International Journal of Intelligent Robotics and Applications最新文献

A review of the application of fuzzy mathematical algorithm-based approach in autonomous vehicles and drones 基于模糊数学算法的方法在自动驾驶汽车和无人机中的应用综述

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-09-19 DOI: 10.1007/s41315-024-00385-4

Rashmi Singh, D. K. Nishad, Saifullah Khalid, Aryan Chaudhary

{"title":"A review of the application of fuzzy mathematical algorithm-based approach in autonomous vehicles and drones","authors":"Rashmi Singh, D. K. Nishad, Saifullah Khalid, Aryan Chaudhary","doi":"10.1007/s41315-024-00385-4","DOIUrl":"https://doi.org/10.1007/s41315-024-00385-4","url":null,"abstract":"Autonomous vehicles (AVs) and unmanned aerial vehicles (UAVs) have brought about transformative changes in transportation and aviation. However, making these systems fully autonomous and able to navigate safely in unpredictable real-world situations remains a big challenge. Fuzzy logic and related mathematical algorithms have emerged as practical tools to tackle uncertainty and complex decision-making in these systems. This paper reviews how fuzzy logic and mathematical approaches are applied in areas like navigation, control, avoiding obstacles, planning routes, and decision-making for AVs and UAVs. It delves into the key methods, designs, pros, and cons of using fuzzy logic in autonomous vehicles. The paper also compares fuzzy logic with other AI techniques. The review shows that fuzzy logic manages the uncertainties and imprecision involved in how autonomous vehicles perceive and navigate dynamic environments. Fuzzy controllers often perform better than traditional methods in vehicle control and UAV direction control. High-level decisions and route planning in AVs have also benefited from fuzzy inference systems. Still, challenges like computational efficiency, adaptability, and integrating fuzzy logic with other AI components remain. The paper concludes with suggestions for future research to make autonomous vehicles and drones smarter and safer using fuzzy logic. This review is a useful guide for anyone developing intelligent autonomous systems.","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142267210","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

Robotic tree climbers and strategies - a survey 机器人爬树器和策略--调查

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-09-15 DOI: 10.1007/s41315-024-00380-9

Rajesh Kannan Megalingam, Akhil Thirutheri, Sakthiprasad Kuttankulangara Manoharan

引用次数: 0

Efficient multi-robot path planning in real environments: a centralized coordination system

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-09-13 DOI: 10.1007/s41315-024-00378-3

Diogo Miguel Matos, Pedro Costa, Héber Sobreira, Antonio Valente, José Lima

引用次数: 0

Cross-pollination of knowledge for object detection in domain adaptation for industrial automation 工业自动化领域适应性对象检测知识的交叉渗透

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-09-09 DOI: 10.1007/s41315-024-00372-9

Anwar Ur Rehman, Ignazio Gallo

{"title":"Cross-pollination of knowledge for object detection in domain adaptation for industrial automation","authors":"Anwar Ur Rehman, Ignazio Gallo","doi":"10.1007/s41315-024-00372-9","DOIUrl":"https://doi.org/10.1007/s41315-024-00372-9","url":null,"abstract":"Artificial Intelligence is revolutionizing industries by enhancing efficiency through real-time Object Detection (OD) applications. Utilizing advanced computer vision techniques, OD systems automate processes, analyze complex visual data, and facilitate data-driven decisions, thus increasing productivity. Domain Adaptation for OD has recently gained prominence for its ability to recognize target objects without annotations. Innovative approaches that merge traditional cross-disciplinary domain modeling with cutting-edge deep learning have become essential in addressing complex AI challenges in real-time scenarios. Unlike traditional methods, this study proposes a novel, effective Cross-Pollination of Knowledge (CPK) strategy for domain adaptation inspired by botanical processes. The CPK approach involves merging target samples with source samples at the input stage. By incorporating a random and unique selection of a few target samples, the merging process enhances object detection results efficiently in domain adaptation, supporting detectors in aligning and generalizing features with the source domain. Additionally, this work presents the new Planeat digit recognition dataset, which includes 231 images. To ensure robust comparison, we employ a self-supervised Domain Adaptation (UDA) method that simultaneously trains target and source domains using unsupervised techniques. UDA method leverages target data to identify high-confidence regions, which are then cropped and augmented, adapting UDA for effective OD. The proposed CPK approach significantly outperforms existing UDA techniques, improving mean Average Precision (mAP) by 10.9% through rigorous testing on five diverse datasets across different conditions- cross-weather, cross-camera, and synthetic-to-real. Our code is publicly available https://github.com/anwaar0/CPK-Object-Detection","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142179098","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

Push or pull: grasping performance analysis between a pulling gripper inspired by Tetraonchus monenteron parasite versus an actively pushing gripper developed through many-objective design optimization 推还是拉：受四爪蝇寄生虫启发开发的拉式抓手与通过多目标优化设计开发的主动推式抓手的抓取性能分析

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-09-08 DOI: 10.1007/s41315-024-00377-4

Rituparna Datta, Akkarapakam Suneesh Jacob, Bishakh Bhattacharya

{"title":"Push or pull: grasping performance analysis between a pulling gripper inspired by Tetraonchus monenteron parasite versus an actively pushing gripper developed through many-objective design optimization","authors":"Rituparna Datta, Akkarapakam Suneesh Jacob, Bishakh Bhattacharya","doi":"10.1007/s41315-024-00377-4","DOIUrl":"https://doi.org/10.1007/s41315-024-00377-4","url":null,"abstract":"Investigation and subsequent abstraction of biological systems have become a popular approach to innovate new mechanisms. Robot gripper design is an active research area that seeks continuous improvements to cater to its wide spectrum of applications. Tetraonchus momenteron is an infamous parasite which has a robust gripping system (haptor) inserted into the fish-gills. We have redesigned this pull-based gripper for practical application by adjusting the link lengths using many-objective optimization. An existing pusher type of gripper mechanism is also selected to elucidate the similarities and dissimilarities between both the mechanisms. Both push and pull based grippers have been analyzed based on quasi static kinematics and are formulated as many objective optimization problems subjected to geometric-cum-force constraints. The goal of optimization is to find the best link lengths and joint angles for each configuration based on desired criteria. Four possible variants of piezoelectric actuator models are integrated into the optimization formulation to actuate the gripper models. These integrations have led to four different optimization problems for each case. Evolutionary many-objective optimization method is used to obtain non-dominated solutions. The optimized designs are compared based on objective function values to evaluate the performance of each gripper. The results of many-objective optimization are normalized and represented using parallel coordinate plots to aid the decision maker. Our comparative study reveals that while the new nature inspired pull based design has shown promising results in many cases, each gripper configuration has its own merits and requires decision maker’s intervention to choose a particular model based on specific requirement.","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142179062","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

Spider robot walking gait optimization using Jaya multi-objective optimization algorithm 使用 Jaya 多目标优化算法优化蜘蛛机器人的行走步态

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-09-06 DOI: 10.1007/s41315-024-00381-8

Nguyen Tien Dat, Ho Pham Huy Anh

{"title":"Spider robot walking gait optimization using Jaya multi-objective optimization algorithm","authors":"Nguyen Tien Dat, Ho Pham Huy Anh","doi":"10.1007/s41315-024-00381-8","DOIUrl":"https://doi.org/10.1007/s41315-024-00381-8","url":null,"abstract":"The legs must move in a pattern to ensure that a four-legged robot walks organically and uses less energy. This is still a challenging issue today since four-legged creatures with incredibly complicated structures and precise motions are beyond the reach of current technology. This paper proposes a gait generation model for a spider robot that examines the guarantee between stability and speed. First, the robot spider’s movement rules are initiatively determined via four gait parameters—vertical step length, horizontal step length, leg lift, and knee bend. Meanwhile, the 3rd-order interpolation function determines the trajectory of the hips and feet at each leg. By applying analytical methods to solve the inverse kinematics issue, the orbits of the hips and feet at the four legs of the spider robot will be used to deduce twelve joint angle orbits at those locations. Then, a multi-objective function is proposed regarding both speed and stability based on the gait characteristics (gait parameters, CoP/ZMP trajectory) of the spider robot as to train the gait generation model by addressing the forward kinematics issue analytically. Finally, the multi-object MO-Jaya optimization technique is used to find four optimal gait parameters so that the spider robot performs a stable walking gait at the fastest speed. This proposal is implemented for the experiment B3-SBOT spider robot, simulation/experiment outcomes show that B3-SBOT moves at its fastest feasible speed while walking stably.","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142179099","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

Review on design, development, and implementation of an unmanned aerial vehicle for various applications 审查用于各种应用的无人驾驶飞行器的设计、开发和实施情况

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-09-04 DOI: 10.1007/s41315-024-00359-6

Mubina Shekh, Sushila Rani, Rituparna Datta

{"title":"Review on design, development, and implementation of an unmanned aerial vehicle for various applications","authors":"Mubina Shekh, Sushila Rani, Rituparna Datta","doi":"10.1007/s41315-024-00359-6","DOIUrl":"https://doi.org/10.1007/s41315-024-00359-6","url":null,"abstract":"Drones are technically denoted as unmanned aerial vehicles (UAVs) or unmanned aerial systems (UAS). These are remotely or autonomously piloted aircraft and can fly without an onboard human pilot while being controlled from the ground. The need for UAVs is commonly found in wireless communication beyond human trajectory. Recently, drones have been used for a wide variety of tasks, including military operations, mining, agriculture, and general-purpose applications such as surveillance, exploration, rescue, arms and product delivery, mapping and surveying, entertainment, photography, etc. These UAVs are equipped with a range of Micro-electromechanical Systems (MEMS), including sensors, cameras, controllers, etc. In this manuscript, a novel taxonomy of flying drones with their explicitly defined applications, encompassing UAVs to smart sensors, has been reviewed. The paper also consists of a quick overview of various designing, controlling, and intelligent controller and navigation approaches of UAVs with possible applications. The goal of this study is to offer a review of the best techniques that the researcher can employ or suggest for various UAV-based applications. The paper highlights several challenges that are associated with the modeling, building, controlling, and navigating of UAVs. The article also attempts to suggest some lesser-explored areas that have the potential for future research work, such as battery refilling management, anti-theft devices, sensors to avoid collision, etc.","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142179100","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

2D and 3D path planning for mobile robots based on improved SSA algorithm 基于改进 SSA 算法的移动机器人二维和三维路径规划

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-08-30 DOI: 10.1007/s41315-024-00374-7

Mailing Zhang, Pei Hao

{"title":"2D and 3D path planning for mobile robots based on improved SSA algorithm","authors":"Mailing Zhang, Pei Hao","doi":"10.1007/s41315-024-00374-7","DOIUrl":"https://doi.org/10.1007/s41315-024-00374-7","url":null,"abstract":"In recent years, mobile robots have been widely used in industrial automation, logistics, military, medical, and service industries. However, traditional mobile robots face difficulties in complex path planning. To solve this problem, a robot 2D and 3D path planning method has been proposed. Based on improved sparrow search algorithm (SSA), this method introduces a parameter adaptive update strategy to balance search and development. To enhance the algorithm’s path search capability in 3D environments, this study innovatively introduces ant colony algorithm to generate initial paths based on SSA. It also introduces local search mechanism to help the algorithm select the optimal path. Experiments have shown that the improved algorithm can quickly plan the shortest path, with a length reduction of 3.37% and 6.82%. It has reduced the average length by 6.09% and 5.54%, respectively. To verify its search performance, the improved algorithm significantly improved its convergence accuracy, and improved its mean fitness by about 20.5%, 24%, and 27.5%, respectively. The proposed technology has good application effects and will provide important technical references for mobile robots’ path planning in load environments.","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142179128","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

Proxy-based guidance virtual fixtures with orientation constraints 基于代理的具有方向约束的导向虚拟夹具

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-08-29 DOI: 10.1007/s41315-024-00371-w

Weitao Hu, Xinan Pan, Hongguang Wang

{"title":"Proxy-based guidance virtual fixtures with orientation constraints","authors":"Weitao Hu, Xinan Pan, Hongguang Wang","doi":"10.1007/s41315-024-00371-w","DOIUrl":"https://doi.org/10.1007/s41315-024-00371-w","url":null,"abstract":"Aiming at the problem of defining the shortest distance between poses in traditional virtual fixtures, this paper proposes a proxy-based guidance virtual fixtures with orientation constraints, which can assist operators in the path following task. By designing the dynamics of the proxy and then connecting it to the robot using a spring-damping model, the end-effector position can be constrained within the pipeline and cone, and the stiffness coefficients of the virtual forces can be adjusted linearly or nonlinearly. To overcome the cumulative errors, we then propose a discretized improved algorithm, which applies the virtual fixtures on a discretized reference curve. Furthermore, the orientation constraints are defined, and hence the end-effector orientation can also be constrained within a specific range to comply with ergonomics. An experiment was conducted using a Franka Emika Panda robot and involving 9 subjects. The results show that compared to the gravity compensation mode, the pipeline virtual fixtures and the virtual fixtures with the pipeline and cone, as proposed in this paper, reduced task completion time by 38% and 44.7%, respectively. Additionally, they reduced the total mental burden obtained from NASA-TLX by 29.96% and 47.42%, respectively.","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2024-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142179101","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

Correction to: Improving time and energy efficiency in multi‑UAV coverage operations by optimizing the UAVs’ initial positions 更正为通过优化无人飞行器的初始位置，提高多无人飞行器覆盖行动的时间和能源效率

IF 1.7

International Journal of Intelligent Robotics and Applications Pub Date : 2024-08-29 DOI: 10.1007/s41315-024-00361-y

Aliki Stefanopoulou, Emmanuel K. Raptis, Savvas D. Apostolidis, Socratis Gkelios, Athanasios Ch. Kapoutsis, Savvas A. Chatzichristofis, Stefanos Vrochidis, Elias B. Kosmatopoulos

引用次数: 0