2019 International Conference on Robotics and Automation (ICRA)最新文献_第10页

Energy Budget Transaction Protocol for Distributed Robotic Systems 分布式机器人系统的能量预算交易协议

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794388

S. S. Groothuis, S. Stramigioli

引用次数: 1

Learning Primitive Skills for Mobile Robots 学习移动机器人的基本技能

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793688

Yifeng Zhu, Devin Schwab, M. Veloso

{"title":"Learning Primitive Skills for Mobile Robots","authors":"Yifeng Zhu, Devin Schwab, M. Veloso","doi":"10.1109/ICRA.2019.8793688","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793688","url":null,"abstract":"Achieving effective task performance on real mobile robots is a great challenge when hand-coding algorithms, both due to the amount of effort involved and manually tuned parameters required for each skill. Learning algorithms instead have the potential to lighten up this challenge by using one single set of training parameters for learning different skills, but the question of the feasibility of such learning in real robots remains a research pursuit. We focus on a kind of mobile robot system - the robot soccer “small-size” domain, in which tactical and high-level team strategies build upon individual robot ball-based skills. In this paper, we present our work using a Deep Reinforcement Learning algorithm to learn three real robot primitive skills in continuous action space: go-to-ball, turn-and-shoot and shoot-goalie, for which there is a clear success metric to reach a destination or score a goal. We introduce the state and action representation, as well as the reward and network architecture. We describe our training and testing using a simulator of high physical and hardware fidelity. Then we test the policies trained from simulation on real robots. Our results show that the learned skills achieve an overall better success rate at the expense of taking 0.29 seconds slower on average for all three skills. In the end, we show that our policies trained in simulation have good performance on real robots by directly transferring the policy.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"38 1","pages":"7597-7603"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90262304","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

Coordinating multi-robot systems through environment partitioning for adaptive informative sampling 通过环境划分协调多机器人系统，实现自适应信息采样

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794103

Nicholas Fung, J. Rogers, Carlos Nieto, H. Christensen, S. Kemna, G. Sukhatme

{"title":"Coordinating multi-robot systems through environment partitioning for adaptive informative sampling","authors":"Nicholas Fung, J. Rogers, Carlos Nieto, H. Christensen, S. Kemna, G. Sukhatme","doi":"10.1109/ICRA.2019.8794103","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794103","url":null,"abstract":"As robotic platforms have become more capable and autonomous, they have increasingly been utilized in time sensitive applications such as search and rescue. To that end, we have developed a system for teams of robots to efficiently explore an environment while taking sensor measurements. The system utilizes an information seeking algorithm that generates high priority points of interest based on the highest expected information gained per distance travelled. In order to coordinate multiple robots, the system partitions the area into different regions according to the effort needed to explore each region. Robots are assigned different regions to measure in order to minimize repetition of work and reduce interference between each robot.We present an information rate adaptive sampling approach for tasking robots within an environment to gather sensor measurements. We evaluated our approach within a simulation environment with one to four robots. Multiple robots are coordinated through our region segmentation approach. The data shows efficiency gains through the use of adaptive information gain rate tasking above a naïve closest point approach. We also see positive results from using the region segmentation technique. We further the experimentation by testing the algorithm on real world robots and verify the results in real world experimentation.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"2 1","pages":"3231-3237"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86371086","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: 18

Hunting Drones with Other Drones: Tracking a Moving Radio Target 用其他无人机狩猎无人机:跟踪移动的无线电目标

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794243

L. Dressel, Mykel J. Kochenderfer

引用次数: 21

On-line 3D active pose-graph SLAM based on key poses using graph topology and sub-maps 基于图拓扑和子图的基于关键位姿的在线三维主动位姿SLAM

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793632

Yongbo Chen, Shoudong Huang, R. Fitch, Liang Zhao, Huan Yu, Di Yang

{"title":"On-line 3D active pose-graph SLAM based on key poses using graph topology and sub-maps","authors":"Yongbo Chen, Shoudong Huang, R. Fitch, Liang Zhao, Huan Yu, Di Yang","doi":"10.1109/ICRA.2019.8793632","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793632","url":null,"abstract":"In this paper, we present an on-line active pose-graph simultaneous localization and mapping (SLAM) frame-work for robots in three-dimensional (3D) environments using graph topology and sub-maps. This framework aims to find the best trajectory for loop-closure by re-visiting old poses based on the T-optimality and D-optimality metrics of the Fisher information matrix (FIM) in pose-graph SLAM. In order to reduce computational complexity, graph topologies are introduced, including weighted node degree (T-optimality metric) and weighted tree-connectivity (D-optimality metric), to choose a candidate trajectory and several key poses. With the help of the key poses, a sampling-based path planning method and a continuous-time trajectory optimization method are combined hierarchically and applied in the whole framework. So as to further improve the real-time capability of the method, the sub-map joining method is used in the estimation and planning process for large-scale active SLAM problems. In simulations and experiments, we validate our approach by comparing against existing methods, and we demonstrate the on-line planning part using a quad-rotor unmanned aerial vehicle (UAV).","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"67 1","pages":"169-175"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78732343","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: 11

Active Damping of Parallel Robots Driven by Flexible Cables Using Cold-Gas Thrusters 柔性电缆驱动并联机器人的主动阻尼研究

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794061

Hugo Sellet, Imane Khayour, L. Cuvillon, S. Durand, J. Gangloff

引用次数: 10

Locomotion Dynamics of a Miniature Wave-Like Robot, Modeling and Experiments 微型波浪型机器人的运动动力学，建模与实验

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794015

Drory Lee-Hee, David Zarrouk

引用次数: 10

Admittance Control for Human-Robot Interaction Using an Industrial Robot Equipped with a F/T Sensor 基于F/T传感器的工业机器人人机交互导纳控制

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793657

Eleonora Mariotti, Emanuele Magrini, Alessandro De Luca

引用次数: 28

Three-Dimensionally Maneuverable Robotic Fish Enabled by Servo Motor and Water Electrolyser 由伺服电机和电解器实现的三维可操作机器鱼

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793870

Wenyu Zuo, A. Keow, Zheng Chen

{"title":"Three-Dimensionally Maneuverable Robotic Fish Enabled by Servo Motor and Water Electrolyser","authors":"Wenyu Zuo, A. Keow, Zheng Chen","doi":"10.1109/ICRA.2019.8793870","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793870","url":null,"abstract":"Three-dimensionally (3D) maneuverable robotic fish are highly desirable due to their abilities to explore and survey the underwater environment. Existing depth control mechanism is focused on using compressed air or piston to generate volume change, which makes the system bulky and impractical in a small size underwater robot. In this paper, a small and compact 3D maneuverable robotic fish is developed. Instead of using a compressed air tank, the robot is equipped with an on-board water electrolyzer to generate the gases for depth change. The fabricated robotic fish shows fast diving and rising performance. A servo motor is used to generate asymmetric flapping motion on the caudal fin, which leads to a two-dimensionally (2D) planar motion. A 3D dynamic model is then derived for the fabricated robotic fish. Several open-loop control experiments have been conducted to validate the model as well as the design. It has been demonstrated in the experimental results that the robot is capable of generating 3D motion. The robot can achieve 0.13 m/s forward velocity, 30.6 degree/s turning rate, and it takes about 5.5 s to dive to 0.55 m and 10 s to rise.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"1 1","pages":"4667-4673"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89757595","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

Robust low-overlap 3-D point cloud registration for outlier rejection 鲁棒低重叠三维点云配准的异常值抑制

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793857

J. Stechschulte, N. Ahmed, C. Heckman

引用次数: 9