发布求助
文献互助 智能选刊 最新文献

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)最新文献

筛选
英文 中文
Unscented Kalman filtering on Lie groups 李群上的无气味卡尔曼滤波
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206066
Martin Brossard, S. Bonnabel, Jean-Philippe Condomines
{"title":"Unscented Kalman filtering on Lie groups","authors":"Martin Brossard, S. Bonnabel, Jean-Philippe Condomines","doi":"10.1109/IROS.2017.8206066","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206066","url":null,"abstract":"In this paper, we first consider a simple Bayesian fusion problem in a matrix Lie group, and propose to tackle it using the unscented transform. The method is then leveraged to derive two simple alternative unscented Kalman filters on Lie groups, for both cases of noisy partial measurements of the state, and full state noisy measurements of the state on the group. The general method is applied to a robot localization problem, and results based on experimental data combined with extensive Monte-Carlo simulations at various noise levels illustrate the superiority of the approach over the standard UKF.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"20 1","pages":"2485-2491"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74255042","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: 67
Visual servoing from lines using a planar catadioptric system 利用平面反射系统实现直线视觉伺服
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206127
É. Marchand, B. Fasquelle
{"title":"Visual servoing from lines using a planar catadioptric system","authors":"É. Marchand, B. Fasquelle","doi":"10.1109/IROS.2017.8206127","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206127","url":null,"abstract":"In this paper, we propose a complete scheme to control a mirror, using a visual servoing scheme, using lines as a set of visual features. Considering the equations of the projection of the reflection of a lines on a mirror, this paper introduces the theoretical background that allows to control the mirror using visual information. Experiments using a mirror mounted on the end-effector of a 6 d.o.f robot validate the proposed approach.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"15 1","pages":"2935-2940"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80754245","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
Online payload identification for quadruped robots 四足机器人在线载荷识别
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206367
G. Tournois, Michele Focchi, A. Prete, Romeo Orsolino, D. Caldwell, C. Semini
{"title":"Online payload identification for quadruped robots","authors":"G. Tournois, Michele Focchi, A. Prete, Romeo Orsolino, D. Caldwell, C. Semini","doi":"10.1109/IROS.2017.8206367","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206367","url":null,"abstract":"The identification of inertial parameters is crucial to achieve high-performance model-based control of legged robots. The inertial parameters of the legs are typically not altered during expeditions and therefore are best identified offline. On the other hand, the trunk parameters depend on the modules mounted on the robot, like a motor to provide the hydraulic power, or different sets of cameras for perception. This motivates the use of recursive approaches to identify online mass and the position of the Center of Mass (CoM) of the robot trunk, when a payload change occurs. We propose two such approaches and analyze their robustness in simulation. Furthermore, experimental trials on our 80-kg quadruped robot HyQ show the applicability of our strategies during locomotion to cope with large payload changes that would otherwise severely compromise the balance of the robot.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"20 1","pages":"4889-4896"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73673448","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: 20
An assisted bilateral control strategy for 3D pose estimation of visual features 视觉特征三维姿态估计的辅助双边控制策略
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206080
N. Battilani, R. Spica, P. Giordano, C. Secchi
{"title":"An assisted bilateral control strategy for 3D pose estimation of visual features","authors":"N. Battilani, R. Spica, P. Giordano, C. Secchi","doi":"10.1109/IROS.2017.8206080","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206080","url":null,"abstract":"Teleoperating a quadrotor equipped with a monocular camera for exploring a wide area in search of something has become a common practice in many application scenarios (e.g. search and rescue). In order to efficiently plan operations, estimating the 3D pose of a point of interest is as important as detecting it. In this paper we propose a novel bilateral teleoperation architecture where an estimation scheme is exploited for recovering the position of a set of visual features while an operator steers the motion of the quadrotor UAV. The operator acts on a force-feedback master device that produces force cues meant to suggest where to drive the quadrotor for improving the convergence rate of the estimation process. The effectiveness of the proposed teleoperation strategy is validated by means of hardware in the loop simulations.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"18 1","pages":"2580-5886"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84594447","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
A framework for intuitive collaboration with a mobile manipulator 一个与移动机械手进行直观协作的框架
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206532
B. Navarro, A. Cherubini, A. Fonte, G. Poisson, P. Fraisse
{"title":"A framework for intuitive collaboration with a mobile manipulator","authors":"B. Navarro, A. Cherubini, A. Fonte, G. Poisson, P. Fraisse","doi":"10.1109/IROS.2017.8206532","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206532","url":null,"abstract":"In this paper, we present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base. When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution that allows the mobile base to be fixed when working locally and moves it only when the robot approaches a set of constraints. These constraints include distance to singular poses, minimum of manipulability and distance to objects and angular deviation. Experimental results with a Kuka LWR4 arm mounted on a Neobotix MPO700 mobile base validate the proposed approach.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"99 1","pages":"6293-6298"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73881902","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: 23
An intermediary quaternion-based control for trajectory following using a quadrotor 四旋翼飞行器轨迹跟踪的中间四元数控制
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8206491
J. Colmenares-Vazquez, N. Marchand, P. Castillo, J. Gomez-Balderas
{"title":"An intermediary quaternion-based control for trajectory following using a quadrotor","authors":"J. Colmenares-Vazquez, N. Marchand, P. Castillo, J. Gomez-Balderas","doi":"10.1109/IROS.2017.8206491","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206491","url":null,"abstract":"This work uses the intermediary quaternions in the design of a backstepping control technique with integral properties in order to perform an autonomous trajectory tracking using a quadcopter vehicle. Nowadays, in order to determine the orientation of a vehicle, most of the inertial systems of aircrafts can give directly the rotation matrix and taking advantage of this fact, the intermediary quaternions can be determined in a simple way from this matrix. Moreover, one specific orientation corresponds to only one intermediary quaternion and this helps to cope the unwinding phenomenon presented when working with the classical quaternions. The proposed control algorithm is validated numerically and experimentally when the quadrotor follows a circular trajectory. In addition, during the simulation part, some external perturbations and white noise were added in order to test the robustness of the algorithm.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"83 1","pages":"5965-5970"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80354367","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
Only look once, mining distinctive landmarks from ConvNet for visual place recognition 只看一次，从卷积神经网络中挖掘独特的地标进行视觉位置识别
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-24 DOI: 10.1109/IROS.2017.8202131
Zetao Chen, Fabiola Maffra, Inkyu Sa, M. Chli
{"title":"Only look once, mining distinctive landmarks from ConvNet for visual place recognition","authors":"Zetao Chen, Fabiola Maffra, Inkyu Sa, M. Chli","doi":"10.1109/IROS.2017.8202131","DOIUrl":"https://doi.org/10.1109/IROS.2017.8202131","url":null,"abstract":"Recently, image representations derived from Convolutional Neural Networks (CNNs) have been demonstrated to achieve impressive performance on a wide variety of tasks, including place recognition. In this paper, we take a step deeper into the internal structure of CNNs and propose novel CNN-based image features for place recognition by identifying salient regions and creating their regional representations directly from the convolutional layer activations. A range of experiments is conducted on challenging datasets with varied conditions and viewpoints. These reveal superior precision-recall characteristics and robustness against both viewpoint and appearance variations for the proposed approach over the state of the art. By analyzing the feature encoding process of our approach, we provide insights into what makes an image presentation robust against external variations.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"44 1","pages":"9-16"},"PeriodicalIF":0.0,"publicationDate":"2017-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84999971","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: 114
Search-based motion planning for quadrotors using linear quadratic minimum time control 基于搜索的线性二次最小时间控制四旋翼飞行器运动规划
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-15 DOI: 10.1109/IROS.2017.8206119
Sikang Liu, Nikolay A. Atanasov, K. Mohta, Vijay R. Kumar
{"title":"Search-based motion planning for quadrotors using linear quadratic minimum time control","authors":"Sikang Liu, Nikolay A. Atanasov, K. Mohta, Vijay R. Kumar","doi":"10.1109/IROS.2017.8206119","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206119","url":null,"abstract":"In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the map using a set of short-duration motion primitives. The primitives are generated by solving an optimal control problem and induce a finite lattice discretization on the state space which can be explored using a graph-search algorithm. The proposed approach is able to generate resolution-complete (i.e., optimal in the discretized space), safe, dynamically feasibility trajectories efficiently by exploiting the explicit solution of a Linear Quadratic Minimum Time problem. It does not assume a hovering initial condition and, hence, is suitable for fast online re-planning while the robot is moving. Quadrotor navigation with online re-planning is demonstrated using the proposed approach in simulation and physical experiments and comparisons with trajectory generation based on state-of-art quadratic programming are presented.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"34 1","pages":"2872-2879"},"PeriodicalIF":0.0,"publicationDate":"2017-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80460319","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: 163
Model-free control for soft manipulators based on reinforcement learning 基于强化学习的软机械臂无模型控制
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8206123
Xuanke You, Yixiao Zhang, Xiaotong Chen, Xinghua Liu, Zhanchi Wang, Hao Jiang, Xiaoping Chen
{"title":"Model-free control for soft manipulators based on reinforcement learning","authors":"Xuanke You, Yixiao Zhang, Xiaotong Chen, Xinghua Liu, Zhanchi Wang, Hao Jiang, Xiaoping Chen","doi":"10.1109/IROS.2017.8206123","DOIUrl":"https://doi.org/10.1109/IROS.2017.8206123","url":null,"abstract":"Most control methods of soft manipulators are developed based on physical models derived from mathematical analysis or learning methods. However, due to internal nonlinearity and external uncertain disturbances, it is difficult to build an accurate model, further, these methods lack robustness and portability among different prototypes. In this work, we propose a model-free control method based on reinforcement learning and implement it on a multi-segment soft manipulator in 2D plane, which focuses on the learning of control strategy rather than the physical model. The control strategy is validated to be effective and robust in prototype experiments, where we design a simulation method to speed up the training process.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"6 1","pages":"2909-2915"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75827954","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: 41
Place recognition of 3D landmarks based on geometric relations 基于几何关系的三维地标位置识别
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2017-09-01 DOI: 10.1109/IROS.2017.8202220
Dario Lodi Rizzini
{"title":"Place recognition of 3D landmarks based on geometric relations","authors":"Dario Lodi Rizzini","doi":"10.1109/IROS.2017.8202220","DOIUrl":"https://doi.org/10.1109/IROS.2017.8202220","url":null,"abstract":"Place recognition based on landmarks or features is an important problem occurring in localization, mapping, computer vision and point cloud processing. In this paper, we present GLAROT-3D, a translation and rotation invariant 3D signature based on geometric relations. The proposed method encodes into a histogram the pairwise relative positions of keypoint features extracted from 3D sensor data. Since it relies only on geometric properties and not on specific feature descriptors, it does not require any prior training or vocabulary construction and enables lightweight comparisons between landmark maps. The similarity of two point maps is computed as the distance between the corresponding rotated histograms to achieve rotation invariance. Histogram rotation is enabled by efficient orientation histogram based on sphere cubical projection. The performance of GLAROT has been assessed through experiments with standard benchmark datasets.","PeriodicalId":6658,"journal":{"name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"1 1","pages":"648-654"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74608518","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: 17
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信