2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)最新文献_第10页

Data Sharing and Assimilation in Multi-Robot Systems for Environment Mapping 环境测绘中多机器人系统的数据共享与同化

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010607505140522

A. Yousaf, G. D. Caro

{"title":"Data Sharing and Assimilation in Multi-Robot Systems for Environment Mapping","authors":"A. Yousaf, G. D. Caro","doi":"10.5220/0010607505140522","DOIUrl":"https://doi.org/10.5220/0010607505140522","url":null,"abstract":"We consider scenarios where a mobile multi-robot system is used for mapping a spatial field. Gaussian processes are a widely employed regression model for this type of tasks. For the sake of generality, scalability, and robustness, we assume that planning and control are fully distributed and that robots can only communicate via range-limited channels. In such scenarios, one core challenge is how to let the robots efficiently coordinate in order to maintain a shared view of the mapping process, and, accordingly, make plans minimizing overlaps and optimizing joint information gain from obtained measurements. A simple approach of sharing and utilizing all the sampled data would not scale to large teams, neither for computation nor for communication (assuming a general ad hoc robot network). Building on previous work where robots adaptively plan where to sample data by selecting convex containment regions, we propose a data sharing and assimilation strategy which aims to minimize the impact on communication and computation while minimizing the loss on accuracy in map estimation. The strategy exploits convexity of the regions to create compact meta-data that are locally shared. Submodularity of information processes and properties of GPs are used by the robots to create highly informative summaries of the sampled regions, that are shared on-demand based on the meta-data. In turn, a received summary is assimilated by a robot into its local GP only if/when needed. We perform a number of studies in simulation using real data from bathymetric maps to show the efficacy of the strategy for supporting scalability of computations and communications while guaranteeing learning accurate maps.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"10 1","pages":"514-522"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80840859","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: 0

Learning-based Optimal Control of Constrained Switched Linear Systems using Neural Networks 基于学习的约束切换线性系统的神经网络最优控制

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010581600900098

Lukas Markolf, O. Stursberg

引用次数: 1

Ground Speed Measuring System for Autonomous Vehicles 自动驾驶车辆地面速度测量系统

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010543106610668

Yasmine Sheila Antille, Etienne Gubler, J. Gruber

引用次数: 0

Robustness of Contraction Metrics Computed by Radial Basis Functions 径向基函数计算收缩度量的鲁棒性

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010572905920599

P. Giesl, S. Hafstein, I. Mehrabinezhad

引用次数: 2

Strawberry Disease Detection in Precision Agriculture 草莓病害在精准农业中的检测

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010616405370544

Aguirre Santiago, L. Solaque, Alexandra Velasco

{"title":"Strawberry Disease Detection in Precision Agriculture","authors":"Aguirre Santiago, L. Solaque, Alexandra Velasco","doi":"10.5220/0010616405370544","DOIUrl":"https://doi.org/10.5220/0010616405370544","url":null,"abstract":": Crop disease detection in precision agriculture has an important impact on farming, improving production, and reducing economic losses. This is why some efforts have been done in this direction. This paper compares 4 object detection algorithms based on deep learning to detect diseases in strawberry crops. Here, we present a step towards detecting the most common diseases to prevent economical losses. The main purpose is to detect mainly three diseases of the strawberry crops, i.e. Botrytis cinerea, Leaf scorch, and Powdery mildew, to take further actions if the crops are unhealthy. We have chosen these three diseases because these are frequent and unpredictable issues, and the risk of infection is high. For this, we trained four algorithms, two based on Single Shot MultiBox Detector and two based on EfﬁcientDet algorithm. We focus the analysis on the two best results based on the mean average precision. We have used Google colab for training, then a Core i5 host computer and an Nvidia Jetson nano were used for testing. We have achieved a detection network with a mean average precision of 81% in the best case, in detecting the three proposed classes. While using an NVIDIA Jetson nano, the accuracy increases up to 86% due to the dedicated GPU that processes Convolutional Neural Networks(CNN).","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"62 1","pages":"537-544"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77920260","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: 1

Wearable MIMUs for the Identification of Upper Limbs Motion in an Industrial Context of Human-Robot Interaction 用于人机交互工业环境中上肢运动识别的可穿戴MIMUs

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010548304030409

Mattia Antonelli, E. Digo, S. Pastorelli, L. Gastaldi

{"title":"Wearable MIMUs for the Identification of Upper Limbs Motion in an Industrial Context of Human-Robot Interaction","authors":"Mattia Antonelli, E. Digo, S. Pastorelli, L. Gastaldi","doi":"10.5220/0010548304030409","DOIUrl":"https://doi.org/10.5220/0010548304030409","url":null,"abstract":"The automation of human gestures is gaining increasing importance in manufacturing. Indeed, robots support operators by simplifying their tasks in a shared workspace. However, human-robot collaboration can be improved by identifying human actions and then developing adaptive control algorithms for the robot. Accordingly, the aim of this study was to classify industrial tasks based on accelerations signals of human upper limbs. Two magnetic inertial measurement units (MIMUs) on the upper limb of ten healthy young subjects acquired pick and place gestures at three different heights. Peaks were detected from MIMUs accelerations and were adopted to classify gestures through a Linear Discriminant Analysis. The method was applied firstly including two MIMUs and then one at a time. Results demonstrated that the placement of at least one MIMU on the upper arm or forearm is suitable to achieve good recognition performances. Overall, features extracted from MIMUs signals can be used to define and train a prediction algorithm reliable for the context of collaborative robotics.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"559 1","pages":"403-409"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74712191","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: 2

Vaccination and Time Limited Immunization for SARS-CoV-2 Infection SARS-CoV-2感染的疫苗接种和限时免疫

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010578106090619

P. D. Giamberardino, D. Iacoviello

引用次数: 0

On the Use of Regulator Theory in Neuroscience with Implications for Robotics 调节理论在神经科学中的应用及其对机器人技术的启示

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010639100110023

M. Broucke

引用次数: 2

Over Two Years of Challenging Environmental Conditions for Localization: The IPLT Dataset 超过两年的具有挑战性的环境条件定位:IPLT数据集

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010518303830387

Youssef Bouaziz, E. Royer, Guillaume Bresson, M. Dhome

引用次数: 1

Path Planning in Unstructured Urban Environments for Self-driving Cars 自动驾驶汽车在非结构化城市环境中的路径规划

2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) Pub Date : 2021-01-01 DOI: 10.5220/0010559602900300

Anderson Mozart, Gabriel Moraes, Rânik Guidolini, Vinicius B. Cardoso, Thiago Oliveira-Santos, A. D. Souza, C. Badue

引用次数: 3