2019 19th International Conference on Advanced Robotics (ICAR)最新文献_第10页

Laser-Supported Monocular Visual Tracking for Natural Environments 自然环境中激光支持的单目视觉跟踪

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981604

Georges Chahine, C. Pradalier

引用次数: 2

Continuous Deep Maximum Entropy Inverse Reinforcement Learning using online POMDP 使用在线POMDP的连续深度最大熵逆强化学习

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981548

Júnior A. R. Silva, V. Grassi, D. Wolf

{"title":"Continuous Deep Maximum Entropy Inverse Reinforcement Learning using online POMDP","authors":"Júnior A. R. Silva, V. Grassi, D. Wolf","doi":"10.1109/ICAR46387.2019.8981548","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981548","url":null,"abstract":"A vehicle navigating in an urban environment must obey traffic rules by properly setting its speed, such as staying below the road speed limit and avoiding collision with other vehicles. This is presumably the scenario that autonomous vehicles will face: they will share the traffic roads with other vehicles (autonomous or not), cooperatively interacting with them. In other words, autonomous vehicles should not only follow traffic rules, but should also behave in such a way that resembles other vehicles behavior. However, manually specification of such behavior is a time-consuming and error-prone task, since driving in urban roads is a complex task, which involves many factors. This paper presents a multitask decision making framework that learns an expert driver's behavior driving in an urban scenario containing traffic lights and other vehicles. For this purpose, Inverse Reinforcement Learning (IRL) is used to learn a reward function that explains the expert driver's behavior. Most IRL approaches require solving a Markov Decision Process (MDP) in each iteration of the algorithm to compute the optimal policy given the current rewards. Nevertheless, the computational cost of solving an MDP is high when considering large state spaces. To overcome this issue, the optimal policy is estimated by sampling trajectories in regions of the space with higher rewards. To do so, the problem is modeled as a continuous Partially Observed Markov Decision Process (POMDP), in which the intentions of other vehicles are only partially observed. An online solver is employed in order to sample trajectories given the current rewards. The efficiency of the proposed framework is demonstrated through simulations, showing that the controlled vehicle is be able to mimic an expert driver's behavior.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"20 1","pages":"382-387"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77610158","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: 4

Tightly Coupled Semantic RGB-D Inertial Odometry for Accurate Long-Term Localization and Mapping 紧密耦合语义RGB-D惯性里程计精确的长期定位和映射

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981658

Naman Patel, F. Khorrami, P. Krishnamurthy, A. Tzes

引用次数: 4

Object-based differential Localization of Mobile Robots using sparse 2D Lidar Data 基于稀疏二维激光雷达数据的移动机器人目标差分定位

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981622

Marc Forstenhäusler, M. Karl, K. Dietmayer

引用次数: 0

Assistive method that controls joint stiffness and antagonized angle based on human joint stiffness characteristics and its application to an exoskeleton 基于人体关节刚度特性的关节刚度和拮抗角辅助控制方法及其在外骨骼上的应用

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981664

Seigo Kimura, Ryuji Suzuki, Masashi Kashima, M. Okui, Rie Nishihama, Taro Nakamura

引用次数: 3

Design and Shared Control of a Flexible Endoscope with Autonomous Distal Tip Alignment 末端自动对准柔性内窥镜的设计与共享控制

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981563

M. Ahmad, M. Ourak, Caspar Gruijthuijsen, Julie Legrand, Tom Kamiel Magda Vercauteren, J. Deprest, S. Ourselin, E. V. Poorten

{"title":"Design and Shared Control of a Flexible Endoscope with Autonomous Distal Tip Alignment","authors":"M. Ahmad, M. Ourak, Caspar Gruijthuijsen, Julie Legrand, Tom Kamiel Magda Vercauteren, J. Deprest, S. Ourselin, E. V. Poorten","doi":"10.1109/ICAR46387.2019.8981563","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981563","url":null,"abstract":"Open womb surgery for prenatal therapy is an extreme option which may induce severe side effects on both the fetus and the mother. Minimal invasive surgery (MIS) is, in general, less strenuous than open surgery. Unfortunately, the current tools and techniques are not optimized for the unique environment of the womb. Used in prenatal MIS, the physician visually assesses the in-utero environment, the fetus and the placenta. This work deals with the use of fetoscopic instruments in photocoagulation therapy using lasers for Twin-to-Twin Transfusion Syndrome (TTTS). The TTTS procedure consists of identifying and coagulating the anastomosing vessels. We propose a fetoscopic instrument with a flexible steerable distal tip as opposed to currently used rigid scopes. The enhanced dexterity improves the ability of the surgeon to coagulate otherwise hard to access regions. We anticipate usability issues and a potentially steep learning curve as currently surgeons solely work with non-bendable instruments. To alleviate this problem, a shared control approach is proposed in which the surgeon controls the position of the instrument inside the uterus while an autonomous controller controls the orientation. The system is validated by testing on a novel instrument with 2 actuated degrees of freedom in an in-silico setup featuring a real placenta image, a motion tracking system and a mechanical fulcrum point to mimic the incision port. The autonomous distal tip controller achieved an overall 4.75° RMSE with respect to the desired orientation, which is within the targeted range of orientations.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"106 1","pages":"647-653"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87869063","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: 4

A Health Monitoring System with Hybrid Bayesian Network for Autonomous Vehicle 基于混合贝叶斯网络的自动驾驶汽车健康监测系统

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981565

I. P. Gomes, D. Wolf

引用次数: 5

Visual attention system based on Fuzzy Classifier to define priority of traffic signs for intelligent robotic vehicle navigation purposes 基于模糊分类器的视觉注意系统用于智能机器人车辆导航中交通标志优先级的确定

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981546

Diego Renan Bruno, F. Osório

{"title":"Visual attention system based on Fuzzy Classifier to define priority of traffic signs for intelligent robotic vehicle navigation purposes","authors":"Diego Renan Bruno, F. Osório","doi":"10.1109/ICAR46387.2019.8981546","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981546","url":null,"abstract":"In this paper we propose the use of Multiple Decision Attributes and Fuzzy Sets so that it is possible to classify the importance and priority of the detected traffic signs. The Analytic Hierarchy Process (AHP) was applied to calculate attribute weights, the Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS) to classify the traffic signs into their importance levels. The main objective is to contribute with a new system of perception and, through a knowledge base rules set, to be able to semantically relate the scene and to define which traffic sign is more important in a certain moment of navigation of the autonomous vehicle. The system of vision with 2D and 3D images must provide the a priori data of detection and classification of traffic signs for the fuzzy visual attention system, being able to detect the use of auxiliary signs (cones and emergency signs) and relates. Then, relate then to the detection of the navigable area in cases of road blocking (road at work, with a traffic accident, etc.) and give priority to the most important signs for the decision making of the vehicle. The results are promising and very satisfactory, we obtained an accuracy of 98.9% in the 2D classification task and 88% accuracy in the single frame 3D detection task.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"50 6 1","pages":"434-440"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91001595","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: 3

Towards Sound-source Position Estimation using Mutual Information for Next Best View Motion Planning 基于互信息的下一个最佳视点运动规划声源位置估计

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981599

Mohammad Fattahi Sani, Brendan Emery, D. Caldwell, L. Mattos, N. Deshpande

{"title":"Towards Sound-source Position Estimation using Mutual Information for Next Best View Motion Planning","authors":"Mohammad Fattahi Sani, Brendan Emery, D. Caldwell, L. Mattos, N. Deshpande","doi":"10.1109/ICAR46387.2019.8981599","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981599","url":null,"abstract":"Robotic operations in the real world rely on bearing-only sensors, e.g., optical, acoustic, etc., to sense physical phenomena. Bearing-only sensors are limited because they do not provide range information. To overcome this limitation in estimating source locations, the most common solutions involve making multiple measurements from different locations, either through multiple sensors in the field or a single moving sensor, and then applying triangulation or filtering. In unknown environments with single motion-capable sensors (e.g., mobile robots with on-board sensors), planned motion of the sensor can allow accurate and efficient source position estimation. This paper presents a novel approach in estimating the locations of stationary sources, using a motion-capable sensor. The proposed method combines the concepts of Extended Kalman Filter (EKF) and Mutual Information (MI) from information theory to estimate the Next Best View (NBV) pose to which the sensor should be moved. A utility function, that accounts for the movement cost, the characteristics of the sensor, and the MI and EKF information, facilitates efficient estimation. The proposed algorithm has been implemented in the realworld for Sound-source Position Estimation (SPE), using an acoustic sensor mounted at the end of a 6 degrees-of-freedom (DOF) robotic manipulator. The algorithm, termed as NBV-SPE, proves its utility and performance through preliminary indoor and outdoor experiments for sound sources in 3D space.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"56 1","pages":"24-29"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83580058","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

A low-cost, compliant, underactuated prosthetic hand with custom flex sensors for finger bending estimation 一种低成本，柔顺，欠驱动的假手，带有定制的弯曲传感器，用于手指弯曲估计

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981648

Luiza Amador Pozzobon, R. S. Guerra, G. Librelotto

引用次数: 0