2012 IEEE/RSJ International Conference on Intelligent Robots and Systems最新文献_第10页

Hierarchical generalized context inference or context-aware smart homes 分层广义上下文推理或上下文感知智能家居

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385739

Chao-Lin Wu, Mao-Yung Weng, Ching-Hu Lu, L. Fu

引用次数: 7

Application of semi-supervised learning with Voronoi Graph for place classification Voronoi图半监督学习在地点分类中的应用

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385549

Lei Shi, S. Kodagoda, G. Dissanayake

{"title":"Application of semi-supervised learning with Voronoi Graph for place classification","authors":"Lei Shi, S. Kodagoda, G. Dissanayake","doi":"10.1109/IROS.2012.6385549","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385549","url":null,"abstract":"Representation of spaces including both geometric and semantic information enables a robot to perform high-level tasks in complex environments. Therefore, in recent years identifying and semantically labeling the environments based on onboard sensors has become an important competency for mobile robots. Supervised learning algorithms have been extensively used for this purpose with SVM-based solutions showing good generalization properties. The CRF-based approaches take the advantage of connectivity information of samples thereby provide a mechanism to capture complex dependencies. Blending the complementary strengths of Support Vector Machine (SVM) and Conditional Random Field (CRF), there have been algorithms to exploit the advantages of both to enhance the overall accuracy of place classification in indoor environments. However, experiments show that none of the above approaches deal well with diversified testing data. In this paper, we focus mainly on the generalization ability of the model and propose a semi-supervised learning strategy, which essentially improves the performance of the system. Experiments have been carried out on six real-world maps from different universities around the world and the results from rigorous testing demonstrate the feasibility of the approach.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83389598","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 16

Multi-domain monitoring of marine environments using a heterogeneous robot team 基于异构机器人团队的海洋环境多域监测

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385685

F. Shkurti, Anqi Xu, Malika Meghjani, J. A. G. Higuera, Yogesh A. Girdhar, P. Giguère, Bir Bikram Dey, J. Li, A. Kalmbach, C. Prahacs, Katrine Turgeon, Ioannis M. Rekleitis, G. Dudek

引用次数: 121

Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments 用于中风后肩部康复的可穿戴软机器人设备:识别错位

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385786

I. Galiana, Frank L. Hammond, R. Howe, Marko B. Popovic

{"title":"Wearable soft robotic device for post-stroke shoulder rehabilitation: Identifying misalignments","authors":"I. Galiana, Frank L. Hammond, R. Howe, Marko B. Popovic","doi":"10.1109/IROS.2012.6385786","DOIUrl":"https://doi.org/10.1109/IROS.2012.6385786","url":null,"abstract":"Stroke is the leading cause of long-term disability in the United States, affecting over 795,000 people annually. In order to regain motor function of the upper body, patients are usually treated by regular sessions with a dedicated physical therapist. A cost-effective wearable upper body orthotics system that can be used at home to empower both the patients and physical therapists is described. The system is composed of a thin, compliant, lightweight, cost-effective soft orthotic device with an integrated cable actuation system that is worn over the upper body, an embedded limb position sensing system, an electric actuator package and controller. The proposed device is robust to misalignments that may occur during actuation of the compliant brace or when putting on the system. Through simulations and experimental evaluation, it was demonstrated i) that the soft orthotic cable-driven shoulder brace can be successfully actuated without the production of off-axis torques in the presence of misalignments and ii) that the proposed model can identify linear and angular misalignments online.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82216250","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 108

Kinesthetic teaching via Fast Marching Square 快速行军广场的动觉教学

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385497

Javier V. Gómez, David Álvarez, S. Garrido, L. Moreno

引用次数: 12

Passive haptic rendering and control of Lagrangian virtual proxy 拉格朗日虚拟代理的被动触觉绘制与控制

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385911

Dongjun Lee, Myungsin Kim, T. Qiu

引用次数: 12

Self-righting, steering and takeoff angle adjusting for a jumping robot 用于跳跃机器人的自动扶正、转向和起飞角度调整

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385466

Jun Zhang, G. Song, Z. Li, Guifang Qiao, Hongtao Sun, Aiguo Song

引用次数: 18

Comparing motion generation and motion recall for everyday mobile manipulation tasks 比较日常移动操作任务的运动生成和运动回忆

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386274

Carmen Lopera, H. Tome, A. Tsouroukdissian, F. Stulp

引用次数: 2

Variable reordering strategies for SLAM SLAM的可变重排序策略

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6385473

Pratik Agarwal, Edwin Olson

引用次数: 34

SFly: Swarm of micro flying robots SFly:一群微型飞行机器人

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2012-12-24 DOI: 10.1109/IROS.2012.6386281

Markus Achtelik, M. Achtelik, Y. Brunet, M. Chli, S. Chatzichristofis, J. Decotignie, K. Doth, F. Fraundorfer, L. Kneip, Daniel Gurdan, Lionel Heng, E. Kosmatopoulos, L. Doitsidis, Gim Hee Lee, Simon Lynen, Agostino Martinelli, Lorenz Meier, M. Pollefeys, D. Piguet, A. Renzaglia, D. Scaramuzza, R. Siegwart, J. Stumpf, Petri Tanskanen, C. Troiani, S. Weiss

{"title":"SFly: Swarm of micro flying robots","authors":"Markus Achtelik, M. Achtelik, Y. Brunet, M. Chli, S. Chatzichristofis, J. Decotignie, K. Doth, F. Fraundorfer, L. Kneip, Daniel Gurdan, Lionel Heng, E. Kosmatopoulos, L. Doitsidis, Gim Hee Lee, Simon Lynen, Agostino Martinelli, Lorenz Meier, M. Pollefeys, D. Piguet, A. Renzaglia, D. Scaramuzza, R. Siegwart, J. Stumpf, Petri Tanskanen, C. Troiani, S. Weiss","doi":"10.1109/IROS.2012.6386281","DOIUrl":"https://doi.org/10.1109/IROS.2012.6386281","url":null,"abstract":"The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision controlled micro aerial vehicles. The mission in mind is that a swarm of MAV's autonomously maps out an unknown environment, computes optimal surveillance positions and places the MAV's there and then locates radio beacons in this environment. The scope of the work includes contributions on multiple different levels ranging from theoretical foundations to hardware design and embedded programming. One of the contributions is the development of a new MAV, a hexacopter, equipped with enough processing power for onboard computer vision. A major contribution is the development of monocular visual SLAM that runs in real-time onboard of the MAV. The visual SLAM results are fused with IMU measurements and are used to stabilize and control the MAV. This enables autonomous flight of the MAV, without the need of a data link to a ground station. Within this scope novel analytical solutions for fusing IMU and vision measurements have been derived. In addition to the realtime local SLAM, an offline dense mapping process has been developed. For this the MAV's are equipped with a payload of a stereo camera system. The dense environment map is used to compute optimal surveillance positions for a swarm of MAV's. For this an optimiziation technique based on cognitive adaptive optimization has been developed. Finally, the MAV's have been equipped with radio transceivers and a method has been developed to locate radio beacons in the observed environment.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80961907","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 49