Autonomous Robots最新文献_第8页

Regulated pure pursuit for robot path tracking 用于机器人路径跟踪的调节纯追击

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-06-10 DOI: 10.1007/s10514-023-10097-6

Steve Macenski, Shrijit Singh, Francisco Martín, Jonatan Ginés

{"title":"Regulated pure pursuit for robot path tracking","authors":"Steve Macenski, Shrijit Singh, Francisco Martín, Jonatan Ginés","doi":"10.1007/s10514-023-10097-6","DOIUrl":"10.1007/s10514-023-10097-6","url":null,"abstract":"<div><p>The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While most formulations of Dynamic Window Approach and Model Predictive Control can progress along paths and optimize for additional criteria, the use of pure path tracking algorithms is still commonplace. Decades later, Pure Pursuit and its variants continues to be one of the most commonly utilized classes of local trajectory planners. However, few Pure Pursuit variants have been proposed with schema for variable linear velocities—they either assume a constant velocity or fails to address the point at all. This paper presents a variant of Pure Pursuit designed with additional heuristics to regulate linear velocities, built atop the existing Adaptive variant. The <i>Regulated Pure Pursuit algorithm</i> makes incremental improvements on state of the art by adjusting linear velocities with particular focus on safety in constrained and partially observable spaces commonly negotiated by deployed robots. We present experiments with the Regulated Pure Pursuit algorithm on industrial-grade service robots. We also provide a high-quality reference implementation that is freely included ROS 2 Nav2 framework at https://github.com/ros-planning/navigation2 for fast evaluation.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42455935","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 overview of space-variant and active vision mechanisms for resource-constrained human inspired robotic vision 资源受限的人启发机器人视觉的空间变型和主动视觉机制综述

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-06-09 DOI: 10.1007/s10514-023-10107-7

Rui Pimentel de Figueiredo, Alexandre Bernardino

{"title":"An overview of space-variant and active vision mechanisms for resource-constrained human inspired robotic vision","authors":"Rui Pimentel de Figueiredo, Alexandre Bernardino","doi":"10.1007/s10514-023-10107-7","DOIUrl":"10.1007/s10514-023-10107-7","url":null,"abstract":"<div><p>In order to explore and understand the surrounding environment in an efficient manner, humans have developed a set of space-variant vision mechanisms that allow them to actively attend different locations in the surrounding environment and compensate for memory, neuronal transmission bandwidth and computational limitations in the brain. Similarly, humanoid robots deployed in everyday environments have limited on-board resources, and are faced with increasingly complex tasks that require interaction with objects arranged in many possible spatial configurations. The main goal of this work is to describe and overview biologically inspired, space-variant human visual mechanism benefits, when combined with state-of-the-art algorithms for different visual tasks (e.g. object detection), ranging from low-level hardwired attention vision (i.e. foveal vision) to high-level visual attention mechanisms. We overview the state-of-the-art in biologically plausible space-variant resource-constrained vision architectures, namely for active recognition and localization tasks.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-023-10107-7.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47815592","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: 0

RLSS: real-time, decentralized, cooperative, networkless multi-robot trajectory planning using linear spatial separations RLSS:实时、分散、协作、无网络的多机器人轨迹规划，使用线性空间分离

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-05-30 DOI: 10.1007/s10514-023-10104-w

Baskın Şenbaşlar, Wolfgang Hönig, Nora Ayanian

{"title":"RLSS: real-time, decentralized, cooperative, networkless multi-robot trajectory planning using linear spatial separations","authors":"Baskın Şenbaşlar, Wolfgang Hönig, Nora Ayanian","doi":"10.1007/s10514-023-10104-w","DOIUrl":"10.1007/s10514-023-10104-w","url":null,"abstract":"<div><p>Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial Separations, or RLSS: a real-time decentralized trajectory planning algorithm for cooperative multi-robot teams in static environments. The algorithm requires relatively few robot capabilities, namely sensing the positions of robots and obstacles without higher-order derivatives and the ability of distinguishing robots from obstacles. There is no communication requirement and the robots’ dynamic limits are taken into account. RLSS generates and solves convex quadratic optimization problems that are kinematically feasible and guarantees collision avoidance if the resulting problems are feasible. We demonstrate the algorithm’s performance in real-time in simulations and on physical robots. We compare RLSS to two state-of-the-art planners and show empirically that RLSS does avoid deadlocks and collisions in forest-like and maze-like environments, significantly improving prior work, which result in collisions and deadlocks in such environments.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-023-10104-w.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135478964","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: 6

Data-driven gait model for bipedal locomotion over continuous changing speeds and inclines 连续变化速度和坡度的两足运动数据驱动步态模型

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-05-27 DOI: 10.1007/s10514-023-10108-6

Bharat Singh, Suchit Patel, Ankit Vijayvargiya, Rajesh Kumar

{"title":"Data-driven gait model for bipedal locomotion over continuous changing speeds and inclines","authors":"Bharat Singh, Suchit Patel, Ankit Vijayvargiya, Rajesh Kumar","doi":"10.1007/s10514-023-10108-6","DOIUrl":"10.1007/s10514-023-10108-6","url":null,"abstract":"<div><p>Trajectory generation for biped robots is very complex due to the challenge posed by real-world uneven terrain. To address this complexity, this paper proposes a data-driven Gait model that can handle continuously changing conditions. Data-driven approaches are used to incorporate the joint relationships. Therefore, the deep learning methods are employed to develop seven different data-driven models, namely DNN, LSTM, GRU, BiLSTM, BiGRU, LSTM+GRU, and BiLSTM+BiGRU. The dataset used for training the Gait model consists of walking data from 10 able subjects on continuously changing inclines and speeds. The objective function incorporates the standard error from the inter-subject mean trajectory to guide the Gait model to not accurately follow the high variance points in the gait cycle, which helps in providing a smooth and continuous gait cycle. The results show that the proposed Gait models outperform the traditional finite state machine (FSM) and Basis models in terms of mean and maximum error summary statistics. In particular, the LSTM+GRU-based Gait model provides the best performance compared to other data-driven models.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46959244","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

Cooperative estimation and control of a diffusion-based spatiotemporal process using mobile sensors and actuators 利用移动传感器和执行器对基于扩散的时空过程进行协同估计和控制

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-05-24 DOI: 10.1007/s10514-023-10105-9

Sheng Cheng, Derek A. Paley

{"title":"Cooperative estimation and control of a diffusion-based spatiotemporal process using mobile sensors and actuators","authors":"Sheng Cheng, Derek A. Paley","doi":"10.1007/s10514-023-10105-9","DOIUrl":"10.1007/s10514-023-10105-9","url":null,"abstract":"<div><p>Monitoring and controlling a large-scale spatiotemporal process can be costly and dangerous for human operators, which can delegate the task to mobile robots for improved efficiency at a lower cost. The complex evolution of the spatiotemporal process and limited onboard resources of the robots motivate a holistic design of the robots’ actions to complete the tasks efficiently. This paper describes a cooperative framework for estimating and controlling a spatiotemporal process using a team of mobile robots that have limited onboard resources. We model the spatiotemporal process as a 2D diffusion equation that can characterize the intrinsic dynamics of the process with a partial differential equation (PDE). Measurement and actuation of the diffusion process are performed by mobile robots carrying sensors and actuators. The core of the framework is a nonlinear optimization problem, that simultaneously seeks the actuation and guidance of the robots to control the spatiotemporal process subject to the PDE dynamics. The limited onboard resources are formulated as inequality constraints on the actuation and speed of the robots. Extensive numerical studies analyze and evaluate the proposed framework using nondimensionalization and compare the optimal strategy to baseline strategies. The framework is demonstrated on an outdoor multi-quadrotor testbed using hardware-in-the-loop simulations.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44384325","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

Dynamic stochastic modeling for adaptive sampling of environmental variables using an AUV 基于AUV的环境变量自适应采样动态随机建模

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-04-27 DOI: 10.1007/s10514-023-10095-8

Gunhild Elisabeth Berget, Jo Eidsvik, Morten Omholt Alver, Tor Arne Johansen

引用次数: 0

A self-guided approach for navigation in a minimalistic foraging robotic swarm 一种用于最小觅食机器人群导航的自引导方法

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-04-27 DOI: 10.1007/s10514-023-10102-y

Steven Adams, Daniel Jarne Ornia, Manuel Mazo Jr

引用次数: 3

Social crowd navigation of a mobile robot based on human trajectory prediction and hybrid sensing 基于人类轨迹预测和混合感知的移动机器人社交人群导航

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-04-25 DOI: 10.1007/s10514-023-10103-x

Hao-Yun Chen, Pei-Han Huang, Li-Chen Fu

{"title":"Social crowd navigation of a mobile robot based on human trajectory prediction and hybrid sensing","authors":"Hao-Yun Chen, Pei-Han Huang, Li-Chen Fu","doi":"10.1007/s10514-023-10103-x","DOIUrl":"10.1007/s10514-023-10103-x","url":null,"abstract":"<div><p>This paper propose a hierarchical path planning algorithm that first captures the local crowd movement around the robot using RGB camera combined with LiDAR and predicts the movement of people nearby the robot, and then generates appropriate global path for the robot using the global path planner with the crowd information. After deciding the global path, the low-level control system receives the prediction results of the crowd and high-level global path, and generates the actual speed control commands for the robot after considering the social norms. With the high accuracy of computer vision for human recognition and the high precision of LiDAR, the system is able to accurately track the surrounding human locations. Through high-level path planning, the robot can use different movement strategies in different scenarios, while the crowd prediction allows the robot to generate more efficient and socially acceptable paths. With this system, even in a highly dynamic environment caused by the crowd, the robot can still plan an appropriate path reach the destination without causing psychological discomfort to others successfully.</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-023-10103-x.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45514911","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: 1

Heterogeneous robot teams for modeling and prediction of multiscale environmental processes 用于多尺度环境过程建模和预测的异构机器人团队

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-04-19 DOI: 10.1007/s10514-023-10089-6

Tahiya Salam, M. Ani Hsieh

引用次数: 5

DiSECt: a differentiable simulator for parameter inference and control in robotic cutting DiSECt:用于机器人切割参数推理和控制的可微模拟器

IF 3.5 3区计算机科学

Autonomous Robots Pub Date : 2023-04-12 DOI: 10.1007/s10514-023-10094-9

Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos

{"title":"DiSECt: a differentiable simulator for parameter inference and control in robotic cutting","authors":"Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, Fabio Ramos","doi":"10.1007/s10514-023-10094-9","DOIUrl":"10.1007/s10514-023-10094-9","url":null,"abstract":"<div><p>Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators can facilitate controller verification, policy learning, and dataset generation. Moreover, <i>differentiable</i> simulators can enable gradient-based optimization, which is invaluable for calibrating simulation parameters and optimizing controllers. In this work, we present DiSECt: the first differentiable simulator for cutting soft materials. The simulator augments the finite element method with a continuous contact model based on signed distance fields, as well as a continuous damage model that inserts springs on opposite sides of the cutting plane and allows them to weaken until zero stiffness, enabling crack formation. Through various experiments, we evaluate the performance of the simulator. We first show that the simulator can be calibrated to match resultant forces and deformation fields from a state-of-the-art commercial solver and real-world cutting datasets, with generality across cutting velocities and object instances. We then show that Bayesian inference can be performed efficiently by leveraging the differentiability of the simulator, estimating posteriors over hundreds of parameters in a fraction of the time of derivative-free methods. Next, we illustrate that control parameters in the simulation can be optimized to minimize cutting forces via lateral slicing motions. Finally, we conduct experiments on a real robot arm equipped with a slicing knife to infer simulation parameters from force measurements. By optimizing the slicing motion of the knife, we show on fruit cutting scenarios that the average knife force can be reduced by more than <span>(40%)</span> compared to a vertical cutting motion. We publish code and additional materials on our project website at https://diff-cutting-sim.github.io.\u0000</p></div>","PeriodicalId":55409,"journal":{"name":"Autonomous Robots","volume":null,"pages":null},"PeriodicalIF":3.5,"publicationDate":"2023-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s10514-023-10094-9.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48242007","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: 4