. In the first experiment we use synthetic Gaussian Process data. In the second experiment real indoor magnetic field data with very coarse interpolation and uncertainty approximation is used to verify the method's effectiveness in real-world scenarios. One of the main advantages of the proposed method is that despite its flexibility, it adds only little implementational or computational overhead to conventional particle filters.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"50 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":"129508037","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
On-line semantic mapping 在线语义映射
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766501
E. Bastianelli, D. Bloisi, R. Capobianco, F. Cossu, Guglielmo Gemignani, L. Iocchi, D. Nardi
{"title":"On-line semantic mapping","authors":"E. Bastianelli, D. Bloisi, R. Capobianco, F. Cossu, Guglielmo Gemignani, L. Iocchi, D. Nardi","doi":"10.1109/ICAR.2013.6766501","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766501","url":null,"abstract":"Human Robot Interaction is a key enabling feature to support the introduction of robots in everyday environments. However, robots are currently incapable of building representations of the environments that allow both for the execution of complex tasks and for an easy interaction with the user requesting them. In this paper, we focus on semantic mapping, namely the problem of building a representation of the environment that combines metric and symbolic information about the elements of the environment and the objects therein. Specifically, we extend previous approaches, by enabling on-line semantic mapping, that permits to add to the representation elements acquired through a long term interaction with the user. The proposed approach has been experimentally validated on different kinds of environments, several users, and multiple robotic platforms.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"2020 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":"129568013","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: 35
Calibration of an inertial measurement unit 校准惯性测量单元
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766539
Santiago Paternain, Matías Tailanián, R. Canetti
{"title":"Calibration of an inertial measurement unit","authors":"Santiago Paternain, Matías Tailanián, R. Canetti","doi":"10.1109/ICAR.2013.6766539","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766539","url":null,"abstract":"This paper presents a fast and low cost way to calibrate different inertial measurement sensors. In particular the calibration of an accelerometer and a gyroscope using nonlinear least squares is presented. A model of the sensors which includes the main errors that MEMS devices present is used. A calibration method is proposed for estimating the static parameters of the model and a temperature adjustment is proposed and implemented.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"13 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":"129849241","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
Torque control characterization of a rotary series elastic actuator for knee rehabilitation 用于膝关节康复的旋转系列弹性致动器的转矩控制特性
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766567
W. D. Santos, G. Caurin, A. Siqueira
{"title":"Torque control characterization of a rotary series elastic actuator for knee rehabilitation","authors":"W. D. Santos, G. Caurin, A. Siqueira","doi":"10.1109/ICAR.2013.6766567","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766567","url":null,"abstract":"This paper presents the evaluation of a rotary Series Elastic Actuator (SEA) designed to assist in flexion/extension of the knee joint during physical therapy. The proposed device includes a DC motor, a worm gear and a customized torsion spring. Since the elastic element is the most important component in the SEA design, an analysis procedure based on Finite Element Method (FEM) is used in order to meet the specific requirements of knee assistance. With a total weight of 2.53 kg, it is possible to directly mount the actuator on a knee orthosis frame. Torque controller is implemented to ensure secure interaction with the patient and enable new strategies for rehabilitation. The design specifications as well as the controllers performance are verified by experiments.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"35 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":"129950411","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
Probabilistic robotic grid mapping based on occupancy and elevation information 基于占用和高程信息的概率机器人网格映射
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766467
A. Souza, R. Maia, R. Aroca, L. Gonçalves
{"title":"Probabilistic robotic grid mapping based on occupancy and elevation information","authors":"A. Souza, R. Maia, R. Aroca, L. Gonçalves","doi":"10.1109/ICAR.2013.6766467","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766467","url":null,"abstract":"This paper proposes an alternative environment mapping method for accurate robotic navigation based on 3D information. Typical techniques for 3D mapping using occupancy grid require intensive computational workloads to both build and store the map. We introduce an occupancy-elevation grid (OEG) mapping technique, which is a discrete mapping approach where each cell represents the occupancy probability, the height of the terrain and its variance. This representation allows a mobile robot to know if a spot in the environment is occupied by an obstacle and the height of such obstacle, thus, it can decide if it is possible to traverse the obstacle. In general, the map representation introduced can be used in conjunction with any kind of distance sensor. In this work, we have used laser range data with a probabilistic treatment. The resulting maps allow the execution of tasks like decision making for autonomous navigation, exploration, localization and path planning, considering the existence and the height of the obstacles. Experiments carried out with real data demonstrate that the proposed approach yields useful maps for autonomous navigation.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"38 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":"114806836","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: 12
Dynamics aware 3D occupancy grid map with semantic information 动态感知三维占用网格地图与语义信息
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766577
A. Chiesa
{"title":"Dynamics aware 3D occupancy grid map with semantic information","authors":"A. Chiesa","doi":"10.1109/ICAR.2013.6766577","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766577","url":null,"abstract":"In many modern robotics applications the agents are expected to produce accurate representations of dynamic environments. Most mapping algorithms, however, assume the world to be static. Furthermore, these applications may also require semantic information about the environment. Most popular approaches add extra information as additional layers on top of the map used for navigation, leading to complex, decoupled systems. In this paper we present a probabilistic grid-based approach for modeling changing environments which can also incorporate augmented information right in the core of the map. Our method represents both, the dynamic of the cells and the objects contained in each of them by the state transition probabilities of a Hidden Markov Model. We evaluated the map in different use cases, proving its usefulness for modern robotics applications. The framework is available as a new, open source, mapping software.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"317 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":"124292600","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
Evaluation of cooperative exploration strategies using full system simulation 基于全系统仿真的协同勘探策略评价
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766457
S. Kasperski, J. Wollenberg, M. Eich
{"title":"Evaluation of cooperative exploration strategies using full system simulation","authors":"S. Kasperski, J. Wollenberg, M. Eich","doi":"10.1109/ICAR.2013.6766457","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766457","url":null,"abstract":"This paper compares different state-of-the-art exploration strategies for teams of mobile robots exploring an unknown environment. The goal is to help in determining a best strategy for a given multi-robot scenario and optimization target. Experiments are done in a 2D-simulation environment with 5 robots that are equipped with a horizontal laser range finder. Required components like SLAM, path planning and obstacle avoidance of every robot are included in a full-system simulation. To evaluate different strategies the time to finish exploration, the number of measurements that have been integrated into the map and the development in size of the explored area over time are used. The results of extensive test runs on three environments with different characteristics show that simple strategies can perform fairly well in many situations but specialized strategies can improve performance with regards to their targeted evaluation measure.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"3 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":"128051131","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: 7
Object detection via receptive field co-occurrence and spatial cloud-point data 通过感受野共现和空间云点数据进行目标检测
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766575
Luis Contreras, Abel Pacheco-Ortega, Jose I. Figueroa, W. Mayol-Cuevas, J. Savage
{"title":"Object detection via receptive field co-occurrence and spatial cloud-point data","authors":"Luis Contreras, Abel Pacheco-Ortega, Jose I. Figueroa, W. Mayol-Cuevas, J. Savage","doi":"10.1109/ICAR.2013.6766575","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766575","url":null,"abstract":"The use of image and spatial information together in mobile robots systems it is a promising field, due to the enhanced level of discrimination and efficiency that can be gained. In this paper we employ an RGB-D camera for object detection and clustering and develop methods that combine the two strands of information: first we cluster potential objects by means of their spatial position and then link geometry and co-occurrence histograms to enable reliable object detection. Experiments and design parameters are presented for example scenarios of object detection under clutter.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"9 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":"131970714","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
Comparative study and experimental implementation of different path tracking controllers in mobile robots 不同路径跟踪控制器在移动机器人中的比较研究与实验实现
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766585
Cristian G. Pérez-T., A. García-Barrientos, E. S. E. Quesada, Jose L. Bernal-P., J. Balmat
{"title":"Comparative study and experimental implementation of different path tracking controllers in mobile robots","authors":"Cristian G. Pérez-T., A. García-Barrientos, E. S. E. Quesada, Jose L. Bernal-P., J. Balmat","doi":"10.1109/ICAR.2013.6766585","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766585","url":null,"abstract":"This paper presents a comparative study and the experimental implementation of different path tracking control laws for the formation of a group of nonholonomic mobile robots. By introducing a unified error of the formation and trajectory tracking using: the dynamic feedback linearization control [1], dynamic-static feedback linearization control [2], and nonlinear time-invariant control [3] are compared. The simulations results show that the dynamic-static feedback linearization technique presents a stable tracking with smoother behaviour and avoiding discontinuities for tracking trajectory of the robot leader. Finally, this method was implemented experimentally in three different paths, forming a simple triangle with three mobile robots in a leader-follower type motion. Moreover, the analysis in this paper reveals some important issues raising that the controllers developed on this system can be extended to underactuated UAVs in future work.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"22 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":"131501734","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
LaMMos - Latching mechanism based on motorized-screw for reconfigurable robots 基于机动螺杆的可重构机器人LaMMos闭锁机构
2013 16th International Conference on Advanced Robotics (ICAR) Pub Date : 2013-11-01 DOI: 10.1109/ICAR.2013.6766548
Luis A. Mateos, M. Vincze
{"title":"LaMMos - Latching mechanism based on motorized-screw for reconfigurable robots","authors":"Luis A. Mateos, M. Vincze","doi":"10.1109/ICAR.2013.6766548","DOIUrl":"https://doi.org/10.1109/ICAR.2013.6766548","url":null,"abstract":"Reconfigurable robots refer to a category of robots that their components (individual joints and links) can be assembled in multiple configurations and geometries. Most of existing latching mechanisms are based on the physical tools such as hook, cages or magnets, which limit the payload capacity. Therefore, the heavy weight robots require a latching mechanism which can help to auto reconfigure itself without sacrificing the payload capability. This paper presents a latching mechanism based on the flexible screw attaching principle. We use actuators to move the robot links and joints and connect them with a motorized-screw, and disconnect them by unfastening the screw. The right-angle bracket used in our mechanism configuration helps to hold maximum force up to 2000N. This latching mechanism based on motorized-screw has been applied to the DeWaLoP (Developing Water Loss Prevention) in-pipe robot. It helps the robot to shrink its body to crawl into the pipe with minimum diameter, by reconfiguring the leg positions. And it helps to recover the legs positions to original status once the robot is inside the pipe. This mechanism offers many interesting opportunities for robotics research in terms of functionality, payload and size.","PeriodicalId":437814,"journal":{"name":"2013 16th International Conference on Advanced Robotics (ICAR)","volume":"59 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":"131004319","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: 9
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