Robotics and Autonomous Systems最新文献_第2页

Optimal path planning for unmanned aerial vehicles with multiple round-trip flights in coverage tasks

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-15 DOI: 10.1016/j.robot.2025.104970

Jing Li , Yonghua Xiong , Jinhua She , Anjun Yu

{"title":"Optimal path planning for unmanned aerial vehicles with multiple round-trip flights in coverage tasks","authors":"Jing Li , Yonghua Xiong , Jinhua She , Anjun Yu","doi":"10.1016/j.robot.2025.104970","DOIUrl":"10.1016/j.robot.2025.104970","url":null,"abstract":"<div><div>As high-tech equipment for rescue and relief, unmanned aerial vehicles (UAVs) are widely used in remote relief operations during disasters, significantly improving the efficiency of rescue efforts. However, one significant challenge of UAVs is the limitation of their onboard battery, which prohibits them from completing coverage tasks in a single journey, requiring multiple round-trip flights and frequent battery charging or replacement. As a result, it will greatly prolong the task time. To improve the efficiency of coverage tasks, we allocate task points reasonably to minimize the coverage rounds, and carry out path planning to optimize the travel time of each UAV. This study first formulates a path planning model with the optimization objective of minimizing the overall task time. Then, a task allocation strategy is designed based on the priority of task points, including a max-weight allocation scheme for special scenarios with absolute priority rules and a min-delay allocation scheme for general scenarios with relative priority rules. To optimize the paths of UAVs, we further develop an improved beetle antennae search algorithm based on mutation operations (MBAS). The performance of the developed integrated methods is finally tested through simulation, yielding good results. Source code of the algorithm can be found at <span><span>https://github.com/lijing0966/MBAS.git</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104970"},"PeriodicalIF":4.3,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143642690","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

Towards a robotic intrusion prevention system: Combining security and safety in cognitive social robots

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-15 DOI: 10.1016/j.robot.2025.104959

Francisco Martín , Enrique Soriano-Salvador , José Miguel Guerrero , Gorka Guardiola Múzquiz , Juan Carlos Manzanares , Francisco J. Rodríguez

{"title":"Towards a robotic intrusion prevention system: Combining security and safety in cognitive social robots","authors":"Francisco Martín , Enrique Soriano-Salvador , José Miguel Guerrero , Gorka Guardiola Múzquiz , Juan Carlos Manzanares , Francisco J. Rodríguez","doi":"10.1016/j.robot.2025.104959","DOIUrl":"10.1016/j.robot.2025.104959","url":null,"abstract":"<div><div>Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the implications and interactions between cybersecurity and safety. We propose creating a robotic intrusion prevention system (RIPS) that follows a novel approach to detect and mitigate intrusions in cognitive social robot systems and other cyber–physical systems. The RIPS detects threats at the robotic communication level and enables mitigation of the cyber–physical threats by using <em>System Modes</em> to define what part of the robotic system reduces or limits its functionality while the system is compromised. We demonstrate the validity of our approach by applying it to a cognitive architecture running in a real social robot that preserves the privacy and safety of humans while facing several cyber attack situations.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104959"},"PeriodicalIF":4.3,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143725806","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

Resilient nonlinear model predictive control for formation-containment of multi-mobile robot systems

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-15 DOI: 10.1016/j.robot.2025.104983

Alireza Kazemi, Iman Sharifi

{"title":"Resilient nonlinear model predictive control for formation-containment of multi-mobile robot systems","authors":"Alireza Kazemi, Iman Sharifi","doi":"10.1016/j.robot.2025.104983","DOIUrl":"10.1016/j.robot.2025.104983","url":null,"abstract":"<div><div>This paper focuses on resilient nonlinear model predictive control (NMPC) for the formation containment of multiple nonholonomic mobile robots in the presence of Denial-of-Service (DoS) attacks. The proposed strategy addresses obstacle and collision avoidance between agents by defining a safe circular region for each agent. The scenario-based cost function of NMPC encompasses terms dedicated to achieving the desired formation by leaders, converging the states of followers to the convex hull spanned by leaders, and minimizing control efforts. Utilizing an acknowledgment-based packet transmission strategy, coupled with a buffer mechanism on the actuator side, alleviates the impact of control signal absence during DoS attacks on the controller-to-actuator (C-A) channel. As a Lyapunov-based approach, the contractive constraint in MPC is employed to establish the stability of Multi-Robot Systems (MRS) throughout the mission. A search and rescue application, utilized as a simulation case study, verifies the proposed method’s usefulness and efficiency. Moreover, In the evaluation of real-time implementation, the proposed scheme was validated through a laboratory-based experiment involving a customized mobile robot and low-cost hardware-in-the-loop (HIL) agents based on Raspberry Pi.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104983"},"PeriodicalIF":4.3,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143642689","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

Development of a soft gripper for replicating human grasps in forest nursery tasks

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-14 DOI: 10.1016/j.robot.2025.104987

Mohammad Sheikh Sofla , Hanita Golshanian , Elizabeth I. Sklar , Marcello Calisti

{"title":"Development of a soft gripper for replicating human grasps in forest nursery tasks","authors":"Mohammad Sheikh Sofla , Hanita Golshanian , Elizabeth I. Sklar , Marcello Calisti","doi":"10.1016/j.robot.2025.104987","DOIUrl":"10.1016/j.robot.2025.104987","url":null,"abstract":"<div><div>This research aims to automate labour-intensive tasks in forest nurseries by developing a soft gripper that mimics human workers' grasps to perform the singulation and sorting of tree saplings. By analysing human workers and conducting experimental investigations, the required grasp types and grip forces were identified. The Fin Ray Effect (FRE) structure, noted for its adaptability to asymmetric shapes, was chosen as the gripper's basis. However, modifications were necessary to achieve the required power and pinch grasp types and to provide the desired grip forces. Simulation analysis explored various beam configurations and boundary conditions of FRE fingers, resulting in a proposed modified design. Experimental investigations confirmed that the proposed gripper effectively delivered required grasps and grip forces. The new design enabled three additional grasp types for FRE grippers and increased grip forces by over 200 %. This gripper design is suitable for industrial pick-and-place applications where precise pinching grasp and various power grasps with sufficient payload capacity are needed.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104987"},"PeriodicalIF":4.3,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143680837","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Self-folding gravity compensation mechanism for a supplementary folding robot arm: Design, analysis and implementation

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-13 DOI: 10.1016/j.robot.2025.104984

Bhivraj Suthar , Mohammad Zubair , Seul Jung

引用次数: 0

Model predictive variable impedance control towards safe robotic interaction in unknown disturbance-rich environments

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-13 DOI: 10.1016/j.robot.2025.104961

Junyuan Xue , Wenyu Liang , Yan Wu , Tong Heng Lee

{"title":"Model predictive variable impedance control towards safe robotic interaction in unknown disturbance-rich environments","authors":"Junyuan Xue , Wenyu Liang , Yan Wu , Tong Heng Lee","doi":"10.1016/j.robot.2025.104961","DOIUrl":"10.1016/j.robot.2025.104961","url":null,"abstract":"<div><div>Robotic systems have evolved to handle various significant interaction tasks in different environments. Under these conditions, the involvement of humans in the environment drastically complicates such interaction tasks; as the safety of humans should be prioritized while seeking to achieve the desired task aim. It is thus paramount that appropriate developments should be pursued with specific considerations for such safety-performance-balanced interaction tasks on unknown soft environments (e.g., humans). Towards this end, we present an adaptive robust, and passive control scheme based on model predictive control and variable impedance control that addresses this challenge. Under this control scheme, during robotic interaction tasks with complex environments (e.g., humans), the presented development and design incorporate safety thresholds that are carefully satisfied via impedance adaptation, and realized by a safety-related mode-switching mechanism. Once the safety thresholds are satisfied, task performance is then focused on. Additionally, a real-time adaptive robust parameter estimator is designed and utilized to estimate the environment contact model for the model predictive control, and thus this control scheme is robust against disturbances (e.g., which would invariably arise from the inevitable small bounded human motions) during the interaction tasks. Finally, the key safety and performance attainments of the proposed control scheme are verified via experiments. The experiments are conducted on two silicone rubber models and a human arm. These show that the proposed control scheme effectively outperformed various currently available control schemes in these interaction tasks with unknown environment contact models, and bounded but unpredictable environment position shifts, such as in robotic ultrasound scanning applications.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104961"},"PeriodicalIF":4.3,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143636875","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

Online optimization enhanced closed-loop control of multi-section continuum robots

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-13 DOI: 10.1016/j.robot.2025.104986

Laihao Yang , Yi Zheng , Yu Sun, Xuefeng Chen

{"title":"Online optimization enhanced closed-loop control of multi-section continuum robots","authors":"Laihao Yang , Yi Zheng , Yu Sun, Xuefeng Chen","doi":"10.1016/j.robot.2025.104986","DOIUrl":"10.1016/j.robot.2025.104986","url":null,"abstract":"<div><div>Due to the inherent characteristics of continuum robots (high flexibility, multiple degrees of freedom), controlling the continuum robots safely and precisely in practical applications has always been a challenging task. In this paper,a real-time kinematic closed-loop controller that optimizes the step length to boost control performance is proposed. Initially, a differential-based generalized inverse kinematics solution is formulated to resolve the DOF coupling in twin-pivot continuum robots that intertwined two DOFs in one joint. Subsequently, an adaptive online optimization strategy utilizing the algorithm of Particle Swarm Optimization (PSO) is proposed to refine the controller, overcoming the limitations of traditional Jacobian-based approaches. This novel method innovatively decouples control direction and step length, optimizing safety and efficiency. Comparative simulations and tracking tests confirm the controller's superior precision and efficiency, with an average accuracy of 0.33 %, a 35 % enhancement over the Jacobian controller, thus facilitating the broader application of multi-section continuum robots.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104986"},"PeriodicalIF":4.3,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143680836","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 combined learning and optimization framework to transfer human whole-body loco-manipulation skills to mobile manipulators 学习与优化相结合的框架，将人体全身运动操纵技能转移到移动机械手上

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-12 DOI: 10.1016/j.robot.2025.104958

Jianzhuang Zhao , Francesco Tassi , Yanlong Huang , Elena De Momi , Arash Ajoudani

{"title":"A combined learning and optimization framework to transfer human whole-body loco-manipulation skills to mobile manipulators","authors":"Jianzhuang Zhao , Francesco Tassi , Yanlong Huang , Elena De Momi , Arash Ajoudani","doi":"10.1016/j.robot.2025.104958","DOIUrl":"10.1016/j.robot.2025.104958","url":null,"abstract":"<div><div>Humans’ ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Learning and replicating such human-like strategies can lead to the development of more sophisticated robots capable of performing complex whole-body tasks in real-world environments. To this end, this paper proposes a combined learning and optimization framework for transferring human loco-manipulation soft-switching skills to mobile manipulators. The methodology starts with data collection of human demonstrations for locomotion-integrated manipulation tasks through a vision system. Next, the wrist and pelvis motions are mapped to the mobile manipulators’ End-Effector (EE) and mobile base. A kernelized movement primitive algorithm learns the wrist and pelvis trajectories and generalizes them to new desired points according to task requirements. Then, the reference trajectories are sent to a hierarchical quadratic programming controller, where the EE and the mobile base reference trajectories are provided as the first and second priority tasks, respectively, generating the feasible and optimal joint level commands. Locomotion-integrated pick-and-place and door opening tasks have been chosen to validate the proposed approach. After a human demonstrates the two tasks, a mobile manipulator executes them with the same and new settings. The results showed that the proposed approach successfully transfers and generalizes the human loco-manipulation skills to mobile manipulators, even with different geometry.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104958"},"PeriodicalIF":4.3,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143620308","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A feasibility-driven MPC scheme for robust gait generation in humanoids

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-11 DOI: 10.1016/j.robot.2025.104957

Nicola Scianca , Filippo M. Smaldone, Leonardo Lanari, Giuseppe Oriolo

{"title":"A feasibility-driven MPC scheme for robust gait generation in humanoids","authors":"Nicola Scianca , Filippo M. Smaldone, Leonardo Lanari, Giuseppe Oriolo","doi":"10.1016/j.robot.2025.104957","DOIUrl":"10.1016/j.robot.2025.104957","url":null,"abstract":"<div><div>We present a Robust Intrinsically Stable Model Predictive Control (RIS-MPC) framework for humanoid gait generation, which realizes as closely as possible a predefined sequence of footsteps in the presence of both persistent and impulsive perturbations. The MPC-based controller has two modes of operations, each involving a Quadratic Program. Since perturbations act by modifying the state, as well as the feasibility region itself, the fundamental idea is to select in real time the operation mode based on the feasibility properties of the current state. In <em>standard mode</em>, footsteps are regarded as fixed and the MPC computes a Center of Mass (CoM) and a Zero Moment Point (ZMP) trajectory. Robustness is ensured by a robust stability constraint which uses a disturbance estimate and by restricted ZMP constraints along the control horizon. In the presence of strong perturbations, that violate the aforementioned conditions, the system switches to <em>recovery mode</em>, in which footsteps positions and timings can be modified in order to recover feasibility. We analyze the feasibility of both modes of operation and provide conditions for recursive feasibility of the standard mode. Simulations on an HRP-4 robot as well as experiments on NAO and OP3 are provided to validate the scheme.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104957"},"PeriodicalIF":4.3,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143620309","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive bézier curve-based path following control for autonomous driving robots 基于贝塞尔曲线的自适应自动驾驶机器人路径跟踪控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-11 DOI: 10.1016/j.robot.2025.104969

Li An , Xiuwei Huang , Peng Yang , Zhen Liu

{"title":"Adaptive bézier curve-based path following control for autonomous driving robots","authors":"Li An , Xiuwei Huang , Peng Yang , Zhen Liu","doi":"10.1016/j.robot.2025.104969","DOIUrl":"10.1016/j.robot.2025.104969","url":null,"abstract":"<div><div>This article presents a concise and efficient path-following strategy, along with a set of real robot experiments to evaluate its superior performance. The following trajectory is generated in the form of a quartic Bézier curve with an adaptive control point generation method based on the integral length and curvature of the reference path. An impressive merit is that the cutting-corner problem during sharp turns can be avoided and smooth speed regulation can be achieved automatically. Another advantage is that the robot can quickly return to the reference path from a large lateral position or heading deviation, without any large space requirement for adjustment. The first few commands derived from the differentiation of the following trajectory are utilized. Simulation results show that the proposed method has a higher accuracy <strong>under the same-level computation time compared with other simple geometric methods</strong>. Real-world robot experiments are conducted in various environments to verify the proposed algorithm's accuracy, robustness, and flexibility. The average path-following error of real-world experiments is under 0.1 m, even with sudden path changing for obstacle avoidance. Additionally, with the proposed algorithm, the robot can navigate safely in a residential community where frequent pedestrian incursions occur.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104969"},"PeriodicalIF":4.3,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143620310","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