2019 19th International Conference on Advanced Robotics (ICAR)最新文献_第3页

Adaptive Control of an Unbalanced Two-Axis Gimbal for Application to Inertially Stabilized Platforms 不平衡两轴框架在惯性稳定平台上的自适应控制

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981662

Andrei Battistel, T. R. Oliveira, Victor Hugo Pereira Rodrigues

引用次数: 5

Automatic Configuration of the Structure and Parameterization of Perception Pipelines 感知管道结构的自动配置与参数化

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981611

Vincent Dietrich, Bernd Kast, Michael Fiegert, Sebastian Albrecht, M. Beetz

引用次数: 4

Deep Reinforcement Learning Control of an Autonomous Wheeled Robot in a Challenge Task: Combined Visual and Dynamics Sensoring 挑战任务中自主轮式机器人的深度强化学习控制:结合视觉和动态传感

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981598

Luiz Afonso Marão, Larissa Casteluci, Ricardo V. Godoy, Henrique B. Garcia, D. V. Magalhães, G. Caurin

{"title":"Deep Reinforcement Learning Control of an Autonomous Wheeled Robot in a Challenge Task: Combined Visual and Dynamics Sensoring","authors":"Luiz Afonso Marão, Larissa Casteluci, Ricardo V. Godoy, Henrique B. Garcia, D. V. Magalhães, G. Caurin","doi":"10.1109/ICAR46387.2019.8981598","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981598","url":null,"abstract":"This paper presents a Deep Reinforcement Learning agent for a 4-wheeled rover in a multi-goal competition task, under the influence of noisy GPS measurements. A previous related work has implemented a similar agent to the same task using only the raw dynamics measurements as observations. The Proximal Policy Optimization algorithm combined to Universal Value Function Approximators resulted in a system able to successfully overcome very noisy GPS observations and complete the challenge task. This work introduced a frontal camera to add visual input to the rover observations during the task execution. The main change on the algorithm is on the neural networks' architectures, in which a second input layer was added to deal with the image observations. In a few alternate versions of the networks, Long Short-Term Memory (LSTM) cells were included in the architecture as well. The addition of the camera did not present a significant increase in stability or performance of the network, and the computation time require increased.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"217 1","pages":"368-373"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89103423","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

Visual-inertial SLAM aided estimation of anchor poses and sensor error model parameters of UWB radio modules 超宽带无线电模块锚位和传感器误差模型参数的视惯性SLAM辅助估计

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981544

P. Lutz, M. J. Schuster, Florian Steidle

{"title":"Visual-inertial SLAM aided estimation of anchor poses and sensor error model parameters of UWB radio modules","authors":"P. Lutz, M. J. Schuster, Florian Steidle","doi":"10.1109/ICAR46387.2019.8981544","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981544","url":null,"abstract":"Local positioning technologies based on ultrawideband (UWB) ranging have become broadly available and accurate enough for various robotic applications. In an infrastructure setup with static anchor radio modules one common problem is to determine their global positions within the world coordinate frame. Furthermore, issues like the complex radiofrequency wave propagation properties make it difficult to design a consistent sensor error model which generalizes well across different anchor setups and environments. Combining radio based local positioning systems with a visual-inertial navigation system (VINS) can provide very accurate pose estimates for calibration of the radio based localization modules and at the same time alleviate the inherent drift in visual-inertial navigation. We propose an approach to utilize a visual-inertial SLAM system using fish-eye stereo cameras and an IMU to estimate the anchor 6D poses as well as the parameters of an UWB module sensor error model on a micro-aerial-vehicle (MAV). Fiducial markers on all anchor radio modules are used as artificial landmarks within the SLAM system to get accurate anchor module pose estimates. Index Terms-MAVs, mobile robots, SLAM, UWB, radio localization, sensor calibration","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"30 1","pages":"739-746"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78619753","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: 8

Evaluating Energy Consumption of an Active Magnetorheological Knee Prosthesis 评估主动磁流变膝关节假体的能量消耗

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981642

R. Andrade, A. B. Filho, C. Vimieiro, M. Pinotti

{"title":"Evaluating Energy Consumption of an Active Magnetorheological Knee Prosthesis","authors":"R. Andrade, A. B. Filho, C. Vimieiro, M. Pinotti","doi":"10.1109/ICAR46387.2019.8981642","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981642","url":null,"abstract":"This paper presents a study of energy consumption of the AMRK, an Active Magnetorheological Knee actuator developed for transfemoral prostheses. The system consists of an active motor-unit composed by an EC motor, harmonic drive and magnetorheological (MR) clutch; that is displayed in parallel to an MR brake. With this configuration, the AMRK can work as a motor, clutch, or brake, reproducing movements similar to those of a healthy knee. We used the dynamic models of the MR clutch, MR brake and motor unit to simulate the energy consumption during over-ground walking under three different situations: using the complete AMRK, using just the motor-reducer of the AMRK, to simulate a common active prosthesis (CAKP), and using just the MR brake, to simulate a common semi-active prosthesis (CSAKP). The operation strategy of AMRK uses the motor-unit only when concentric contraction is required to raise the body center of gravity during midstance. When power dissipation is required, only the MR brake operates. The results show that the AMRK spends just 14.8 J during the gait cycle, with is 3.9 times lower than the CAKP (57.2 J), while the CSAKP spends just 6.0 J.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"27 1","pages":"75-80"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78696148","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: 10

A Quantitative Study of Tuning ROS Adaptive Monte Carlo Localization Parameters and their Effect on an AGV Localization ROS自适应蒙特卡罗定位参数的定量化研究及其对AGV定位的影响

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981601

W. Reis, O. Morandin, K. Vivaldini

引用次数: 7

Real-time RGB-D semantic keyframe SLAM based on image segmentation learning from industrial CAD models 基于工业CAD模型图像分割学习的实时RGB-D语义关键帧SLAM

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981549

Howard Mahe, Denis Marraud, Andrew I. Comport

{"title":"Real-time RGB-D semantic keyframe SLAM based on image segmentation learning from industrial CAD models","authors":"Howard Mahe, Denis Marraud, Andrew I. Comport","doi":"10.1109/ICAR46387.2019.8981549","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981549","url":null,"abstract":"This paper presents methods for performing realtime semantic SLAM aimed at autonomous navigation and control of a humanoid robot in a manufacturing scenario. A novel multi-keyframe approach is proposed that simultaneously minimizes a semantic cost based on class-level features in addition to common photometric and geometric costs. The approach is shown to robustly construct a 3D map with associated class labels relevant to robotic tasks. Alternatively to existing approaches, the segmentation of these semantic classes have been learnt using RGB-D sensor data aligned with an industrial CAD manufacturing model to obtain noisy pixel-wise labels. This dataset confronts the proposed approach in a complicated real-world setting and provides insight into the practical use case scenarios. The semantic segmentation network was fine tuned for the given use case and was trained in a semi-supervised manner using noisy labels. The developed software is real-time and integrated with ROS to obtain a complete semantic reconstruction for the control and navigation of the HRP4 robot. Experiments in-situ at the Airbus manufacturing site in Saint-Nazaire validate the proposed approach.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"7 1","pages":"147-154"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88848084","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: 6

Towards Beauty: Robot Following Aesthetics Gradients 走向美丽:机器人遵循美学梯度

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981647

M. Franzius

引用次数: 0

Applying the Popov-Vereshchagin Hybrid Dynamics Solver for Teleoperation under Instantaneous Constraints 瞬时约束下遥操作的Popov-Vereshchagin混合动力学求解器

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981568

Padmaja Kulkarni, Sven Schneider, Maren Bennewitz, D. Schulz, P. Plöger

{"title":"Applying the Popov-Vereshchagin Hybrid Dynamics Solver for Teleoperation under Instantaneous Constraints","authors":"Padmaja Kulkarni, Sven Schneider, Maren Bennewitz, D. Schulz, P. Plöger","doi":"10.1109/ICAR46387.2019.8981568","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981568","url":null,"abstract":"Teleoperation is still the de-facto mode of operation for robotic manipulators in hazardous and unknown environments. The objective is to move the manipulator under the influence of a plenitude of constraints, mainly following the human operator's commands, but also the avoidance of adverse effects such as joint limits or the exertion of external forces. A classic approach to incorporate such non-instantaneous behavior into the instantaneous motion of the kinematic chain is the Closed-Loop Inverse Kinematics (CLIK) control scheme. In this paper, we present PV-CLIK, a novel CLIK realization that for the first time practically applies the Popov-Vereshchagin (PV) hybrid dynamics solver to map the instantaneous constraints to motion commands. By relying on the PV solver, PV-CLIK offers several benefits over traditional CLIK implementations such as linear runtime complexity, handling constraints on the dynamics level or fostering composable software architectures. In the experimental evaluation, we show that our implementation of PV-CLIK outperforms existing kinematics solvers in Cartesian trajectory-following tasks at high velocities.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"11 1","pages":"673-680"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87281518","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

Vision-based Autonomous Landing for Micro Aerial Vehicles on Targets Moving in 3D Space 基于视觉的微型飞行器在三维空间运动目标上的自主降落

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981643

Robson O. de Santana, L. Mozelli, A. A. Neto

引用次数: 5