2019 19th International Conference on Advanced Robotics (ICAR)最新文献_第2页

Convolutional Neural Network Based Object Detection for Additive Manufacturing 基于卷积神经网络的增材制造目标检测

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981618

Cézar B. Lemos, P. Farias, Eduardo F. Simas Filho, A. Conceicao

引用次数: 7

Monocular vision navigation for aerial surveillance of power lines based on Deep Neural Networks and Hough transform 基于深度神经网络和霍夫变换的电力线空中监视单目导航

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981629

Victor Souza, Alan F. P. Tavares, C. Quiroz, P. Kurka

引用次数: 1

Combined Visual and Touch-based Sensing for the Autonomous Registration of Objects with Circular Features 基于视觉与触觉相结合的圆形特征物体自主配准方法

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981602

Arne Sachtler, Korbinian Nottensteiner, M. Kassecker, A. Albu-Schäffer

{"title":"Combined Visual and Touch-based Sensing for the Autonomous Registration of Objects with Circular Features","authors":"Arne Sachtler, Korbinian Nottensteiner, M. Kassecker, A. Albu-Schäffer","doi":"10.1109/ICAR46387.2019.8981602","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981602","url":null,"abstract":"Future manufacturing systems will have to allow frequent conversion of production processes. In order to prevent a surge in setup times and the cost involved, we suggest refraining from specialized part feeders, fixture units and manual calibration routines. To this effect we regard autonomous object registration as corner stone to lower the manual calibration effort. In this work, we propose a framework for autonomous object registration in robotic workcells using a combination of visual and touch-based sensing. Vision systems in process automation often require very defined conditions to produce reliable pose estimates. Therefore, we combine data from a vision system with touch-based sensing in order to benefit from both sensing modalities and reduce the requirements on the vision system. We use a particle filter approach in order to estimate the pose of individual features and show how to retrieve the overall pose of an object in the workcell from the feature estimates. The observed feature distribution is used to autonomously trigger dedicated actions for touch-based probing with a lightweight robotic arm in order to increase the accuracy. In particular, we describe the detection of circular features and validated the framework in experiments with our robotic assembly system.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"4 1","pages":"426-433"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90148655","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

Incremental Policy Refinement by Recursive Regression and Kinesthetic Guidance 基于递归回归和动觉引导的增量策略优化

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981606

B. Nemec, Mihael Simonič, T. Petrič, A. Ude

引用次数: 2

Detection and localization of pallets on shelves using a wide-angle camera 使用广角相机检测和定位货架上的托盘

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981612

Y. Kita, Ryuichi Takase, Tatsuya Komuro, Norihiko Kato, N. Kita

{"title":"Detection and localization of pallets on shelves using a wide-angle camera","authors":"Y. Kita, Ryuichi Takase, Tatsuya Komuro, Norihiko Kato, N. Kita","doi":"10.1109/ICAR46387.2019.8981612","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981612","url":null,"abstract":"This paper proposes a method to detect and localize pallets on shelves using a wide-angle camera mounted on a vehicle several meters away along the shelves. Although wide-angle observation is a significant advantage in navigation, objects appear small and largely distorted in the observed image, thus creating a severe disadvantage for the detection and localization of objects. To solve this problem, we propose reprojecting wide-angle views onto a three-dimensional (3D) plane to obtain a good projection image for object detection, in which pallets appear in the same shape and size regardless of the location in the image. Since the image projected on the plane coplanar to the pallet's front surface satisfy the above condition, we approximate the projection plane using the front surface of the shelves with pallets on it. Owing to the constant appearance of the pallet on the projected image, it can be robustly detected using the matching with a fixed template. When a pallet is detected, it is three-dimensionally localized from the equation of the 3D plane of the projection plane and its 2D location in the projected image. Experiments using empirically captured scenes demonstrated the detection and localization ability of the proposed method. Despite small area in the original wide-angle view, pallets of interest were discriminatively detected from others and localized with acceptable accuracy.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"47 1","pages":"785-792"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91136279","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

Eco-cruise NMPC Control for Autonomous Vehicles 自动驾驶汽车生态巡航NMPC控制

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981639

Kenny A. Q. Caldas, V. Grassi

{"title":"Eco-cruise NMPC Control for Autonomous Vehicles","authors":"Kenny A. Q. Caldas, V. Grassi","doi":"10.1109/ICAR46387.2019.8981639","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981639","url":null,"abstract":"The purpose of this work is the development of a nonlinear model-based predictive controller for Eco-cruise in autonomous ground vehicles. Eco-driving consists of a group of strategies adopted by a driver aiming to reduce fuel consumption and improvement of safety and comfort levels during a trip. Through the use of latitude-longitude information and a GPS module, the predictive controller can calculate a sequence of control input to smooth the vehicle's acceleration and braking along the route in critical parts, such as uphills, downhills and curves, following the speed limits of each road. This is accomplished by predictions based on the mathematical model of the vehicle and estimation of gasoline expenditure. The chosen optimizer algorithm is called C/GMRES, where its main advantage from the traditional methods is that the solution of the optimal problem does not require iterative searches, which greatly reduces the computational burden, allowing a real time implementation. Another advantage of the proposed method is that it only requires publicly available data to obtain the controller parameters. The Eco-cruise NMPC was implemented in simulation and compared with a cruise controller. The obtained results were considered satisfactory and showed the predictive controller's potential to reduce fuel consumption in autonomous vehicles.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"46 1","pages":"356-361"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90824590","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: 5

A Study on Configuration of Propellers for Multirotor-like Hybrid Aerial-Aquatic Vehicles 多旋翼型混合式水上飞行器螺旋桨结构研究

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981667

Alexandre C. Horn, P. Pinheiro, C. B. Silva, A. A. Neto, Paulo L. J. Drews-Jr

{"title":"A Study on Configuration of Propellers for Multirotor-like Hybrid Aerial-Aquatic Vehicles","authors":"Alexandre C. Horn, P. Pinheiro, C. B. Silva, A. A. Neto, Paulo L. J. Drews-Jr","doi":"10.1109/ICAR46387.2019.8981667","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981667","url":null,"abstract":"This paper presents a study on the configuration of propulsion systems for multirotor-like hybrid vehicles that travel in both, aerial and aquatic medium, hereafter called Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs). Following, we evaluate the impact of diameter and shape of propellers, and the medium in which the robot moves, on thrust generation and energy consumption. Sets of counter-rotating propellers (CRPs) and single propellers propulsion systems were experimentally evaluated in air and under the water. One of our conclusions is that aerial counter-rotating propellers, used in the state-of-the-art hybrid vehicles, are relatively inefficient in the air, and even more in the water, and this energy loss must be taken into account during the platform project. Furthermore, we also demonstrate that aquatic screwlike propellers are more efficient in the water than aerial ones, equally contradicting the current literature. Moreover, since aquatic propellers provide more thrust with smaller diameters, they improve our capacity to miniaturize hybrid vehicles.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"70 1","pages":"173-178"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75324119","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: 26

A Novel Approach for Parameter Extraction of an NMPC-based Visual Follower Model 一种基于nmpc的视觉跟随者模型参数提取新方法

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981666

I. J. P. B. Franco, T. T. Ribeiro, A. Conceicao

引用次数: 2

Automated Conflict Resolution of Lane Change Utilizing Probability Collectives 基于概率集体的变道冲突自动解决

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981609

T. C. Santos, D. Wolf

{"title":"Automated Conflict Resolution of Lane Change Utilizing Probability Collectives","authors":"T. C. Santos, D. Wolf","doi":"10.1109/ICAR46387.2019.8981609","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981609","url":null,"abstract":"Lane change is one of the most common maneuvers in traffic. It is a lateral movement which can affect the trajectory of other vehicles, with the possibility of collision. Although the field of autonomous vehicles has been growing and the repertoire of methods used for autonomous navigation is extensive, lane-changing still one of the causes of flow reduction and accidents. Researches usually address the lane change problem from the perspective of a single-agent. On the other hand, multi-agent systems based on interaction among vehicles, equipped with wireless communication technologies, can improve traffic efficiency and safety. This paper presents a multi-agent automated conflict resolution to collision avoidance method based on Probability Collectives to perform coordinated maneuvers in a fully decentralized manner using communication. We used SUMO to simulate lane-changing situations in a two-lane highway scenario, where the vehicles had to do a lane-merging maneuver. We evaluate the time for all vehicles of the platoon complete a lane-merging, vehicle flow per second, maximum string length, and the platoon's average speed. We compared the SUMO centralized lane change method with a fully decentralized PC method. The results show that the PC method closely approximates to the centralized SUMO method which uses all data for its decision making.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"14 1","pages":"623-628"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73263749","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

SimSLAM 2D: A Simulation Framework for Testing and Benchmarking of two-dimensional Visual-SLAM Methods SimSLAM 2D:用于测试和基准测试的二维可视化slam方法的仿真框架

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981626

Juan Rodriguez, Davinson Castano Cano

引用次数: 1