2023 9th International Conference on Automation, Robotics and Applications (ICARA)最新文献_第6页

MQTT Enabled Simulation Interface for Motion Execution of Industrial Robots 支持MQTT的工业机器人运动执行仿真接口

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125673

Alberto Sartori, R. Waspe, Christian Schlette

引用次数: 0

Collision Avoidance of Multiple Moving Agents by Adapting the A* Algorithm 采用A*算法的多移动主体避碰

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125730

Kevin Neuschwander, Rolf Dornberger, T. Hanne

{"title":"Collision Avoidance of Multiple Moving Agents by Adapting the A* Algorithm","authors":"Kevin Neuschwander, Rolf Dornberger, T. Hanne","doi":"10.1109/ICARA56516.2023.10125730","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125730","url":null,"abstract":"The A* algorithm is one of the most popular pathfinding algorithms. The basic algorithm can reliably find the best path for an agent in a static environment. However, there is only limited knowledge on how the algorithm behaves in a dynamic context. One important dynamic element in a pathfinding problem might be other agents moving simultaneously in the same environment, such as in the application scenarios of various real-time strategy games. With the basic $mathbf{A}^{*}$ algorithm, these agents could collide, especially when moving around an obstacle or through a narrow passage. To avoid collisions, a modified agent control is proposed. This extension consists of introducing a waiting time when an agent moves to a place where another agent is already located. The waiting time operator is directly included into the optimization algorithm, stimulating the algorithm to search for alternative routes that avoid these waiting times. The resulting routes might be longer in distance but could be faster because the agent avoids the other blockade. Experiments with different settings indicate that the algorithm achieves this goal: In all settings, including narrow passages, collisions between agents were no longer detected. Furthermore, searching for alternative routes helps the algorithm find paths which are more than 10% faster. The duration of the slowest path can also be reduced in 80% of cases.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"152 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123261665","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

Preoperative Personalized Vascular 3D Simulator of the Intelligent Robotic Ecosystem LevshAI for Endovascular Neurosurgery 血管内神经外科智能机器人生态系统LevshAI的术前个性化血管三维模拟器

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125981

I. Menshikov, K. Orlov, V. Berestov, Alexandra Bernadotte

{"title":"Preoperative Personalized Vascular 3D Simulator of the Intelligent Robotic Ecosystem LevshAI for Endovascular Neurosurgery","authors":"I. Menshikov, K. Orlov, V. Berestov, Alexandra Bernadotte","doi":"10.1109/ICARA56516.2023.10125981","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125981","url":null,"abstract":"The paper presented a Personalized Intelligent Vascular 3D Simulator as an essential part of the Intelligent Robotic Ecosystem LevshAI for remote endovascular neurosurgery. The training LevshAI is equipped with intelligent haptic feedback and Personalized 3D Simulator. The simulator creates a unique personal vascular architecture according to the individual patient parameters obtained from the medical images. The Personalized 3D Simulator allows surgeons to practice on the simulator and choose the best tactics before the operation - personalized surgery. The feedback and simulator of the LevshAI system provide a training environment identical to what a surgeon would experience in an operating room. The simulator is based on proposed segmentation and reconstruction algorithms. The presented algorithms are fully automated and can be applied to any imaging modality. The simulator has passed a preclinical study on both Computed Tomography Angiography and Magnetic Resonance Angiography data. The Personalized Intelligent Vascular 3D Simulator can be applied to (1) personalized surgery; (2) automated screening for cerebrovascular risks in healthy people.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125544916","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

Experience-based Problem Solver for Robot System Design 基于经验的机器人系统设计问题求解方法

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125871

Jiaxi Lu, Ryota Takamido, Jun Ota

{"title":"Experience-based Problem Solver for Robot System Design","authors":"Jiaxi Lu, Ryota Takamido, Jun Ota","doi":"10.1109/ICARA56516.2023.10125871","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125871","url":null,"abstract":"In this study, an experience-based problem-solving method was developed to design robotic systems, including conveyors, bases, sensors, and robots. Experience reuse involves selecting the most “useful” experience from a dataset and reusing it to query new problems. To solve this robot system design problem, the environmental components are arranged appropriately, and the path length planned by the motion-planning algorithm is considered as the evaluation criterion. Therefore, a case-injected genetic algorithm (GA) is introduced as an experience-based optimization problem solver for robot environment design. The motion and path length of the robotic arm calculated from the experience-driven random tree (ERT) algorithm are considered performance indices in the environment arrangement of the robot system. In this study, standard and experience-based optimization methods and motion planning methods were combined to solve the proposed robot system design problem. These four combinations of methods were compared in terms of computation time and path length. Simulation results demonstrate that experience reuse in different aspects has different focuses, the optimization aspect has a more significant impact on the reduction of calculation time, and the motion planning aspect has a greater impact on path length.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122456461","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

NU-Biped-4 a Lightweight and Low-Power Consumption Full-Size Bipedal Robot NU-Biped-4轻型低功耗全尺寸双足机器人

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10126025

M. Folgheraiter, Sharafatdin Yessirkepov, T. Umurzakov, R. Korabay

引用次数: 0

Multi-UGVs Collaborative Path Planning and Conflicts Eliminating in Emergent Situations 紧急情况下多ugv协同路径规划与冲突消除

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125885

Linzhi Zeng, Siyuan Feng, Jining Liu, Wenjie Song

引用次数: 0

Design of an Energy-Efficient Self-Heterogeneous Aerial-Ground Vehicle 一种节能的自异质地空飞行器的设计

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125819

Abdussalam A. Alajami, Lucas Damian Santa Cruz, R. Pous

引用次数: 0

3-D Trajectory Tracking in the Image Frame for Autonomous Navigation of UAV in UAV-AGV Multi-Agent System UAV- agv多智能体系统中无人机自主导航的图像帧三维轨迹跟踪

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125818

Ashok Kumar Sivarathri, Amit Shukla, Ayush Gupta

{"title":"3-D Trajectory Tracking in the Image Frame for Autonomous Navigation of UAV in UAV-AGV Multi-Agent System","authors":"Ashok Kumar Sivarathri, Amit Shukla, Ayush Gupta","doi":"10.1109/ICARA56516.2023.10125818","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125818","url":null,"abstract":"UAV-AGV multi-agent system is attracting the mobile robotics research community due to its applications in several engineering disciplines. It's a heterogeneous combination of UAV and AGV. Collaborative kinematics between both agents is necessity of the system for better utilization of independent capabilities. Vision-based method is most focused in the literature to build the collaboration between the agents which is of great use in the GPS denied environments. One of the collaborative tasks of UAV is to approach the AGV and hover over it at certain altitude. A trajectory tracking technique in the image frame is developed for the task in the present work. UAV detects the static target/AGV in the image plane and plans 3- dimensional trajectory to reach and hover at a desired depth from it. Minimum acceleration trajectories are designed using position and apparent size of the target in the image plane. Sliding mode control theory is applied for designing the controllers for approach, depth motion of UAV and validated with the simulations. The proposed image plane-based trajectory tracking technique is further validated in the Gazebo simulation environment. Simulation results shows that the method is useful in GPS denied environments for the UAV to plan its collaborative navigation in the image frame for smoothly reaching a desired position from the target/AGV.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125881365","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

A Warehouse Storage and Retrieval System Using IoT and Autonomous Vehicle 基于物联网和自动驾驶汽车的仓库存储和检索系统

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125658

Abdulelah Bukhamseen, Mohammad Al-abdullah, Khaled Bin Gaufan, M. Mysorewala

引用次数: 0

Introduction of A Row-Skip Pattern in Complete Coverage Path Planning for Agricultural Fields 农田全覆盖路径规划中行跃模式的引入

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125619

Danial Pour Arab, Matthias Spisser, C. Essert

{"title":"Introduction of A Row-Skip Pattern in Complete Coverage Path Planning for Agricultural Fields","authors":"Danial Pour Arab, Matthias Spisser, C. Essert","doi":"10.1109/ICARA56516.2023.10125619","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125619","url":null,"abstract":"Over the past two decades, an evolutionary effort has been established in the agricultural sector to develop efficient autonomous systems that can carry out common in-field operations including harvesting, mowing, and spraying. Increasing production while decreasing costs and environmental damages is one of the main objectives for these autonomous systems. Due to the nature of these tasks, complete coverage path planning techniques are crucial to determining the best path that covers the entire field while accounting for terrain characteristics, operational needs, and robot properties. In this study, we propose a novel complete coverage path planning approach to define the ideal path for a wheeled robot across an agricultural field. To identify all feasible solutions satisfying a set of predefined constraints, a method based on tree exploration is first proposed that examines row-skip patterns. Second, the most optimal solution is selected by a selection method. Maximizing the covered area while minimizing overlaps, non-working path length, number of turns containing reverse moves, and overall travel time are the objectives of the selection method. We showed on 6 real-world fields geometries that the row skip approach offered benefits in terms of reduction of the required headland size, and often helped decreasing the number of necessary reverse moves and the overlaps, while increasing the covered area.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"443 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133213217","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