IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献

{"title":"Camera Relocalization using Deep Point Cloud Generation and Hand-crafted Feature Refinement","authors":"Junyi Wang, Yue Qi","doi":"10.1109/ICRA48506.2021.9561289","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561289","url":null,"abstract":"","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1 1","pages":"5891-5897"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79641914","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}

{"title":"Constrained Path Planning and Guidance in General Wind Fields","authors":"E. Paiva, M. Perazzo, R. Cordeiro","doi":"10.1109/ICRA48506.2021.9560868","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9560868","url":null,"abstract":"","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"11 1","pages":"7526-7532"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76817220","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}

{"title":"µ-Planner: A Robot Path Planning Approach Based on Language Measure of Unsupervised Automata","authors":"E. Carvalho, E. Freire, L. Molina, J. M. Filho","doi":"10.31875/2409-9694.2020.07.5","DOIUrl":"https://doi.org/10.31875/2409-9694.2020.07.5","url":null,"abstract":"Abstract: This paper proposes a robot path planner based on language measure, μ-planner. Workspace is discretized in a occupancy grid map and we model the system by considering how events, associated to robot’s motions, take it to different cells (discrete positions). The calculated language measure values corresponds to a gradient, which the robot can use reach its destination by choosing events that take it to states with higher measure values. Concepts of Lapace’s equation and harmonic functions are used to prove that our method guarantees both the existence and monotonicity of language measure. The proposed method is simple and computationally inexpensive and guarantees existence of path from any co-accessible state to the destination. Experiments considering different scenarios have been performed to validate and compare μ-planner with similar methods.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"40-49"},"PeriodicalIF":0.0,"publicationDate":"2020-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44009201","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}

{"title":"Offline drone instrumentalized ambulance for emergency situations","authors":"Hitesh Mohapatra","doi":"10.11591/IJRA.V9I4.PP251-255","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP251-255","url":null,"abstract":"In this paper, an offline drone instrumentalized ambulance (ODIA) mechanism has been discussed. The rapid increase in the urban population directly influences every sector of society. The sectors are maybe food, health care, education, transportation, etc. Normally, it has been observed that when any accidents happen on the urban road or any remote places then, the availability of immediate medical help is very rare. It is not because of the unaware or unavailability of medical facilities rather it happens because of overcrowding on the urban road and geographical odd-isolation of places. Hence, here an ODIA concept has been discussed which uses offline maps and offline first-aid medical videos through which immediate medical help can be made available at the patient end. This model helps to save the life of an accident victim by providing immediate medical attention. The key strength of ODIA is, it is independent of internet service that is why it is more suitable for harsh and hostile environments.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"251-255"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45567501","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}

{"title":"Development of a real-time framework for farm monitoring using drone technology","authors":"A. Oyelami, Adedayo Akinade, Kingsley Obianefo","doi":"10.11591/IJRA.V9I4.PP244-250","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP244-250","url":null,"abstract":"This work developed a cost-effective framework for agriculturists to regularly monitor their crops against intruding rodents and other security concerns using modern drone technology through configuration and deployment of an autonomous UAV which also functions as a remotely piloted vehicle. This was done by configuring a quadcopter capable of causing a disturbance when a rodent is observed through an inbuilt alarm system whose sound is amplified to be loud enough to cause the animals to leave the farm area. A framework for real-time image and live video transmission from the farm to a designated remote base station was developed. This was achieved through programming codes that configured the drone to operate an intelligent alarm and object tracking systems which enables a live feed from the UAV using Arduino IDE and Mission Planner for autonomous flight control. The requisite algorithms were developed using the framework of tracking, learning and detection (TLD) in the OpenCV software. The drone movement is equally controlled remotely over a Wi-Fi network using an ESP8266 Wi-Fi module for redirection and controlling of the drone movement to monitor specific locations.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"244-250"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46027147","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}

{"title":"A simulated risk assessment of human-robot interaction in the domestic environment","authors":"T. E. Kaonain, Mohd Azizi Abdul Rahman, M. Ariff, K. Mondal","doi":"10.11591/ijra.v9i4.pp300-310","DOIUrl":"https://doi.org/10.11591/ijra.v9i4.pp300-310","url":null,"abstract":"In human-robot interaction, the use of collaborative robots or cobots in many industries is of major importance to researchers in human-robot interaction (HRI). The interaction between human robot carries several challenges, the greatest being the risk of human injury. In addition to reducing the proximity between robots and humans, increased difficulty of human-robot encounters raises the likelihood of accidents only. This paper proposes a virtual collaborative robot in the simulated non-industrial workspace. The safety during human-robot interaction using simulation software was investigated by measuring the risks for planning and control. A reactive robot controller was formulated to minimize the risk during human-robot interaction. A Gazebo software is used in this article, written in Python language, to replicate complex environments that a robot can face. This paper also investigated the robot’s speed. It can be reduced before a collision with a human about to happen, and it minimized the risk of the collision or reduced the damage of the risk. After the successful simulation, this can be applied to the real robot in a practical domestic environment.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"300-310"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44507741","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}

{"title":"Tracking for inspection in energy transmission power lines using unmanned aerial vehicles: a systematic review of current and specific literature","authors":"W. M. Martins, Antonio J. Dantas Filho, Leandro D. de Jesus, A. D. Souza, A. B. Ramos, T. Pimenta","doi":"10.11591/IJRA.V9I4.PP233-243","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP233-243","url":null,"abstract":"Power transmission lines are of great importance for the operation of all sectors of society, such as commerce, industry and public agencies. To ensure reliability and availability of power supply, regular and occasional inspections are conducted, mostly using patrol with binoculars, helicopters or truck cranes. Research is being developed using unmanned aerial vehicle (UAV) to make this activity autonomous, faster, safer, and less costly. The present work aims to analyze research related to the autonomous control of the UAV along the transmission lines through a systematic review of the literature (SRL), apply a viable solution and to verify the possible lacuna in this state of the art. Improvements in safety, computational process and energy efficiency with low-cost were identified. The results presented can help the research community to perform the working this state of art, from the suggestions of autonomous tracking of transmission lines.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"233-243"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49402347","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}

{"title":"The quadrotor dynamic modeling and study of meta-heuristic algorithms performance on optimization of PID controller index to control angles and tracking the route","authors":"A. Moshayedi, Mahyar Gheibollahi, Liefa Liao","doi":"10.11591/IJRA.V9I4.PP256-270","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP256-270","url":null,"abstract":"In the last decade, because of the unique specification of vertical fliers, scientists and researchers had a special focus on them. The particular abilities of these fliers can be mentioned such as: high maneuver ability, low expenses, decrease in radar identifier and low threat for the human life. They also have no limitation in dimension. Moreover, because of some applications like photography, topography, news coverage, study of power lines and aerology analysis, they can be notable for using. These fliers also are significantly important because of monitoring in urban regions, agricultural harvest and spray poison, illegal imports, exports administration and fire distinction in order to control the fire. Besides, seek and rescue missing people and also natural disasters can be pre-determined which causes stimulus investigators to act and put different topics in front of them. One of these fields is using meta-heuristic algorithms with the capability of using in control systems. The PID controller as a classic model has some limitations, but by optimization of special index through meta-heuristic algorithms, it has shown acceptable results. In this study, first, the history of vertical fliers and quadrotor are investigated. Then, after a review of overused methods, the quadrotor control has been done. Afterward, the cinematic and dynamic of quadrotor is presented. Next by designing of PID controller, PID index optimization by nature inspired algorithm, particle swarm optimization (PSO), genetic algorithms (GA), and firefly algorithms (FA) have been studied. Dynamic system, controller and mentioned optimization methods of PID controller index have also been implemented in MATLAB software. Also, with due attention to the comparison criteria the PID-PSO controller has shown the best performance. Next, by applying challenging routes, the stability of controller in the simulation is evaluated. Then, making quadrotor is done in practice along with introducing the used implementation of PID-PSO controller results on the real robot, and its stability is evaluated practically.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"256-270"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45902189","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}

{"title":"Steam turbine controllers design based on soft-computing techniques","authors":"Nasir Ahmed Alawaad","doi":"10.11591/IJRA.V9I4.PP281-291","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP281-291","url":null,"abstract":"Steam turbine is viewed as a standout among hotspots for control age in the most recent decades, its elements examination end up being dynamically more basic. For this investigation, the model chose is of turbine speed control framework. The purpose behind this is that model is regularly experienced in refineries in a type of steam turbine that utilization hydraulic governor to control the speed of the turbine. To suit plan prerequisites, a mathematical model for the turbine was determined in light of transfer function and state space definition. There are two sorts of controllers for steam turbines which are traditional and modern controllers. Internal mode control with proportional integral derivative (IMC-PID) and linear quadratic controller (LQR) are classical type. Fuzzy logic controller (FLC) and intelligent optimization techniques like, ant colony algorithm (ACOA) and genetic algorithm (GA) are modern type. The proposed work centers on classical verses modern controllers. Results got demonstrate that embracing such a controller (GA) improves the design requirements and transient stability. The system control was actualized in simulation utilizing MATLAB/Simulink.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"281-291"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43321878","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}

{"title":"The algorithm of adaptive control for active suspension systems using pole assign and cascade design method","authors":"Chi Nguyen Van","doi":"10.11591/IJRA.V9I4.PP271-280","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP271-280","url":null,"abstract":"This paper presents the active suspension system (ASS) control method using the adaptive cascade control scheme. The control scheme is implemented by two control loops, the inner control loop and outer control loop are designed respectively. The inner control loop uses the pole assignment method in order to move the poles of the original system to desired poles respect to the required performance of the suspension system. To design the controller in the inner loop, the model without the noise caused by the road profile and velocity of the car is used. The outer control loop then designed with an adaptive mechanism calculates the active control force to compensate for the vibrations caused by the road profile and velocity of the car. The control force is determined by the error between states of the reference model and states of suspension systems, the reference model is the model of closed-loop with inner control loop without the noise. The simulation results implemented by using the practice date of the road profile show that the capability of oscillation decrease for ASS is quite efficient.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"271-280"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45391682","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}