Journal of Intelligent & Robotic Systems最新文献_第10页

Optimal Transport and Model Predictive Control-based Simultaneous Task Assignment and Trajectory Planning for Unmanned System Swarm 基于最优传输和模型预测控制的无人系统蜂群同时任务分配和轨迹规划

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-02-03 DOI: 10.1007/s10846-024-02060-z

Xiwei Wu, Bing Xiao, Lu Cao, Haibin Huang

引用次数: 0

Fusion of Time-of-Flight Based Sensors with Monocular Cameras for a Robotic Person Follower 基于飞行时间的传感器与单目摄像头的融合，用于机器人人员跟随器

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-02-03 DOI: 10.1007/s10846-023-02037-4

José Sarmento, Filipe Neves dos Santos, André Silva Aguiar, Vítor Filipe, António Valente

{"title":"Fusion of Time-of-Flight Based Sensors with Monocular Cameras for a Robotic Person Follower","authors":"José Sarmento, Filipe Neves dos Santos, André Silva Aguiar, Vítor Filipe, António Valente","doi":"10.1007/s10846-023-02037-4","DOIUrl":"https://doi.org/10.1007/s10846-023-02037-4","url":null,"abstract":"Human-robot collaboration (HRC) is becoming increasingly important in advanced production systems, such as those used in industries and agriculture. This type of collaboration can contribute to productivity increase by reducing physical strain on humans, which can lead to reduced injuries and improved morale. One crucial aspect of HRC is the ability of the robot to follow a specific human operator safely. To address this challenge, a novel methodology is proposed that employs monocular vision and ultra-wideband (UWB) transceivers to determine the relative position of a human target with respect to the robot. UWB transceivers are capable of tracking humans with UWB transceivers but exhibit a significant angular error. To reduce this error, monocular cameras with Deep Learning object detection are used to detect humans. The reduction in angular error is achieved through sensor fusion, combining the outputs of both sensors using a histogram-based filter. This filter projects and intersects the measurements from both sources onto a 2D grid. By combining UWB and monocular vision, a remarkable 66.67% reduction in angular error compared to UWB localization alone is achieved. This approach demonstrates an average processing time of 0.0183s and an average localization error of 0.14 meters when tracking a person walking at an average speed of 0.21 m/s. This novel algorithm holds promise for enabling efficient and safe human-robot collaboration, providing a valuable contribution to the field of robotics.","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2024-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139662536","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

RGB-D Based Visual SLAM Algorithm for Indoor Crowd Environment 基于 RGB-D 的室内人群环境视觉 SLAM 算法

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-02-02 DOI: 10.1007/s10846-023-02046-3

Jianfeng Li, Juan Dai, Zhong Su, Cui Zhu

{"title":"RGB-D Based Visual SLAM Algorithm for Indoor Crowd Environment","authors":"Jianfeng Li, Juan Dai, Zhong Su, Cui Zhu","doi":"10.1007/s10846-023-02046-3","DOIUrl":"https://doi.org/10.1007/s10846-023-02046-3","url":null,"abstract":"Most current research on dynamic visual Simultaneous Localization and Mapping (SLAM) systems focuses on scenes where static objects occupy most of the environment. However, in densely populated indoor environments, the movement of the crowd can lead to the loss of feature information, thereby diminishing the system’s robustness and accuracy. This paper proposes a visual SLAM algorithm for dense crowd environments based on a combination of the ORB-SLAM2 framework and RGB-D cameras. Firstly, we introduced a dedicated target detection network thread and improved the performance of the target detection network, enhancing its detection coverage in crowded environments, resulting in a 41.5% increase in average accuracy. Additionally, we found that some feature points other than humans in the detection box were mistakenly deleted. Therefore, we proposed an algorithm based on standard deviation fitting to effectively filter out the features. Finally, our system is evaluated on the TUM and Bonn RGB-D dynamic datasets and compared with ORB-SLAM2 and other state-of-the-art visual dynamic SLAM methods. The results indicate that our system’s pose estimation error is reduced by at least 93.60% and 97.11% compared to ORB-SLAM2 in high dynamic environments and the Bonn RGB-D dynamic dataset, respectively. Our method demonstrates comparable performance compared to other recent visual dynamic SLAM methods.","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2024-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139670319","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

Context Adaptive Fault Tolerant Multi-sensor fusion: Towards a Fail-Safe Multi Operational Objective Vehicle Localization 上下文自适应容错多传感器融合：实现故障安全的多业务目标车辆定位

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-02-01 DOI: 10.1007/s10846-023-01906-2

Nesrine Harbaoui, Khoder Makkawi, Nourdine Ait-Tmazirte, Maan El Badaoui El Najjar

{"title":"Context Adaptive Fault Tolerant Multi-sensor fusion: Towards a Fail-Safe Multi Operational Objective Vehicle Localization","authors":"Nesrine Harbaoui, Khoder Makkawi, Nourdine Ait-Tmazirte, Maan El Badaoui El Najjar","doi":"10.1007/s10846-023-01906-2","DOIUrl":"https://doi.org/10.1007/s10846-023-01906-2","url":null,"abstract":"In many transport applications, one of the safety critical function is the localization. This is all the more true for land transport applications such as autonomous vehicles. While the democratization of satellite positioning systems, such as GPS, Galileo, Beidou or Glonass, has made it possible to consider a global solution applicable anywhere in the world, the principle of positioning by receiving signals from satellites more than twenty thousand kilometers away shows limits when they are confronted with disturbances related to the environment close to the receiver. However, for these safety-critical applications, the requirements are strong and sometimes even conflicting. The developed function must meet a defined level of precision, availability, continuity of service, integrity, operational safety and finally robustness to environment changes. Taken separately, these requirements can be achieved by actions recommended by the literature. For more precision and availability, coupling between absolute GNSS data and relative INS and odometer data, is recommended. To increase safety and integrity, a fault detection layer is essential, but this will negatively impact availability. One therefore needs a fault management layer. A harmonious policy, thought at the function design, makes it possible to achieve all the objectives. In this study, we propose a framework based on a tripartite approach: the tight fusion of GNSS and IMU data, the development of a diagnostic layer based on information theory and using the very promising alpha Rényi divergence, as well as a fault isolation layer. The diagnostic layer is designed to be robust and adaptive to changing environment through a deep neural network. The proposed framework is tested on data acquired in the field. Encouraging results allow to consider the generalization of the concept.","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2024-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139662625","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

Scalable Task Allocation with Communications Connectivity for Flying Ad-Hoc Networks 飞行 Ad-Hoc 网络的可扩展任务分配与通信连接

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-02-01 DOI: 10.1007/s10846-024-02059-6

Wai Lun Leong, Jiawei Cao, Rodney Teo

引用次数: 0

Dynamic Via-points and Improved Spatial Generalization for Online Trajectory Generation with Dynamic Movement Primitives 利用动态运动基元在线生成轨迹的动态通过点和改进的空间概括能力

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-01-29 DOI: 10.1007/s10846-024-02051-0

Antonis Sidiropoulos, Zoe Doulgeri

{"title":"Dynamic Via-points and Improved Spatial Generalization for Online Trajectory Generation with Dynamic Movement Primitives","authors":"Antonis Sidiropoulos, Zoe Doulgeri","doi":"10.1007/s10846-024-02051-0","DOIUrl":"https://doi.org/10.1007/s10846-024-02051-0","url":null,"abstract":"Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization, modulation and robustness properties. However, the spatial generalization of DMP can be problematic in some cases, leading to excessive overscaling and in turn large velocities and accelerations. While other DMP variants have been proposed in the literature to tackle this issue, they can also exhibit excessive overscaling as we show in this work. Moreover, incorporating intermediate points (via-points) for adjusting the DMP trajectory to account for the geometry of objects related to the task, or to avoid or push aside objects that obstruct a specific task, is not addressed by the current DMP literature. In this work we tackle these unresolved so far issues by proposing an improved online spatial generalization, that remedies the shortcomings of the classical DMP generalization, and moreover allows the incorporation of dynamic via-points. This is achieved by designing an online adaptation scheme for the DMP weights which is proved to minimize the distance from the demonstrated acceleration profile to retain the shape of the demonstration, subject to dynamic via-point and initial/final state constraints. Extensive comparative simulations with the classical and other DMP variants are conducted, while experimental results validate the practical usefulness and efficiency of the proposed method.","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2024-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139580650","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

Online Capability Based Task Allocation of Cooperative Manipulators 基于能力的合作机械手在线任务分配

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-01-25 DOI: 10.1007/s10846-024-02050-1

Keshab Patra, Arpita Sinha, Anirban Guha

{"title":"Online Capability Based Task Allocation of Cooperative Manipulators","authors":"Keshab Patra, Arpita Sinha, Anirban Guha","doi":"10.1007/s10846-024-02050-1","DOIUrl":"https://doi.org/10.1007/s10846-024-02050-1","url":null,"abstract":"The cooperative manipulator group can accomplish complex and heavy payload tasks of object manipulation and transportation compared to a single manipulator. Effective coordination is crucial for cooperative task accomplishments. Multi-manipulator task distribution is highly complex because of the varying dynamic capabilities of the manipulators. We have introduced a novel fastest technique to quantify the dynamic task capability of the cooperative manipulator by scalar quantity and allocate the task accordingly. The scalar quantity determines the capability of applying an external wrench by end effector (EE) in line with the required wrench at the center of mass of the manipulating object. This quantity helps to diminish tracking errors in object manipulations or transportation and actuator saturation avoidance. The task distribution among the members is in proportion to their computed dynamic capability to ensure equal priority to the individual manipulators. The proposed task distribution formulation ensures the minimum magnitude of wrench interaction at the grasp point and the minimum internal wrench build-up in the object. Several physical simulation results assure trajectory tracking performance with the proposed task capability metric. The same metric aids in identifying the least capable manipulator, rearranging members for better performance, and deciding the required number of manipulators in the manipulator group.","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139561044","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

Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV 全向变形多旋翼无人机 OmniMorph 的建模、分析和控制

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-01-25 DOI: 10.1007/s10846-024-02054-x

Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes, Quentin Sablé, Antonio Franchi

{"title":"Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV","authors":"Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes, Quentin Sablé, Antonio Franchi","doi":"10.1007/s10846-024-02054-x","DOIUrl":"https://doi.org/10.1007/s10846-024-02054-x","url":null,"abstract":"This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers’ mutual aerodynamic interference.","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139561037","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

Communication-Aware Control of Large Data Transmissions via Centralized Cognition and 5G Networks for Multi-Robot Map merging 通过集中认知和 5G 网络实现多机器人地图合并的大数据传输通信感知控制

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-01-25 DOI: 10.1007/s10846-023-02045-4

Gerasimos Damigos, Nikolaos Stathoulopoulos, Anton Koval, Tore Lindgren, George Nikolakopoulos

{"title":"Communication-Aware Control of Large Data Transmissions via Centralized Cognition and 5G Networks for Multi-Robot Map merging","authors":"Gerasimos Damigos, Nikolaos Stathoulopoulos, Anton Koval, Tore Lindgren, George Nikolakopoulos","doi":"10.1007/s10846-023-02045-4","DOIUrl":"https://doi.org/10.1007/s10846-023-02045-4","url":null,"abstract":"Multiple modern robotic applications benefit from centralized cognition and processing schemes. However, modern equipped robotic platforms can output a large amount of data, which may exceed the capabilities of modern wireless communication systems if all data is transmitted without further consideration. This research presents a multi-agent, centralized, and real-time 3D point cloud map merging scheme for ceaselessly connected robotic agents. Centralized architectures enable mission awareness to all agents at all times, making tasks such as search and rescue more effective. The centralized component is placed on an edge server, ensuring low communication latency, while all agents access the server utilizing a fifth-generation (5G) network. In addition, the proposed solution introduces a communication-aware control function that regulates the transmissions of map instances to prevent the creation of significant data congestion and communication latencies as well as address conditions where the robotic agents traverse in limited to no coverage areas. The presented framework is agnostic of the used localization and mapping procedure, while it utilizes the full power of an edge server. Finally, the efficiency of the novel established framework is being experimentally validated based on multiple scenarios.","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139561036","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

Correction to the Euler Lagrange Multirotor Model with Euler Angles Generalized Coordinates 修正带有欧拉角广义坐标的欧拉-拉格朗日多旋翼模型

IF 3.3 4区计算机科学

Journal of Intelligent & Robotic Systems Pub Date : 2024-01-24 DOI: 10.1007/s10846-023-02040-9

Simone Martini, Kimon P. Valavanis, Margareta Stefanovic, Matthew J. Rutherford, Alessandro Rizzo

引用次数: 0