International Journal of Advanced Robotic Systems最新文献_第4页

Solving large-scale multi-agent tasks via transfer learning with dynamic state representation 基于动态状态表示的迁移学习求解大规模多智能体任务

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231162440

Lintao Dou, Zhen Jia, Jian Huang

{"title":"Solving large-scale multi-agent tasks via transfer learning with dynamic state representation","authors":"Lintao Dou, Zhen Jia, Jian Huang","doi":"10.1177/17298806231162440","DOIUrl":"https://doi.org/10.1177/17298806231162440","url":null,"abstract":"Many research results have emerged in the past decade regarding multi-agent reinforcement learning. These include the successful application of asynchronous advantage actor-critic, double deep Q-network and other algorithms in multi-agent environments, and the more representative multi-agent training method based on the classical centralized training distributed execution algorithm QMIX. However, in a large-scale multi-agent environment, training becomes a major challenge due to the exponential growth of the state-action space. In this article, we design a training scheme from small-scale multi-agent training to large-scale multi-agent training. We use the transfer learning method to enable the training of large-scale agents to use the knowledge accumulated by training small-scale agents. We achieve policy transfer between tasks with different numbers of agents by designing a new dynamic state representation network, which uses a self-attention mechanism to capture and represent the local observations of agents. The dynamic state representation network makes it possible to expand the policy model from a few agents (4 agents, 10 agents) task to large-scale agents (16 agents, 50 agents) task. Furthermore, we conducted experiments in the famous real-time strategy game Starcraft II and the multi-agent research platform MAgent. And also set unmanned aerial vehicles trajectory planning simulations. Experimental results show that our approach not only reduces the time consumption of a large number of agent training tasks but also improves the final training performance.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47450931","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Feature extraction and matching combined with depth information in visual simultaneous localization and mapping 视觉同步定位与映射中结合深度信息的特征提取与匹配

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231158298

Yunpeng Sun, Xiaoli Li

{"title":"Feature extraction and matching combined with depth information in visual simultaneous localization and mapping","authors":"Yunpeng Sun, Xiaoli Li","doi":"10.1177/17298806231158298","DOIUrl":"https://doi.org/10.1177/17298806231158298","url":null,"abstract":"Estimating the camera trajectories is very important for the performance of visual simultaneous localization and mapping. However, visual simultaneous localization and mapping systems based on RGB image are generally not robust in complex situations such as low-textures or large illumination variations. In order to solve this problem, more environmental information is added by introducing depth information, and a feature extraction and matching algorithm combining depth information is proposed. In this article, firstly, the intrinsic mechanism that depth image is used to extract and match feature points is discussed. Then depth information and appearance information are comprehensively considered to extract and describe feature points. Finally, the matching problem of feature points is transformed into a regression and classification problem, with which a matching model is presented in a data-driven way. Experimental results show that our algorithm has better distribution uniformity and matching accuracy and can effectively improve the trajectory accuracy and drift degree of the simultaneous localization and mapping system.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48753751","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Visual application of navigation framework in cyber-physical system for mobile robot to prevent disease 导航框架在移动机器人网络物理系统中的可视化应用

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231162202

Thanh Phuong Nguyen, Hung Nguyen, H. Ngo

{"title":"Visual application of navigation framework in cyber-physical system for mobile robot to prevent disease","authors":"Thanh Phuong Nguyen, Hung Nguyen, H. Ngo","doi":"10.1177/17298806231162202","DOIUrl":"https://doi.org/10.1177/17298806231162202","url":null,"abstract":"In this article, we propose the visual application of a navigation framework for a wheeled robot to disinfect surfaces. Since dynamic environments are complicated, advanced sensors are integrated into the hardware platform to enhance the navigation task. The 2D lidar UTM-30LX from Hokuyo attached to the front of the robot can cover a wide scanning area. To provide better results in laser scan matching, an inertial measurement unit was integrated into the robot’s body. The output of this combination feeds into a global costmap for monitoring and navigation. Additionally, incremental encoders that obtain high-resolution position data are connected to the rear wheels. The role of the positioning sensor is to identify the existing location of the robot in a local costmap. To detect the appearance of a human, a Kinect digital camera is fixed to the top of the robot. All feedback signals are combined in the host computer to navigate the autonomous robot. For disinfection missions, the robot must carry several ultraviolet lamps to autonomously patrol in unknown environments. To visualize the robot’s effectiveness, our approach was validated using both a virtual simulation and an experimental test. The contributions of this work are summarized as follows: (i) a structure for ultraviolet-based hardware was first established; (ii) the theoretical computations for the robot’s localization in the 3D workspace will play a fundamental role in further developments; and (iii) data fusion from advanced sensing devices was integrated to enable navigation in uncertain environments.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45618668","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 3

An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element 基于向量形式固有有限元的机车张拉整体系统改进数值模型

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231162442

Xian Xu, Meijia Wang, Yanfeng Zheng, Chunlin Zhou, Yaozhi Luo

引用次数: 0

High-definition 3D map for autonomous vehicles in Vietnam: A comparison between graph simultaneous localization and mapping and the normal distributions transform algorithm 越南自动驾驶汽车高清3D地图：图形同步定位与映射与正态分布变换算法的比较

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231157551

P. T. Nam, Le Anh Son, H. Nang

引用次数: 0

Robust servo linear quadratic regulator controller based on state compensation and velocity feedforward of the spherical robot: Theory and experimental verification 基于状态补偿和速度前馈的球形机器人鲁棒伺服线性二次调节控制器：理论和实验验证

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231153229

Yixu Wang, Yifan Liu, Xiaoqing Guan, Tao Hu, Ziang Zhang, You Wang, Jie Hao, Guang Li

引用次数: 1

Configuration design and grasping contact accuracy analysis of a four-finger manipulator used for grasping fragile objects of elliptic cross section 椭圆截面易碎物抓取四指机械手结构设计及抓取接触精度分析

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231157339

Dongxia Wang, Liangwen Wang, Hongchang Xie, Zhenzhen Wu, G. Xie, Caidong Wang, Huadong Zheng, Zhuang Wang

{"title":"Configuration design and grasping contact accuracy analysis of a four-finger manipulator used for grasping fragile objects of elliptic cross section","authors":"Dongxia Wang, Liangwen Wang, Hongchang Xie, Zhenzhen Wu, G. Xie, Caidong Wang, Huadong Zheng, Zhuang Wang","doi":"10.1177/17298806231157339","DOIUrl":"https://doi.org/10.1177/17298806231157339","url":null,"abstract":"A type of manipulator configuration with four-fingers is put forward, for grasping fragile hollow workpieces, with adjustable finger length and finger pad shape. Within a certain range, the manipulator can be used to grasp the internal cross section of fragile objects with different size of circular and oval shape. The design idea and structure of the manipulator are introduced, while the join positions between the finger pad and the finger body, as determined by uniform interpolation or Chebyshev interpolation, are comparatively analyzed and researched regarding forming force contact with workpiece. During the process of grasping, the internal forces and deformations between finger pad and workpiece are analyzed, based on a constructed finite element analysis model. The calculation example shows that, under the same grasping parameters, the maximum impact force on the workpiece is reduced by 63%, when the curvature adjustment points for the finger pad are distributed according to the Chebyshev interpolation, compared to their equal spacing distribution. Research has provided a theoretical basis for the design optimization of the finger pad structure and the connection point positions. For using manipulator to grasp objects with different size of circular and oval shape, the working space of the proposed manipulator is studied. The experiments show that, the manipulator structure, as presented in this article, can meet the requirements of relevant tasks.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42729984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

State transformation extended Kalman filter–based tightly coupled strapdown inertial navigation system/global navigation satellite system/laser Doppler velocimeter integration for seamless navigation of unmanned ground vehicle in urban areas 基于状态变换扩展卡尔曼滤波器的紧耦合捷联惯性导航系统/全球导航卫星系统/激光多普勒测速仪集成用于城市无人地面车辆无缝导航

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231158462

Xueyu Du, Maosong Wang, Wen-qi Wu, Pei-yuan Zhou, Jia-rui Cui

{"title":"State transformation extended Kalman filter–based tightly coupled strapdown inertial navigation system/global navigation satellite system/laser Doppler velocimeter integration for seamless navigation of unmanned ground vehicle in urban areas","authors":"Xueyu Du, Maosong Wang, Wen-qi Wu, Pei-yuan Zhou, Jia-rui Cui","doi":"10.1177/17298806231158462","DOIUrl":"https://doi.org/10.1177/17298806231158462","url":null,"abstract":"With the rapid development of unmanned ground vehicle industry, how to achieve continuous, reliable, and high-accuracy navigation becomes very important. At present, the integrated navigation with global navigation satellite system and strapdown inertial navigation system is the most mature and effective navigation technology for unmanned ground vehicle. However, this technique depends on the signal accuracy of global navigation satellite system. When the receiver cannot capture four or more satellite signals for a long time or the satellite completely invalid, it cannot provide accurate navigation and positioning information for the unmanned ground vehicle. Therefore, this article combine the observation information of strapdown inertial navigation system, global navigation satellite system, and laser Doppler velocimeter to propose a high-precision seamless navigation technique of unmanned ground vehicle based on state transformation extended Kalman filter. Under different land vehicle driving environments and global navigation satellite system signal quality conditions, the seamless navigation technique is evaluated through global navigation satellite system interruption simulation and land vehicle experiments. The experimental results show that the strapdown inertial navigation system/global navigation satellite system/laser Doppler velocimeter tightly coupled integration seamless navigation has good environmental adaptability and reliability and can maintain high navigation accuracy under high frequency global navigation satellite system–signal blockage conditions in urban areas.","PeriodicalId":50343,"journal":{"name":"International Journal of Advanced Robotic Systems","volume":" ","pages":""},"PeriodicalIF":2.3,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41342604","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 2

Universal nonlinear disturbance observer for robotic manipulators 机器人机械臂的通用非线性扰动观测器

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231167669

Feilong Zhang, Xin Zhang, Qingxin Li, Hualiang Zhang

引用次数: 0

Special spherical mobile robot for planetary surface exploration: A review 行星表面探测专用球形移动机器人综述

IF 2.3 4区计算机科学

International Journal of Advanced Robotic Systems Pub Date : 2023-03-01 DOI: 10.1177/17298806231162207

Minggang Li, Hanxu Sun, Long Ma, Panpan Gao, Dongshui Huo, Zhantong Wang, Ping Sun

引用次数: 2