Robotics and Autonomous Systems最新文献_第2页

Planning optimal minimum-jerk trajectories for redundant robots 冗余机器人的最优最小抖动轨迹规划

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-19 DOI: 10.1016/j.robot.2025.105049

Federico Lozer , Lorenzo Scalera , Paolo Boscariol , Alessandro Gasparetto

引用次数: 0

A formal framework for the specification and verification of robotic skills composition for autonomous behaviors 一个规范和验证机器人自主行为技能组成的正式框架

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-18 DOI: 10.1016/j.robot.2025.105041

Baptiste Pelletier , Charles Lesire , Karen Godary-Dejean

{"title":"A formal framework for the specification and verification of robotic skills composition for autonomous behaviors","authors":"Baptiste Pelletier , Charles Lesire , Karen Godary-Dejean","doi":"10.1016/j.robot.2025.105041","DOIUrl":"10.1016/j.robot.2025.105041","url":null,"abstract":"<div><div>With the goal to create autonomous systems that can accomplish complex tasks in dynamic environments, high-level software architectures are created using formal methods to describe the system with a set of elementary actions, named skills, necessary to accomplish their mission. However, these formalisms often lack a proper framework for designing autonomous missions as a composition of the specified skills, often relying on non-formal or semi-formal tools, such as behavior trees or UML/SysML-based tools, as well as being limited to specific elementary skill implementations. This makes the system less reliable and more prone to failures when placed in a dynamic, unknown environment. To fill this gap, we propose a formal framework to specify formal models for elementary skills and make them composable, called Skill Petri nets, and a set of composition patterns and their Petri net models. A tool will allow users to define these compositions using an extension of the Robot-Language DSL, from which the formal models and a controller code are generated. An industrial inspection mission use-case allowed to test the proposed framework.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"192 ","pages":"Article 105041"},"PeriodicalIF":4.3,"publicationDate":"2025-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144090299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Analysis of vision-based Air-to-Air UAV detection using YOLO based architectures 基于YOLO架构的基于视觉的空对空无人机检测分析

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-17 DOI: 10.1016/j.robot.2025.105074

Dapinder Kaur , Neeraj Battish , Arnav Bhavsar , Shashi Poddar

{"title":"Analysis of vision-based Air-to-Air UAV detection using YOLO based architectures","authors":"Dapinder Kaur , Neeraj Battish , Arnav Bhavsar , Shashi Poddar","doi":"10.1016/j.robot.2025.105074","DOIUrl":"10.1016/j.robot.2025.105074","url":null,"abstract":"<div><div>Unmanned aerial vehicles (UAVs) are getting widely popular in recent times due to their diverse applications and have given rise to security issues associated with them. Vision-based systems for detecting UAVs use fixed or moving cameras on the ground or in the air. Ground-to-Air (G2A) UAV detection uses a machine learning approach and has been showing good accuracy in clear background and weather conditions. However, Air-to-Air (A2A) UAV detection is still challenging because of the complex environmental scenarios. Therefore, the focus of this work is to study and analyse the vision-based approaches for detecting UAVs in an A2A scenario using different deep learning methods. Among the deep learning approaches, the conventional techniques include multi-stage detectors, which generally use a sliding window approach, while the YOLO-based technique uses a single-stage detector. This work analyzes the performance of different YOLO architectures YOLOv3, YOLOv4, YOLOv5, YOLOv6, YOLOv7, YOLOv8, and YOLOv9 for the task of A2A UAV detection. The datasets A2A UAV- DeTFly, UAVFly, and FDD are used to test the performance of different YOLO models with the same training parameters in terms of accuracy and precision. The implemented models are also evaluated based on their size, prediction time, etc., to understand the performance of different YOLO models.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"193 ","pages":"Article 105074"},"PeriodicalIF":4.3,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144166818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robot system for sequential suspending point selection, grasping, spreading, and aligning manipulation of randomly placed towel-like objects 机器人系统的顺序悬浮点选择，抓取，扩展，并对准操纵随机放置的毛巾状物体

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-17 DOI: 10.1016/j.robot.2025.105053

Taohan Wang , Mamoru Oka , Kenichi Murakami , Shouren Huang , Hirofumi Sumi , Masatoshi Ishikawa , Yuji Yamakawa

{"title":"Robot system for sequential suspending point selection, grasping, spreading, and aligning manipulation of randomly placed towel-like objects","authors":"Taohan Wang , Mamoru Oka , Kenichi Murakami , Shouren Huang , Hirofumi Sumi , Masatoshi Ishikawa , Yuji Yamakawa","doi":"10.1016/j.robot.2025.105053","DOIUrl":"10.1016/j.robot.2025.105053","url":null,"abstract":"<div><div>The paper introduces a novel method for selecting suspension points on randomly positioned towel-like objects to facilitate a series of sequential grasping, spreading, and alignment operations. Unlike traditional approaches that primarily focus on successful object retrieval, our method prioritizes the state of the suspended towel-like object, aiming to ensure that only one clear corner appears at the bottom during the suspension process to facilitate the aligning process. Semantic segmentation plays a crucial role in detecting corners and edges on randomly placed towel-like objects, from which we identify optimal suspension points based on various features, including area, predicted probability, depth, and distance from the object’s contour. To fulfill our primary goal of guaranteeing the presence of a clear corner at the lowest point of a suspended towel-like object, we introduce a specially designed Multi-Time-Step filter and image-sharpening technique to enhance the stability and accuracy of corner and edge detection. Through a series of experiments conducted on randomly placed towel-like objects, our proposed method successfully achieved its objective by significantly increasing the success rate of corner grasping when compared to random suspension point selection.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"192 ","pages":"Article 105053"},"PeriodicalIF":4.3,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144124090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A control strategy for point stabilization and trajectory tracking of wheeled mobile robots 轮式移动机器人的点稳定与轨迹跟踪控制策略

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-15 DOI: 10.1016/j.robot.2025.105040

Xiang Wu , Xiaowei Li , Dan Zhang , Zhihui Li , Jin Zhou

{"title":"A control strategy for point stabilization and trajectory tracking of wheeled mobile robots","authors":"Xiang Wu , Xiaowei Li , Dan Zhang , Zhihui Li , Jin Zhou","doi":"10.1016/j.robot.2025.105040","DOIUrl":"10.1016/j.robot.2025.105040","url":null,"abstract":"<div><div>This paper addresses the challenges encountered by wheeled mobile robots in trajectory tracking and point stabilization tasks and proposes a novel control law. In view of issues such as the nonholonomic constraints and velocity saturation of mobile robots, a control strategy adaptable to these limitations is devised. By introducing a new desired velocity vector and heading-angle error, the proposed control law not only enhances the tracking accuracy of the robot but also significantly improves the convergence rate. The effectiveness of the proposed control law is rigorously proven using the Lyapunov stability theory, and its performance is verified through MATLAB simulation experiments. The simulation results indicate that, compared with existing control methods, the new control law exhibits a remarkable improvement in both convergence rate and travel distance. This research offers a new perspective for the precise control of mobile robots and has the potential to facilitate their applications in diverse fields. Future research directions encompass applying this control strategy to practical robot systems and exploring its potential in multi-robot cooperative control.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"192 ","pages":"Article 105040"},"PeriodicalIF":4.3,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144069117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Manipulation of magnetic microrobot swarm by creation of stable equilibrium points 基于稳定平衡点的磁性微机器人群控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-15 DOI: 10.1016/j.robot.2025.105058

Masoud Yousefi , Ruhollah Khalesi , Hossein Nejat Pishkenari , Gholamreza Vossoughi

{"title":"Manipulation of magnetic microrobot swarm by creation of stable equilibrium points","authors":"Masoud Yousefi , Ruhollah Khalesi , Hossein Nejat Pishkenari , Gholamreza Vossoughi","doi":"10.1016/j.robot.2025.105058","DOIUrl":"10.1016/j.robot.2025.105058","url":null,"abstract":"<div><div>Microrobots are suitable candidates for promising applications in medicine and engineering due to their small size and ability to move and operate in small spaces. However, since a single microrobot has finite capability in applying force and manipulating small objects, performing realistic tasks such as targeted drug delivery, manipulating the biological samples, or assembling materials, frequently needs simultaneously cooperation of several microrobots as a swarm. Hence, swarm control of microrobots is vital for most of their potential applications. In this paper, we propose a method for controlling microrobot swarm by creating stable equilibrium points. To this aim, a magnetic system has been introduced which can produce one or two independent stable equilibrium points at desired locations inside the workspace. This could lead to simultaneous, stable, and independent transfer and displacement of two microrobots swarm. In addition to theoretical and analytical relations, multiple experiments have been done to demonstrate the performance of the proposed method in control of a magnetic microrobot swarm.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"192 ","pages":"Article 105058"},"PeriodicalIF":4.3,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144146980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Collision-free motion generation for dual-gantry robotic systems 双龙门机器人系统的无碰撞运动生成

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-12 DOI: 10.1016/j.robot.2025.105031

Marco Riboli , Matthieu Jaccard , Marco Silvestri , Elisabetta Manconi , Alessandra Aimi , Rinaldo Garziera

引用次数: 0

The use of GA for parameters generation in fault-tolerant algorithm for manipulator control in case of axis failure 利用遗传算法进行参数生成的容错算法，实现了轴故障情况下的机械手控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-11 DOI: 10.1016/j.robot.2025.105062

Patryk Nowak, Andrzej Milecki, Tymoteusz Lindner

{"title":"The use of GA for parameters generation in fault-tolerant algorithm for manipulator control in case of axis failure","authors":"Patryk Nowak, Andrzej Milecki, Tymoteusz Lindner","doi":"10.1016/j.robot.2025.105062","DOIUrl":"10.1016/j.robot.2025.105062","url":null,"abstract":"<div><div>This paper presents a new fault tolerant control algorithm for the generation of a robot motion trajectory in an environment with obstacles, when one or two robot axes fail. The proposed method allows the robot to be controlled with obstacle avoidance in the event of axis failure at any time during the motion. An additional requirement for the algorithm was to determine, from among the generated steps that could be executed at a given point, the shortest path of the robot to the final position. However, due to the limitations of the GA used in the learning process, the total robot path was not the globally shortest. The algorithm works step by step. It uses a model of the robot working in the environment with obstacles and the reward function, defined in this article, to select the best possible robot move for each step. Two parameters are applied in this function, which values are generated using a genetic algorithm. At first, the proposed control method has been tested in the simulation using six arm robot model. The results are validated on a real Mitsubishi robot.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"192 ","pages":"Article 105062"},"PeriodicalIF":4.3,"publicationDate":"2025-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144072124","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic model based on Boltzmann-Hamel equation and adaptive sliding mode trajectory tracking control of spherical mobile robot 基于Boltzmann-Hamel方程的球形移动机器人动力学模型及自适应滑模轨迹跟踪控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-10 DOI: 10.1016/j.robot.2025.105048

Linsong Li, Qiang Zhan

{"title":"Dynamic model based on Boltzmann-Hamel equation and adaptive sliding mode trajectory tracking control of spherical mobile robot","authors":"Linsong Li, Qiang Zhan","doi":"10.1016/j.robot.2025.105048","DOIUrl":"10.1016/j.robot.2025.105048","url":null,"abstract":"<div><div>Spherical mobile robot has a compact structure, flexible mobility, and exceptional environmental adaptability, which gives it potential for applications in unmanned exploration. However, spherical mobile robot is a special non-chained nonholonomic system with under-actuation and strong coupling, which makes its dynamic model complex and trajectory tracking control very difficult to implement. In this paper, to achieve strong robustness and anti-interference of trajectory tracking control of spherical mobile robot, a comprehensive dynamic model is established using the Boltzmann-Hamel equation for a two-degree-of-freedom pendulum-driven spherical mobile robot and then simplified to improve controllability while preserving key motion characteristics. Comparative experiments with the dynamic model established with the Euler-Lagrange method were conducted to evaluate its superiority. Furthermore, to address the model uncertainty of the spherical mobile robot and the environment disturbances that may be encountered during motion, an adaptive sliding mode trajectory tracking control based on double power reaching law was proposed and proved to be stable by Lyapunov theorem. The effectiveness and robustness of the proposed controller were validated through both simulations and physical experiments.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"192 ","pages":"Article 105048"},"PeriodicalIF":4.3,"publicationDate":"2025-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143929396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Time optimal multi-base placement planning for mobile measuring manipulator considering reachable and non-singular constraints 考虑可达约束和非奇异约束的移动测量机械臂时间最优多基地布局规划

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-08 DOI: 10.1016/j.robot.2025.105046

Jinnan Li, Juliang Xiao, Zaihua Luo, Yu Tian, Haitao Liu

{"title":"Time optimal multi-base placement planning for mobile measuring manipulator considering reachable and non-singular constraints","authors":"Jinnan Li, Juliang Xiao, Zaihua Luo, Yu Tian, Haitao Liu","doi":"10.1016/j.robot.2025.105046","DOIUrl":"10.1016/j.robot.2025.105046","url":null,"abstract":"<div><div>Mobile measuring manipulators have bright prospects in the field of in-situ measurement of large thin-walled components, but research on their planning and control strategies is still in the early stages. Completing scanning tasks for large thin-walled components requires multi-base placement, and the optimization of their placements and quantity is of significant importance for improving the efficiency and quality of the scanning task. To address this issue, this paper proposes a multi-base placement planning framework that satisfies the full coverage requirement with the minimum required placements. This planning framework consists of four steps. Firstly, it generates scanning viewpoints based on the theoretical model of the workpiece. Then, it draws a singularity-avoiding reachability map based on the manipulator parameters. Furthermore, it presents an algorithm for verifying manipulator reachability without computing the inverse kinematics to improve computational efficiency. Finally, it introduces a coverage-adaptive multi-base placement planning algorithm that aims to minimize the total number of placements and the shortest path for the mobile platform's motion, achieving the shortest scanning time for multi-base placement. Experimental validation is conducted to demonstrate the feasibility and superiority of the multi-base placement planning framework.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"192 ","pages":"Article 105046"},"PeriodicalIF":4.3,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144069115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0