| 1. |
- Dornhege, C., et al.
(författare)
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A Frontier-Void-Based Approach for Autonomous Exploration in 3D
- 2013
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Ingår i: Advanced Robotics. - : Taylor and Francis. - 0169-1864 .- 1568-5535. ; 27:6, s. 459-468
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Tidskriftsartikel (refereegranskat)abstract
- We consider the problem of an autonomous robot searching for objects in unknown 3d space. Similar to the well known frontier-based exploration in 2d, the problem is to determine a minimal sequence of sensor viewpoints until the entire search space has been explored. We introduce a novel approach that combines the two concepts of voids, which are unexplored volumes in 3d, and frontiers, which are regions on the boundary between voids and explored space. Our approach has been evaluated on a mobile platform equipped with a manipulator searching for victims in a simulated USAR setup. First results indicate the real-world capability and search efficiency of the proposed method.
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| 2. |
- Ekvall, Staffan, et al.
(författare)
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Integrating Object and Grasp Recognition for Dynamic Scene interpretation
- 2005
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Ingår i: Advanced Robotics. - NEW YORK, NY : IEEE. - 0169-1864 .- 1568-5535. ; , s. 331-336
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Tidskriftsartikel (refereegranskat)abstract
- Understanding and interpreting dynamic scenes and activities is a very challenging problem. In this paper, we present a system capable of learning robot tasks from demonstration. Classical robot task programming requires an experienced programmer and a lot of tedious work. In contrast, programming by demonstration is a flexible framework that reduces the complexity of programming robot tasks, and allows end-users to demonstrate the tasks instead of writing code. We present our recent steps towards this goal. A system for learning pick-and-place tasks by manually demonstrating them is presented. Each demonstrated task is described by an abstract model involving a set of simple tasks such as what object is moved, where it is moved, and which grasp type was used to move it
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| 3. |
- Erkent, Ozgur, et al.
(författare)
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Hierarchically self-organizing visual place memory
- 2017
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Ingår i: Advanced Robotics. - : Taylor & Francis. - 0169-1864 .- 1568-5535. ; 31:16, s. 865-879
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Tidskriftsartikel (refereegranskat)abstract
- A hierarchically organized visual place memory enables a robot to associate with its respective knowledge efficiently. In this paper, we consider how this organization can be done by the robot on its own throughout its operation and introduce an approach that is based on the agglomerative method SLINK. The hierarchy is obtained from a single link cluster analysis that is carried out based on similarity in the appearance space. As such, the robot can incrementally incorporate the knowledge of places into its visual place memory over the long term. The resulting place memory has an order-invariant hierarchy that enables both storage and construction efficiency. Experimental results obtained under the guided operation of the robot demonstrate that the robot is able to organize its place knowledge and relate to it efficiently. This is followed by experimental results under autonomous operation in which the robot evolves its visual place memory completely on its own.
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| 4. |
- Fridenfalk, Mikael, et al.
(författare)
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Design and validation of a universal 6D seam-tracking system in robotic welding using arc sensing
- 2004
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Ingår i: Advanced Robotics. - : Informa UK Limited. - 0169-1864 .- 1568-5535. ; 18:1, s. 1-21
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents the design and validation of a novel and universal 6D seam-tracking system that reduces the need for accurate robot trajectory programming and geometrical databases in robotic arc welding. Such sensor-driven motion control together with adaptive control of the welding process is the foundation for increased flexibility and autonomous behavior of robotic and manufacturing systems. The system is able to follow any 3D spline seam in space with a moderate radius of curvature by real-time correction of the position and orientation of the welding torch, using the through-arc sensing method. The 6D seam-tracking system was developed in the Flexible Unified Simulation Environment (FUSE), integrating software prototyping with mechanical virtual prototyping, based on physical experiments. The validation experiments showed that this system was both robust and reliable, and is able to manage a radius of curvature less than 200 turn.
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| 5. |
- Hamp, Quirin, et al.
(författare)
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Study of efficiency of USAR operations with assistive technologies
- 2013
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Ingår i: Advanced Robotics. - : Informa UK Limited. - 0169-1864 .- 1568-5535. ; 27:5, s. 337-350
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents presents a study on eciency of Urban Search and Rescue (USAR) missions that has been carried out within the framework of the German research project I-LOV. After three years of development, first field tests have been carried out in 2011 by professionals such as the Rapid Deployment Unit for Salvage Operations Abroad (SEEBA). We present results from evaluating search teams in simulated USAR scenarios equipped with newly developed technical search means and digital data input terminals developed in the I-LOV project. In particular, USAR missions assisted by the “bioradar”, a ground-penetrating radar system for the detection of humanoid movements, a semi-active video probe of more than 10 m length for rubble pile exploration, a snake-like rescue robot, and the decision support system FRIEDAA were evaluated and compared with conventional USAR missions. Results of this evaluation indicate that the developed technologies represent an advantages for USAR missions, which are discussed in this paper.
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| 6. |
- Herdt, Andrei, et al.
(författare)
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Online walking motion generation with automatic footstep placement
- 2010
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Ingår i: Advanced Robotics. - 0169-1864 .- 1568-5535. ; 24:5-6, s. 719-737
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Tidskriftsartikel (refereegranskat)abstract
- The goal of this paper is to demonstrate the capacity of model predictive control (MPC) to generate stable walking motions without the use of predefined footsteps. Building up on well-known MPC schemes for walking motion generation, we show that a minimal modification of these schemes allows designing an online walking motion generator that can track a given reference speed of the robot and decide automatically the footstep placement. Simulation results are proposed on the HRP-2 humanoid robot, showing a significant improvement over previous approaches.
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| 7. |
- Jung, Hojung, et al.
(författare)
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Local N-ary Patterns : a local multi-modal descriptor for place categorization
- 2016
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Ingår i: Advanced Robotics. - : Taylor & Francis. - 0169-1864 .- 1568-5535. ; 30:6, s. 402-415
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents an effective integration method of multiple modalities such as depth, color, and reflectance for place categorization. To achieve better performance with integrated multi-modalities, we introduce a novel descriptor, local N-ary patterns (LTP), which can perform robust discrimination of place categorization. In this paper, the LNP descriptor is applied to a combination of two modalities, i.e. depth and reflectance, provided by a laser range finder. However, the LNP descriptor can be easily extended to a larger number of modalities. The proposed LNP describes relationships between the multi-modal values of pixels and their neighboring pixels. Since we consider the multi-modal relationship, our proposed method clearly demonstrates more effective classification results than using individual modalities. We carried out experiments with the Kyushu University Indoor Semantic Place Dataset, which is publicly available. This data-set is composed of five indoor categories: corridors, kitchens, laboratories, study rooms, and offices. We confirmed that our proposed method outperforms previous uni-modal descriptors.
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| 8. |
- Kamarudin, Kamarulzaman, et al.
(författare)
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Integrating SLAM and gas distribution mapping (SLAM-GDM) for real-time gas source localization
- 2018
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Ingår i: Advanced Robotics. - : Taylor & Francis Group. - 0169-1864 .- 1568-5535. ; 32:17, s. 903-917
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Tidskriftsartikel (refereegranskat)abstract
- Gas distribution mapping (GDM) learns models of the spatial distribution of gas concentrations across 2D/3D environments, among others, for the purpose of localizing gas sources. GDM requires run-time robot positioning in order to associate measurements with locations in a global coordinate frame. Most approaches assume that the robot has perfect knowledge about its position, which does not necessarily hold in realistic scenarios. We argue that the simultaneous localization and mapping (SLAM) algorithm should be used together with GDM to allow operation in an unknown environment. This paper proposes an SLAM-GDM approach that combines Hector SLAM and Kernel DM+V through a map merging technique. We argue that Hector SLAM is suitable for the SLAM-GDM approach since it does not perform loop closure or global corrections, which in turn would require to re-compute the gas distribution map. Real-time experiments were conducted in an environment with single and multiple gas sources. The results showed that the predictions of gas source location in all trials were often correct to around 0.5-1.5 m for the large indoor area being tested. The results also verified that the proposed SLAM-GDM approach and the designed system were able to achieve real-time operation.
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| 9. |
- Kereluk, Jason A., et al.
(författare)
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Task-based optimization of reconfigurable robot manipulators
- 2017
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Ingår i: Advanced Robotics. - : Taylor & Francis. - 0169-1864 .- 1568-5535. ; 31:16, s. 836-850
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Tidskriftsartikel (refereegranskat)abstract
- Reconfigurable Manipulators are structurally redundant robots that utilize a subset of their joints to perform a specific task optimally. This paper presents a method of finding a task-based optimal configuration for a new type of reconfigurable robot manipulator, called the modular autonomously reconfigurable serial (MARS) manipulator. The reconfiguration optimization treats the joint space of the MARS manipulator as a 12-dimensional smooth configuration manifold. The manifold is discretized and ranked based on a variety of criteria, and then clustered into attractive and repellent regions. The user then specifies which regions are desired in the target configuration, and the manifold is reduced in dimension in order to maximize the number of attractive regions and minimize the number of repellent regions. Six manipulator configurations are synthesized using this approach, and their effectiveness is compared.
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| 10. |
- Krueger, Volker, et al.
(författare)
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The meaning of action : a review on action recognition and mapping
- 2007
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Ingår i: Advanced Robotics. - : Informa UK Limited. - 0169-1864 .- 1568-5535. ; 21:13, s. 1473-1501
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Forskningsöversikt (refereegranskat)abstract
- In this paper, we analyze the different approaches taken to date within the computer vision, robotics and artificial intelligence communities for the representation, recognition, synthesis and understanding of action. We deal with action at different levels of complexity and provide the reader with the necessary related literature references. We put the literature references further into context and outline a possible interpretation of action by taking into account the different aspects of action recognition, action synthesis and task-level planning.
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