| 1. |
- Billing, Erik, 1981-, et al.
(författare)
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Behavior recognition for learning from demonstration
- 2010
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Ingår i: 2010 IEEE International Conference on Robotics and Automation. - : IEEE. - 9781424450404 - 9781424450381 ; , s. 866-872
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Konferensbidrag (refereegranskat)abstract
- Two methods for behavior recognition are presented and evaluated. Both methods are based on the dynamic temporal difference algorithm Predictive Sequence Learning (PSL) which has previously been proposed as a learning algorithm for robot control. One strength of the proposed recognition methods is that the model PSL builds to recognize behaviors is identical to that used for control, implying that the controller (inverse model) and the recognition algorithm (forward model) can be implemented as two aspects of the same model. The two proposed methods, PSLE-Comparison and PSLH-Comparison, are evaluated in a Learning from Demonstration setting, where each algorithm should recognize a known skill in a demonstration performed via teleoperation. PSLH-Comparison produced the smallest recognition error. The results indicate that PSLH-Comparison could be a suitable algorithm for integration in a hierarchical control system consistent with recent models of human perception and motor control.
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| 2. |
- Björkman, Mårten, 1970-, et al.
(författare)
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Active 3D scene segmentation and detection of unknown objects
- 2010
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Ingår i: IEEE International Conference on Robotics and Automation (ICRA), Anchorage, USA. - : IEEE Robotics and Automation Society. - 9781424450381 ; , s. 3114-3120
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Konferensbidrag (refereegranskat)abstract
- We present an active vision system for segmentationof visual scenes based on integration of several cues. The system serves as a visual front end for generation of object hypotheses for new, previously unseen objects in natural scenes. The system combines a set of foveal and peripheral cameraswhere, through a stereo based fixation process, object hypotheses are generated. In addition to considering the segmentation process in 3D, the main contribution of the paper is integration of different cues in a temporal framework and improvement of initial hypotheses over time.
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| 3. |
- Cheng, Nadia, et al.
(författare)
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Design and Analysis of a Soft Mobile Robot Composed of Multiple Thermally Activated Joints Driven by a Single Actuator
- 2010
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Ingår i: 2010 IEEE international conference on robotics and automation. - Piscataway, N.J. : IEEE Press. - 9781424450381 ; , s. 5207-5212
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Konferensbidrag (refereegranskat)abstract
- Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive multiple degrees-of-freedom (DOF) with few actuators, thereby reducing system size and weight. This paper presents the analysis and design of an inchworm-like mobile robot that consists of multiple, independent thermally activated joints but is driven by a single actuator. To realize control of this under-actuated system, a solder-based locking mechanism has been developed to selectively activate individual joints without requiring additional actuators. The design and performance analysis of a prototype mobile robot that is capable of inchworm-like translational and steering motion is described. The design of novel "feet" with anisotropic friction properties is also described. ©2010 IEEE.
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| 4. |
- La Hera, Pedro M., 1981-, et al.
(författare)
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Gait synthesis for a three-link planar biped walker with one actuator
- 2010
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Ingår i: IEEE International Conference on Robotics and Automation (ICRA), 2010. - 9781424450381 ; , s. 1715-1720
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Konferensbidrag (refereegranskat)abstract
- We consider a 3-link planar walker with two legs and an upper body. An actuator is introduced between the legs, and the torso is kept upright by torsional springs. The model is a 3-DOF impulsive mechanical system, and the aim is to induce stable limit-cycle walking in level ground. To solve the problem, the ideas of the virtual holonomic constraints approach are explored, used and extended. The contribution is a novel systematic motion planning procedure for solving the problem of gait synthesis, which is challenging for non-feedback linearizable mechanical systems with two or more passive degrees of freedom. For a preplanned gait we compute an impulsive linear system that approximates dynamics transversal to the periodic solution. This linear system is used for the design of a stabilizing feedback controller. Results of numerical simulations are presented to illustrate the performance of the closed loop system.
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| 5. |
- Larsson, Johan, et al.
(författare)
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An evaluation of local autonomy applied to teleoperated vehicles in underground mines
- 2010
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Ingår i: 2010 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781424450381 ; , s. 1745-1752
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- Autonomous vehicles are being increasingly introduced in the mining industry. While these may offer high safety and high productivity, fully autonomous solutions are not always applicable or economically viable. Teleoperation is an attractive option, since it increases safety and comfort of the drivers. Unfortunately, the difficulty to operate the vehicle remotely often results in reduced productivity. In this paper, we show that techniques from the field of mobile robotics can be used to mitigate this problem. We extend a commercial teleoperation system for use in underground mines with a local autonomy functionality, with the main purpose to evaluate if the achieved productivity improvement motivates development of general algorithms and a fully commercial implementation. We then describe a user study performed in an underground mine with a 38 tonne articulated wheel loader, which proves that local autonomy gives a significant improvement in productivity of the teleoperation system, while retaining or even reducing the maintenance costs.
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| 6. |
- Linderoth, Magnus, et al.
(författare)
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Object Tracking with Measurements from Single or Multiple Cameras
- 2010
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Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. - 1050-4729. - 9781424450381 ; , s. 4525-4530
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Konferensbidrag (refereegranskat)abstract
- To be able to determine the position of a static object in 3D space by means of computer vision, it has to be seen by cameras from at least two different view points. The same applies for measuring the position of a moving object based on images captured at one single time instant. However, if the cameras are not synchronized in time, or if a moving object is not visible in all images, one can not rely on using matching pictures for making accurate position estimates of dynamical objects. This paper presents a strategy to track an object with known dynamical model, using a series of images where no pair has to be captured simultaneously. It even allows tracking of a point object in 3D space using a single static camera.
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| 7. |
- Lindsten, Fredrik, et al.
(författare)
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Geo-Referencing for UAV Navigation using Environmental Classification
- 2010
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Ingår i: Proceedings of the 2010 IEEE International Conference on Robotics and Automation. - Linköping : Linköping University Electronic Press. - 9781424450404 - 9781424450381 ; , s. 1420-1425
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Konferensbidrag (refereegranskat)abstract
- A UAV navigation system relying on GPS is vulnerable to signal failure, making a drift free backup system necessary. We introduce a vision based geo-referencing system that uses pre-existing maps to reduce the long term drift. The system classifies an image according to its environmental content and thereafter matches it to an environmentally classified map over the operational area. This map matching provides a measurement of the absolute location of the UAV, that can easily be incorporated into a sensor fusion framework. Experiments show that the geo-referencing system reduces the long term drift in UAV navigation, enhancing the ability of the UAV to navigate accurately over large areas without the use of GPS.
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| 8. |
- Maier, D., et al.
(författare)
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Improved GPS Sensor Model for Mobile Robots in Urban Terrain
- 2010
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Ingår i: <em>IEEE Int. Conf. on Robotics and Automation (ICRA)</em>. - : IEEE. - 9781424450381 ; , s. 4385-4390
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Konferensbidrag (refereegranskat)abstract
- Autonomous robot navigation in outdoor scenarios gains increasing importance in various growing application areas. Whereas in non-urban domains such as deserts the problem of successful GPS-based navigation appears to be almost solved, navigation in urban domains particularly in the close vicinity of buildings is still a challenging problem. In such situations GPS accuracy significantly drops down due to multiple signal reflections with larger objects causing the so-called multipath error. In this paper we contribute a novel approach for incorporating multi- path errors into the conventional GPS sensor model by analyzing environmental structures from online generated point clouds. The approach has been validated by experimental results conducted with an all- terrain robot operating in scenarios requiring close- to-building navigation. Presented results show that positioning accuracy can significantly be improved within urban domains.
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| 9. |
- McDaniel, M. W., et al.
(författare)
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Ground plane identification using LIDAR in forested environments
- 2010
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Ingår i: 2010 ieee international conference on robotics and automation. - : IEEE Press. - 9781424450381 ; , s. 3831-3836
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Konferensbidrag (refereegranskat)abstract
- To operate autonomously in forested environments, unmanned ground vehicles (UGVs) must be able to identify the load-bearing surface of the terrain (i.e. the ground). This paper presents a novel two-stage approach for identifying ground points from 3-D point clouds sensed using LIDAR. The first stage, a local height-based filter, discards most of the non-ground points. The second stage, based on a support vector machine (SVM) classifier, operates on a set of geometrically defined features to identify which of the remaining points belong to the ground. Experimental results from two forested environments demonstrate the effectiveness of this approach. ©2010 IEEE.
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| 10. |
- Rudol, Piotr, 1979-, et al.
(författare)
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Vision-based Pose Estimation for Autonomous Indoor Navigation of Micro-scale Unmanned Aircraft Systems
- 2010
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Ingår i: Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781424450381 ; , s. 1913-1920
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Konferensbidrag (refereegranskat)abstract
- We present a navigation system for autonomous indoor flight of micro-scale Unmanned Aircraft Systems (UAS) which is based on a method for accurate monocular vision pose estimation. The method makes use of low cost artificial landmarks placed in the environment and allows for fully autonomous flight with all computation done on-board a UAS on COTS hardware. We provide a detailed description of all system components along with an accuracy evaluation and a time profiling result for the pose estimation method. Additionally, we show how the system is integrated with an existing micro-scale UAS and provide results of experimental autonomous flight tests. To our knowledge, this system is one of the first to allow for complete closed-loop control and goal-driven navigation of a micro-scale UAS in an indoor setting without requiring connection to any external entities.
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