| 1. |
- Andreasson, Henrik, 1977-, et al.
(författare)
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Autonomous transport vehicles : where we are and what is missing
- 2015
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Ingår i: IEEE robotics & automation magazine. - 1070-9932 .- 1558-223X. ; 22:1, s. 64-75
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.
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| 2. |
- Palm, Rainer, 1942-, et al.
(författare)
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Velocity potentials and fuzzy modeling of fluid streamlines for obstacle avoidance of mobile robots
- 2015
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Ingår i: 2015 IEEE International Conference on Fuzzy Systems, (FUZZ-IEEE). - : IEEE Press. - 9781467374286 ; , s. 1-8
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Konferensbidrag (refereegranskat)abstract
- The use of the velocity potential of an incompressible fluid is an important and elegant tool for obstacle avoidance of mobile robots. Obstacles are modeled as cylindrical objects - combinations of cylinders can also form super obstacles. Possible trajectories of a vehicle are given by a set of streamlines around the obstacle computed by the velocity potential. Because of the number of streamlines and of data points involved therein, models of sets of streamlines for different sizes of obstacles are created first using dataset models and finally fuzzy models of streamlines. Once an obstacle appears in the sensor cone of the robot the set of streamlines is computed from which that streamline is selected that guarantees a smooth transition from/to the planned trajectory. Collisions with other robots are avoided by a combination of velocity potential and force potential and/or the change of streamlines during operation (lane hopping).
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| 3. |
- Siddiqui, J. Rafid, 1984-, et al.
(författare)
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Towards visual mapping in industrial environments : a heterogeneous task-specific and saliency driven approach
- 2016
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Ingår i: 2016 IEEE International Conference on Robotics and Automation (ICRA). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781467380263 ; , s. 5766-5773
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Konferensbidrag (refereegranskat)abstract
- The highly percipient nature of human mind in avoiding sensory overload is a crucial factor which gives human vision an advantage over machine vision, the latter has otherwise powerful computational resources at its disposal given today’s technology. This stresses the need to focus on methods which extract a concise representation of the environment inorder to approach a complex problem such as visual mapping. This article is an attempt of creating a mapping system, which proposes an architecture that combines task-specific and saliency driven approaches. The proposed method is implemented on a warehouse robot. The proposed solution provide a priority framework which enables an industrial robot to build a concise visual representation of the environment. The method is evaluated on data collected by a RGBD sensor mounted on a fork-lift robot and shows promise for addressing visual mapping problems in industrial environments.
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