Autonomous Robots最新文献_第10页

Distributed swarm collision avoidance based on angular calculations 基于角度计算的分布式群体避碰算法

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-02-22 DOI: 10.1007/s10514-022-10081-6

SeyedZahir Qazavi, Samaneh Hosseini Semnani

引用次数: 0

Navigation functions with moving destinations and obstacles 具有移动目的地和障碍物的导航功能

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-02-12 DOI: 10.1007/s10514-023-10088-7

Cong Wei, Chuchu Chen, Herbert G. Tanner

引用次数: 0

Uncertainty-aware correspondence identification for collaborative perception 基于不确定性感知的协同感知对应识别

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-02-06 DOI: 10.1007/s10514-023-10086-9

Peng Gao, Qingzhao Zhu, Hao Zhang

{"title":"Uncertainty-aware correspondence identification for collaborative perception","authors":"Peng Gao, Qingzhao Zhu, Hao Zhang","doi":"10.1007/s10514-023-10086-9","DOIUrl":"10.1007/s10514-023-10086-9","url":null,"abstract":"<div><p>Correspondence identification is essential for multi-robot collaborative perception, which aims to identify the same objects in order to ensure consistent references of the objects by a group of robots/agents in their own fields of view. Although recent deep learning methods have shown encouraging performance on correspondence identification, they suffer from two shortcomings, including the inability to address non-covisibility and the inability to quantify and reduce uncertainty to improve correspondence identification. To address both issues, we propose a novel uncertainty-aware deep graph matching method for correspondence identification in collaborative perception. Our new approach formulates correspondence identification as a deep graph matching problem, which identifies correspondences based on deep graph neural network-based features and explicitly quantify uncertainties in the identified correspondences under the Bayesian framework. In addition, we design a novel loss function that explicitly reduces correspondence uncertainty and perceptual non-covisibility during learning. Finally, we design a novel multi-robot sensor fusion method that integrates the multi-robot observations given the identified correspondences to perform collaborative object localization. We evaluate our approach in the robotics applications of collaborative assembly, multi-robot coordination and connected autonomous driving using high-fidelity simulations and physical robots. Experiments have shown that, our approach achieves the state-of-the-art performance of correspondence identification. Furthermore, the identified correspondences of objects can be well integrated into multi-robot collaboration for object localization.\u0000</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42819556","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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: 1

An empowerment-based solution to robotic manipulation tasks with sparse rewards 基于授权的机器人操作任务解决方案，奖励稀疏

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-02-06 DOI: 10.1007/s10514-023-10087-8

Siyu Dai, Wei Xu, Andreas Hofmann, Brian Williams

{"title":"An empowerment-based solution to robotic manipulation tasks with sparse rewards","authors":"Siyu Dai, Wei Xu, Andreas Hofmann, Brian Williams","doi":"10.1007/s10514-023-10087-8","DOIUrl":"10.1007/s10514-023-10087-8","url":null,"abstract":"<div><p>In order to provide adaptive and user-friendly solutions to robotic manipulation, it is important that the agent can learn to accomplish tasks even if they are only provided with very sparse instruction signals. To address the issues reinforcement learning algorithms face when task rewards are sparse, this paper proposes an intrinsic motivation approach that can be easily integrated into any standard reinforcement learning algorithm and can allow robotic manipulators to learn useful manipulation skills with only sparse extrinsic rewards. Through integrating and balancing empowerment and curiosity, this approach shows superior performance compared to other state-of-the-art intrinsic exploration approaches during extensive empirical testing. When combined with other strategies for tackling the exploration challenge, e.g. curriculum learning, our approach is able to further improve the exploration efficiency and task success rate. Qualitative analysis also shows that when combined with diversity-driven intrinsic motivations, this approach can help manipulators learn a set of diverse skills which could potentially be applied to other more complicated manipulation tasks and accelerate their learning process.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-023-10087-8.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44247416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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: 5

Adaptive optimal controller design for an unbalanced UAV with slung load 悬挂负载下不平衡无人机的自适应最优控制器设计

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-02-03 DOI: 10.1007/s10514-023-10090-z

Mohamed Tolba, Bijan Shirinzadeh, Gamal El-Bayoumi, Osama Mohamady

{"title":"Adaptive optimal controller design for an unbalanced UAV with slung load","authors":"Mohamed Tolba, Bijan Shirinzadeh, Gamal El-Bayoumi, Osama Mohamady","doi":"10.1007/s10514-023-10090-z","DOIUrl":"10.1007/s10514-023-10090-z","url":null,"abstract":"<div><p>Load transportation by Unmanned Aerial Vehicles is a research topic of great interest to the robotic community for its numerous applications in both the civilian and military fields. Attaching a cargo through an elastic cable to a small underactuated UAV such as a quadcopter, which is inherently an unstable system, increases its instability and its underactuated degrees of freedom by three. Moreover, the presence of imperfections in the system such as having the quadcopter’s center of gravity and the cable hanging point arbitrarily shifted from the quadcopter’s geometric centroid further complicates the system. In this paper, a new nonlinear nine degree-of-freedom mathematical model is formulated for a quadcopter when its center of gravity is shifted from its geometric centroid and when a cable-suspended load is attached at an arbitrary position. Thus, a novel adaptive controller based on Linear Quadratic Regulator is designed to control the position and attitude of the quadcopter while minimizing the swinging and radial motions of the suspended load. Subsequently, nonlinear simulations are conducted for three case studies: conventional quadcopter, quadcopter-payload system without imperfections, quadcopter-payload system with imperfections. Finally, the results are presented demonstrating the effectiveness of the proposed control strategy.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-023-10090-z.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47246107","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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: 2

An efficient RRT-based motion planning algorithm for autonomous underwater vehicles under cylindrical sampling constraints 圆柱采样约束下基于RRT的水下机器人运动规划算法

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-02-02 DOI: 10.1007/s10514-023-10083-y

Fujie Yu, Huaqing Shang, Qilong Zhu, Hansheng Zhang, Yuan Chen

{"title":"An efficient RRT-based motion planning algorithm for autonomous underwater vehicles under cylindrical sampling constraints","authors":"Fujie Yu, Huaqing Shang, Qilong Zhu, Hansheng Zhang, Yuan Chen","doi":"10.1007/s10514-023-10083-y","DOIUrl":"10.1007/s10514-023-10083-y","url":null,"abstract":"<div><p>Quickly finding high-quality paths is of great significance for autonomous underwater vehicles (AUVs) in path planning problems. In this paper, we present a cylinder-based heuristic rapidly exploring random tree (Cyl-HRRT*) algorithm, which is the extension version of the path planner presented in our previous publication. Cyl-HRRT* increases the likelihood of sampling states that can improve the current solution by biasing the states into a cylindrical subset, thus providing better paths for AUVs. A direct greedy sampling method is proposed to explore the space more efficiently and accelerate convergence to the optimum. To reasonably balance the optimization accuracy and the number of iterations, a beacon-based adaptive optimization strategy is presented, which adaptively establishes a cylindrical subset for the next focused sampling according to the current path. Furthermore, the Cyl-HRRT* algorithm is shown to be probabilistically complete and asymptotically optimal. Finally, the Cyl-HRRT* algorithm is comprehensively tested in both simulations and real-world experiments. The results reveal that the path generated by the Cyl-HRRT* algorithm greatly improves the power savings and mobility of the AUV.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-023-10083-y.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47585747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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: 3

Motion-based communication for robotic swarms in exploration missions 探索任务中机器人群的基于运动的通信

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-01-30 DOI: 10.1007/s10514-022-10079-0

Corentin Boucher, Rebecca Stower, Vivek Shankar Varadharajan, Elisabetta Zibetti, Florent Levillain, David St-Onge

{"title":"Motion-based communication for robotic swarms in exploration missions","authors":"Corentin Boucher, Rebecca Stower, Vivek Shankar Varadharajan, Elisabetta Zibetti, Florent Levillain, David St-Onge","doi":"10.1007/s10514-022-10079-0","DOIUrl":"10.1007/s10514-022-10079-0","url":null,"abstract":"<div><p>Many people are fascinated by biological swarms, but understanding the behavior and inherent task objectives of a bird flock or ant colony requires training. Whereas several swarm intelligence works focus on mimicking natural swarm behaviors, we argue that this may not be the most intuitive approach to facilitate communication with the operators. Instead, we focus on the legibility of swarm expressive motions to communicate mission-specific messages to the operator. To do so, we leverage swarm intelligence algorithms on chain formation for resilient exploration and mapping combined with acyclic graph formation (AGF) into a novel swarm-oriented programming strategy. We then explore how expressive motions of robot swarms could be designed and test the legibility of nine different expressive motions in an online user study with 98 participants. We found several differences between the motions in communicating messages to the users. These findings represent a promising starting point for the design of legible expressive motions for implementation in decentralized robot swarms.\u0000</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"52155222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Search and rescue with sparsely connected swarms 稀疏集群搜救

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-01-18 DOI: 10.1007/s10514-022-10080-7

Ulrich Dah-Achinanon, Seyed Ehsan Marjani Bajestani, Pierre-Yves Lajoie, Giovanni Beltrame

引用次数: 5

Correction to: Adaptive submodular inverse reinforcement learning for spatial search and map exploration 修正:用于空间搜索和地图探索的自适应子模逆强化学习

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-01-13 DOI: 10.1007/s10514-022-10077-2

Ji-Jie Wu, Kuo-Shih Tseng

引用次数: 0

SMORES-EP, a modular robot with parallel self-assembly SMORES-EP，一种具有并行自组装功能的模块化机器人

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2022-12-30 DOI: 10.1007/s10514-022-10078-1

Chao Liu, Qian Lin, Hyun Kim, Mark Yim

引用次数: 12