2019 International Conference on Robotics and Automation (ICRA)最新文献

Real-time Model Based Path Planning for Wheeled Vehicles 基于实时模型的轮式车辆路径规划

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8794133

Julian Jordan, A. Zell

引用次数: 3

Go with the Flow: Exploration and Mapping of Pedestrian Flow Patterns from Partial Observations 随波逐流:从部分观察中探索和绘制行人流模式

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8794434

Sergi Molina Mellado, Grzegorz Cielniak, T. Duckett

引用次数: 12

Design of a Modular Continuum Robot Segment for use in a General Purpose Manipulator* 一种用于通用机械臂的模块化连续体机器人分段设计*

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8794249

Nicholas P. Castledine, J. Boyle, Jongrae Kim

{"title":"Design of a Modular Continuum Robot Segment for use in a General Purpose Manipulator*","authors":"Nicholas P. Castledine, J. Boyle, Jongrae Kim","doi":"10.1109/ICRA.2019.8794249","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794249","url":null,"abstract":"This paper presents the development of a tendon-driven continuum robot segment with a modular design, simple construction and significant lifting capabilities. The segment features a continuous flexible core combined with rigid interlocking vertebrae evenly distributed along its length. This design allows bending in two degrees of freedom while minimising torsional movement. The segment is actuated by two antagonistic tendon pairs, each of which is driven by a single geared DC motor. Modularity is achieved by embedding these motors in one end of the segment, avoiding the need for a bulky actuation unit and allowing variable numbers of segments to be connected. The design features a large hollow central bore which could be used as a vacuum channel for suction-assisted gripping or to allow ingress and egress of fluids. The design process goes through four iterations, the final two of which are subjected to quantitative experiments to evaluate workspace, lifting capabilities and torsional rigidity. All iterations are fabricated using multi-material 3D printing, which allows the entire structure to be printed as a pre-assembled unit with the rigid vertebrae fused to the flexible core. Assembly is then a simple case of inserting the motors and connecting the tendons. This unconventional manufacturing approach is found to be efficient, effective and relatively cheap.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"298 1","pages":"4430-4435"},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77329127","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

Improving collective decision accuracy via time-varying cross-inhibition 通过时变交叉抑制提高集体决策的准确性

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8794284

Mohamed S. Talamali, James A. R. Marshall, Thomas Bose, A. Reina

{"title":"Improving collective decision accuracy via time-varying cross-inhibition","authors":"Mohamed S. Talamali, James A. R. Marshall, Thomas Bose, A. Reina","doi":"10.1109/ICRA.2019.8794284","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794284","url":null,"abstract":"We investigate decentralised decision-making, in which a robot swarm is tasked with selecting the best-quality option among a set of alternatives. Individual robots are simplistic as they only perform diffusive search, make local noisy estimates of the options’ quality, and exchange information with near neighbours. We propose a decentralised algorithm, inspired by house-hunting honeybees, to efficiently aggregate noisy estimations. Individual robots, by varying over time a single decentralised parameter that modulates the interaction strength, balance exploration and agreement. In this way, the swarm first identifies the options under consideration, then rapidly converges on the best available option, even when outnumbered by lower quality options. We present stochastic analyses and swarm robotics simulations to compare the novel strategy with previous methods and to quantify the performance improvement. The proposed strategy limits the spreading of errors within the population and allows swarms of simple noisy units with minimal communication capabilities to make highly accurate collective decisions in predictable time.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"351 1","pages":"9652-9659"},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76542591","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

Adaptive H∞ Controller for Precise Manoeuvring of a Space Robot 空间机器人精确机动的自适应H∞控制器

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8794374

A. Seddaoui, C. Saaj, S. Eckersley

引用次数: 2

Thermal Image Based Navigation System for Skid-Steering Mobile Robots in Sugarcane Crops* 基于热图像的甘蔗滑动转向移动机器人导航系统*

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8794354

M. Xaud, A. C. Leite, P. From

{"title":"Thermal Image Based Navigation System for Skid-Steering Mobile Robots in Sugarcane Crops*","authors":"M. Xaud, A. C. Leite, P. From","doi":"10.1109/ICRA.2019.8794354","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794354","url":null,"abstract":"This work proposes a new strategy for autonomous navigation of mobile robots in sugarcane plantations based on thermal imaging. Unlike ordinary agricultural fields, sugarcane farms are generally vast and accommodates numerous arrangements of row crop tunnels, which are very tall, dense and hard-to-access. Moreover, sugarcane crops lie in harsh regions, which hinder the logistics for employing staff and heavy machinery for mapping, monitoring, and sampling. One solution for this problem is TIBA (Tankette for Intelligent BioEnergy Agriculture), a low-cost skid-steering mobile robot capable of infiltrating the crop tunnels with several sensing/sampling systems. The project concept is to reduce the product cost for making the deployment of a robot swarm feasible over a larger area. A prototype was built and tested in a bioenergy farm in order to improve the understanding of the environment and bring about the challenges for the next development steps. The major problem is the navigation through the crop tunnels, since most of the developed systems are suitable for open field operations and employ laser scanners and/or GPS/IMU, which in general are expensive technologies. In this context, we propose a low-cost solution based on infrared (IR) thermal imaging. IR cameras are simple and inexpensive devices, which do not pose risks to the user health, unlike laser-based sensors. This idea was highly motivated by the data collected in the field, which have shown a significant temperature difference between the ground and the crop. From the image analysis, it is possible to clearly visualize a distinguishable corridor and, consequently, generate a straight path for the robot to follow by using computationally efficient approaches. A rigorous analysis of the collected thermal data, numerical simulations and preliminary experiments in the real environment were included to illustrate the efficiency and feasibility of the proposed navigation methodology.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"1 1","pages":"1808-1814"},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88128535","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: 9

Turn-minimizing multirobot coverage 最小化转弯的多机器人覆盖

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8794002

Isaac Vandermeulen, Roderich Groß, A. Kolling

引用次数: 14

Spatio-temporal representation for long-term anticipation of human presence in service robotics 服务机器人中人类存在长期预期的时空表征

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8793534

Tomáš Vintr, Zhi Yan, T. Duckett, T. Krajník

引用次数: 19

Laparoscopy instrument tracking for single view camera and skill assessment 单视角摄像机腹腔镜仪器跟踪与技能评估

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8794038

Benjamin Gautier, Harun Tugal, B. Tang, G. Nabi, M. S. Erden

{"title":"Laparoscopy instrument tracking for single view camera and skill assessment","authors":"Benjamin Gautier, Harun Tugal, B. Tang, G. Nabi, M. S. Erden","doi":"10.1109/ICRA.2019.8794038","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794038","url":null,"abstract":"Assessment of minimally invasive surgical skills is a non-trivial task, usually requiring the presence and time of expert observers, including subjectivity and requiring special and expensive equipment and software. This study develops an algorithm for tracking laparoscopy instruments in the video cues of a standard laparoscopy training box with a single webcam camera and proposes new criteria to assess skill level using the extracted tool trajectories. Instrument tracking and assessment criteria together constitute a significant step towards developing a low cost, automated, and widely applicable laparoscopy training and assessment system using a standard physical training box equipped with a webcam. The developed visual tracking algorithm recovers the 3D positions of the laparoscopic instruments tips to which simple colored tapes (markers) are attached. The new assessment criteria are based on frequency analysis and linear discriminant analysis of the 3D reconstructed trajectories of the instruments. The performance of these proposed criteria are compared to the conventional criteria for laparoscopy training and demonstrated to be superior on the data we have recorded from six professional laparoscopy surgeons and ten novice subjects.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"15 1","pages":"5039-5045"},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80090303","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

Event-based, Direct Camera Tracking from a Photometric 3D Map using Nonlinear Optimization 基于事件，直接相机跟踪从一个光度三维地图使用非线性优化

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-08-12 DOI: 10.1109/ICRA.2019.8794255

Samuel Bryner, Guillermo Gallego, Henri Rebecq, D. Scaramuzza

{"title":"Event-based, Direct Camera Tracking from a Photometric 3D Map using Nonlinear Optimization","authors":"Samuel Bryner, Guillermo Gallego, Henri Rebecq, D. Scaramuzza","doi":"10.1109/ICRA.2019.8794255","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794255","url":null,"abstract":"Event cameras are novel bio-inspired vision sensors that output pixel-level intensity changes, called “events”, instead of traditional video images. These asynchronous sensors naturally respond to motion in the scene with very low latency (microseconds) and have a very high dynamic range. These features, along with a very low power consumption, make event cameras an ideal sensor for fast robot localization and wearable applications, such as AR/VR and gaming. Considering these applications, we present a method to track the 6-DOF pose of an event camera in a known environment, which we contemplate to be described by a photometric 3D map (i.e., intensity plus depth information) built via classic dense 3D reconstruction algorithms. Our approach uses the raw events, directly, without intermediate features, within a maximum-likelihood framework to estimate the camera motion that best explains the events via a generative model. We successfully evaluate the method using both simulated and real data, and show improved results over the state of the art. We release the datasets to the public to foster reproducibility and research in this topic.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"52 1","pages":"325-331"},"PeriodicalIF":0.0,"publicationDate":"2019-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80380608","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: 48