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A Novel Communication Time-Delay Cooperative Control Method with Switching Event-Triggered Strategy J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-03-11
Abstract A novel communication time-delay classification-based method is designed for nonlinear multiagent systems with the finite-time prescribed performance function. The time-delay phenomenon for communication channels between agents is discussed. Then, an improved time-delay classification method is proposed to broaden the standard of classification mechanism by considering the degree of deviation
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How Challenging is a Challenge? CEMS: a Challenge Evaluation Module for SLAM Visual Perception J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-03-09 Xuhui Zhao, Zhi Gao, Hao Li, Hong Ji, Hong Yang, Chenyang Li, Hao Fang, Ben M. Chen
Despite promising SLAM research in both vision and robotics communities, which fundamentally sustains the autonomy of intelligent unmanned systems, visual challenges still threaten its robust operation severely. Existing SLAM methods usually focus on specific challenges and solve the problem with sophisticated enhancement or multi-modal fusion. However, they are basically limited to particular scenes
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Terrain-Shape-Adaptive Coverage Path Planning With Traversability Analysis J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-03-07 Wenwei Qiu, Dacheng Zhou, Wenbo Hui, Afimbo Reuben Kwabena, Yubo Xing, Yi Qian, Quan Li, Huayan Pu, Yangmin Xie
Coverage path planning (CPP) is in great demand with applications in agriculture, mining, manufacturing, etc. Most research in this area focused on 2D CPP problems solving the coverage problem with irregular 2D maps. Comparatively, CPP on uneven terrains is not fully solved. When there are many slopy areas in the working field, it is necessary to adjust the path shape and make it adapt to the 3D terrain
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Passenger Air Taxi Services: An Assessment of the Current European Union Rules on Consumer Protection for Passengers J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-23 Benjamyn I. Scott
The Paris Olympics and Paralympics are scheduled to take place between 26 July and 8 September 2024, whereby electric vertical take-off and landing aircraft are anticipated to take to the skies to offer a new mobility solution to spectators of the Games. This will allow paying members of the public to move between different points within the Paris region akin to an on-demand taxi service, but through
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A Procedural Constructive Learning Mechanism with Deep Reinforcement Learning for Cognitive Agents J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-23 Leonardo de Lellis Rossi, Eric Rohmer, Paula Dornhofer Paro Costa, Esther Luna Colombini, Alexandre da Silva Simões, Ricardo Ribeiro Gudwin
Recent advancements in AI and deep learning have created a growing demand for artificial agents capable of performing tasks within increasingly complex environments. To address the challenges associated with continuous learning constraints and knowledge capacity in this context, cognitive architectures inspired by human cognition have gained significance. This study contributes to existing research
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A Switched Control Strategy for Avoiding Flip Ambiguities in 3D Formations J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-23 Farid Sahebsara , Marcio de Queiroz
Flip ambiguities are a notorious issue with distance-based formation control due to the presence of unwanted equilibrium points in the formation dynamics. We propose a switched control system for preventing these ambiguities in 3D formations composed of tetrahedra. The approach contains a switching strategy that steers the formation of mobile robots towards the desired configuration for all initial
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Multi-UAV Collaborative System for the Identification of Surface Cyanobacterial Blooms and Aquatic Macrophytes J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-23 Kelen C. T. Vivaldini, Tatiana F. P. A. T. Pazelli, Lidia G. S. Rocha, Igor A. D. Santos, Kenny A. Q. Caldas, Diego P. Soler, João R. S. Benevides, Paulo V. G. Simplício, André C. Hernandes, Kleber O. Andrade, Pedro H. C. Kim, Isaac G. Alvarez, Eduardo V. Nascimento, Marcela A. A. Santos, Aline G. Almeida, Lucas H. G. Cavalcanti, Roberto S. Inoue, Marco H. Terra, Marcelo Becker
Aquatic macrophyte is a generic denomination for macro-algae with active photosynthetic parts that remain totally or partially submerged in fresh or salty water, in rivers and lakes. Currently, algae monitoring is carried out manually by collecting samples to send for laboratory analysis. In most cases, harmful algal blooms are already widespread when the results are disclosed. This paper proposes
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Aviation Safety for Urban Air Mobility: Pilot Licensing and Fatigue Management J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-22 Yuran Shi
Urban Air Mobility (UAM) is an emerging air traffic system designed for passengers and cargo in and around urban environments. Both the Federal Aviation Administration of the United States and the European Union Aviation Safety Agency endorse a phased development approach for UAM, commencing with manned aviation and subsequently transitioning to remotely piloted and autonomous operations. This article
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GRVINS: Tightly Coupled GNSS-Range-Visual-Inertial System J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-22 Bing-Xian Lu, Yu-Chung Tsai, Kuo-Shih Tseng
Bridge inspection is currently a labor intensive task. Utilizing unmanned aerial vehicles (UAVs) to assist in inspection tasks is a promising direction. However, enabling UAVs for autonomous inspection involves the UAV state estimation problems. Since parts of UAV sensors could be unavailable, how to estimate states via sensor fusion is the key. In this paper, we propose a tightly-coupled nonlinear
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Event-Based Guidance and Incremental Control with Application to Fixed-wing Unmanned Aerial Vehicle Perched Landing Maneuvers J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-21 Yansui Song, Shaoshan Sun, Chenggang Tao, Zhen He, Bin Xu
Considering the nonlinearity and unknown dynamics of fixed-wing unmanned aerial vehicles in perched landing maneuvers, an event-based online guidance and incremental control scheme is proposed. The guidance trajectory for perched landing must be dynamically feasible therefore an event-based trapezoidal collocation point optimization method is proposed. Introduction of the triggering mechanism for the
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Control of the PVTOL with Strong Input Coupling J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-15 Rogelio Lozano, Jhonatan F Eulopa-Hernandez, Sergio Salazar-Cruz
This paper studies the modeling and control of a Planar Vertical Take-Off and Landing (PVTOL) with steerable thruster. A longitudinal model is obtained using Newton’s second law for the PVTOL which evolves in 3 degrees of freedom and has two control inputs. The aerial vehicle is driven by steerable propulsion controlling its evolution in the vertical plane through the thrust and torque control inputs
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Diving into Clarity: Restoring Underwater Images using Deep Learning J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-14 Laura A. Martinho, João M. B. Calvalcanti, José L. S. Pio, Felipe G. Oliveira
In this paper we propose a learning-based restoration approach to learn the optimal parameters for enhancing the quality of different types of underwater images and apply a set of intensity transformation techniques to process raw underwater images. The methodology comprises two steps. Firstly, a Convolutional Neural Network (CNN) Regression model is employed to learn enhancing parameters for each
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Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3D Printer J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-06
Abstract As rigid robots suffer from the higher inertia of their rigid links, cable-driven parallel robots (CDPRs) are more suitable for large-scale three-dimensional (3D) printing tasks due to their outstanding reconfigurability, high load-to-weight ratio, and extensive workspace. In this paper, a parallel 3D printing robot is proposed, comprising three pairs of driving cables to control the platform
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Fusion of Time-of-Flight Based Sensors with Monocular Cameras for a Robotic Person Follower J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-03 José Sarmento, Filipe Neves dos Santos, André Silva Aguiar, Vítor Filipe, António Valente
Human-robot collaboration (HRC) is becoming increasingly important in advanced production systems, such as those used in industries and agriculture. This type of collaboration can contribute to productivity increase by reducing physical strain on humans, which can lead to reduced injuries and improved morale. One crucial aspect of HRC is the ability of the robot to follow a specific human operator
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Surface Tracking Controls of an Unmanned Underwater Vehicle with Fixed Sonar Ray Measurements in Tunnel-Like Environments J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-03 Jonghoek Kim
This paper introduces 3-D surface tracking control of an Unmanned Underwater Vehicle (UUV) in tunnel-like environments. Consider the case where a sonar transducer in the UUV does not rotate, and it only emits fixed sonar ray reporting a simple distance measurement. This reduces the power consumption of the UUV, while reducing the UUV’s size and price. The UUV is controlled to proceed in tunnel-like
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Optimal Transport and Model Predictive Control-based Simultaneous Task Assignment and Trajectory Planning for Unmanned System Swarm J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-03 Xiwei Wu, Bing Xiao, Lu Cao, Haibin Huang
This paper presents a simultaneous task assignment and trajectory planning method for unmanned system swarm by using optimal transport and model predictive control (OT-MPC). Unlike the conventional hierarchical assignment and planning, the proposed approach addresses both the task assignment and trajectory planning subproblems concurrently. To be specific, a unified cost function is designed to solve
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RGB-D Based Visual SLAM Algorithm for Indoor Crowd Environment J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-02 Jianfeng Li, Juan Dai, Zhong Su, Cui Zhu
Most current research on dynamic visual Simultaneous Localization and Mapping (SLAM) systems focuses on scenes where static objects occupy most of the environment. However, in densely populated indoor environments, the movement of the crowd can lead to the loss of feature information, thereby diminishing the system’s robustness and accuracy. This paper proposes a visual SLAM algorithm for dense crowd
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Scalable Task Allocation with Communications Connectivity for Flying Ad-Hoc Networks J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-01 Wai Lun Leong, Jiawei Cao, Rodney Teo
Task allocation enables heterogeneous agents to execute heterogeneous tasks in the domain of unmanned aerial vehicles, while responding to dynamic changes in the environment and available resources to complete complex, multi-objective missions, leading to swarm intelligence. We propose a bio-inspired approach using digital pheromones to perform scalable task allocation when the number of agents, tasks
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Context Adaptive Fault Tolerant Multi-sensor fusion: Towards a Fail-Safe Multi Operational Objective Vehicle Localization J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-02-01 Nesrine Harbaoui, Khoder Makkawi, Nourdine Ait-Tmazirte, Maan El Badaoui El Najjar
In many transport applications, one of the safety critical function is the localization. This is all the more true for land transport applications such as autonomous vehicles. While the democratization of satellite positioning systems, such as GPS, Galileo, Beidou or Glonass, has made it possible to consider a global solution applicable anywhere in the world, the principle of positioning by receiving
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Dynamic Via-points and Improved Spatial Generalization for Online Trajectory Generation with Dynamic Movement Primitives J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-29 Antonis Sidiropoulos, Zoe Doulgeri
Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization, modulation and robustness properties. However, the spatial generalization of DMP can be problematic in some cases, leading to excessive overscaling and in turn large velocities and accelerations. While other DMP variants have been proposed
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Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-25 Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes, Quentin Sablé, Antonio Franchi
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can
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Online Capability Based Task Allocation of Cooperative Manipulators J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-25 Keshab Patra, Arpita Sinha, Anirban Guha
The cooperative manipulator group can accomplish complex and heavy payload tasks of object manipulation and transportation compared to a single manipulator. Effective coordination is crucial for cooperative task accomplishments. Multi-manipulator task distribution is highly complex because of the varying dynamic capabilities of the manipulators. We have introduced a novel fastest technique to quantify
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Communication-Aware Control of Large Data Transmissions via Centralized Cognition and 5G Networks for Multi-Robot Map merging J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-25 Gerasimos Damigos, Nikolaos Stathoulopoulos, Anton Koval, Tore Lindgren, George Nikolakopoulos
Multiple modern robotic applications benefit from centralized cognition and processing schemes. However, modern equipped robotic platforms can output a large amount of data, which may exceed the capabilities of modern wireless communication systems if all data is transmitted without further consideration. This research presents a multi-agent, centralized, and real-time 3D point cloud map merging scheme
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State-Dependent Maximum Entropy Reinforcement Learning for Robot Long-Horizon Task Learning J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-24 Deshuai Zheng, Jin Yan, Tao Xue, Yong Liu
Task-oriented robot learning has shown significant potential with the development of Reinforcement Learning (RL) algorithms. However, the learning of long-horizon tasks for robots remains a formidable challenge due to the inherent complexity of tasks, typically comprising multiple diverse stages. Universal RL algorithms commonly encounter issues such as slow convergence or even failure to converge
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On Real-time Cooperative Trajectory Planning of Aerial-ground Systems J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-24 Jie Huang, Jianfei Chen, Zhenyi Zhang, Yutao Chen, Dingci Lin
Cooperative trajectory planning of aerial-ground systems is a fundamental and challenging problem, which aims to leverage the aerial information to assist the ground tasks. Existing methods often suffer from suboptimal trajectories or computation burden. In this paper, we address cooperative trajectory planning of aerial-ground systems in which an unmanned ground vehicle (UGV) plans its local trajectory
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Correction to the Euler Lagrange Multirotor Model with Euler Angles Generalized Coordinates J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-24 Simone Martini, Kimon P. Valavanis, Margareta Stefanovic, Matthew J. Rutherford, Alessandro Rizzo
This technical note proves analytically how the exact equivalence of the Newton-Euler and Euler-Lagrange modeling formulations as applied to multirotor UAVs is achieved. This is done by deriving a correct Euler-Lagrange multirotor attitude dynamics model. A review of the published literature reveals that the commonly adopted Euler-Lagrange multirotor dynamics model is equivalent to the Newton-Euler
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Towards Automatic Code Generation for Robotic Soccer Behavior Simulation J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-24
Abstract Multi-Agent Systems (MAS) are an Artificial Intelligence (AI) branch where agents handle distributed nature tasks in a cooperative system. MAS is widely used in robotic systems in scenarios where multiple robots must cooperate. In this direction, the robot soccer domain has been used as a test bed to stimulate research in this area, as it reproduces some important features of these systems
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Connectivity Maintenance through Unlabeled Spanning Tree Matching J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-23 Moshe Hamaoui
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Motion Transition Under Urgent Change of Target Step-stone During Three-Dimensional Biped Walking J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-23
Abstract Controlling a biped robot to walk through rough terrains is crucial to the robot’s field application. For a human in the workplace, the ability to flexibly transfer motion while walking in some urgent circumstances is necessary. Explicitly, the according scenario can be dodging an approaching object or instantly modifying the target place to step on. The function is also important for humanoid
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A Geometric Approach to Task-Specific Cartesian Stiffness Shaping J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-17 Nikola Knežević, Branko Lukić, Tadej Petrič, Kosta Jovanovič
Controlling the exact Cartesian stiffness values of a robot end-effector (EE) is troublesome because of difficulties associated with estimating the stiffness and controllability of a full Cartesian stiffness matrix. However, most practical applications require only quantitative (high/low) stiffness values in the EE motion direction (or perpendicular direction). Full control of the stiffness matrix
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CPG-Fuzzy Heading Control for a Hexapod Robot with Arc-Shaped Blade Legs J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-16 Yani Zhang, Rongxin Cui, Haoquan Li, Xinxin Guo
Based on the central pattern generator (CPG) and fuzzy controller, this paper proposes a heading control method for the directional motion for a new type of blade legged hexapod robot (BLHR). First, the modified Hopf oscillator is used to construct the CPG model of BLHR based on the limit cycle. Second, the fuzzy controller is applied to adjust the support angles of legs to change the heading of BLHR
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Multimodal Interaction Strategies for Walker-Assisted Gait: A Case Study for Rehabilitation in Post-Stroke Patients J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-16
Abstract Stroke has been considered the main cause of neuromuscular damages worldwide and one of the most common causes of walking disabilities, with approximately 60% of the individuals suffering from persistent problems in walking. These patients generally use technical aids for walking to achieve independent gait, however, when cognitive impairments are also present, conventional assistive devices
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Towards Autonomous Firefighting UAVs: Online Planners for Obstacle Avoidance and Payload Delivery J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-13 Michael Mugnai, Massimo Teppati Losè, Massimo Satler, Carlo Alberto Avizzano
Drone technology is advancing rapidly and represents significant benefits during firefighting operations. This paper presents a novel approach for autonomous firefighting missions for Unmanned Aerial Vehicles (UAVs). The proposed UAV framework consists of a local planner module that finds an obstacle-free path to guide the vehicle toward a target zone. After detecting the target point, the UAV plans
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Robotics Meets AI and Vision in South America (Topical Collection) J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-13
Abstract The integration of robotics research with Artificial Intelligence (AI) and Computer Vision (CV) has enabled the solution of practical tasks previously challenging with traditional techniques. This interdisciplinary approach focuses on developing intelligent computational systems for decision-making, planning, and object recognition, minimizing human intervention in various domains like e-commerce
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Position and Attitude Tracking Controllers Using Lyapunov Transformations for Quadrotors J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2024-01-12 João Madeiras, Carlos Cardeira, Paulo Oliveira
In this paper, a novel feedback control strategy for quadrotor trajectory tracking is designed and experimentally tested with proof of exponential stability, using the Lyapunov transformations theory. The controller is derived from an inner-outer loop control structure, namely by considering the position system coupled through an interconnection term with the attitude system. For the design of the
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A Novel Positioning Accuracy Improvement Method for Polishing Robot Based on Levenberg–Marquardt and Opposition-based Learning Squirrel Search Algorithm J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-30 Yonghong Deng, Xi Hou, Bincheng Li, Jia Wang, Yun Zhang
Achieving high-precision manufacturing of optical components requires improving the absolute positioning accuracy of the robot to the highest possible level. Identifying the robot's kinematic parameters and compensating for kinematic errors are effective methods for improving the robot's positioning accuracy. This paper proposes a hybrid algorithm that combines the Levenberg–Marquardt algorithm and
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A Novel Method for Selecting Inverse Kinematic Solutions Based on Configuration Space Partition for 6R Noncuspidal Manipulators J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-28 Xiaofeng Zhang, Gongfa Li, Manman Xu, Du Jiang, Juntong Yun
The selection of an optimal solution from multiple inverse kinematics solutions (IKSs) is a fundamental task in manipulator motion. However, the conventional minimum joint motion criterion (MJM) method suffers from drawbacks such as high computational time and the inability to ensure configuration invariance. With the prevalence of noncuspidal structures in commercial manipulators, a novel IKS selection
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Monocular Visual Navigation Algorithm for Nursing Robots via Deep Learning Oriented to Dynamic Object Goal J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-27 Guoqiang Fu, Yina Wang, Junyou Yang, Shuoyu Wang, Guang Yang
Robot navigation systems suffer from relatively localizing the robots and object goals in the three-dimensional(3D) dynamic environment. Especially, most object detection algorithms adopt in navigation suffer from large resource consumption and a low calculation rate. Hence, this paper proposes a lightweight PyTorch-based monocular vision 3D aware object goal navigation system for nursing robot, which
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Cooperative Grasp Detection using Convolutional Neural Network J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-23 Ye Gu, Dujia Wei, Yawei Du, Jianmin Cao
In this work, we develop a complete robotic system to enable the robot to fulfill object-independent cooperative grasp tasks. The human subject initiates a task by either holding the object in hand or placing the object on the table. The human intention is inferred through body motions, after which the robot selects the corresponding grasp strategy. A novel real-time grasp detection model is proposed
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MonoSAID: Monocular 3D Object Detection based on Scene-Level Adaptive Instance Depth Estimation J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-18 Chenxing Xia, Wenjun Zhao, Huidan Han, Zhanpeng Tao, Bin Ge, Xiuju Gao, Kuan-Ching Li, Yan Zhang
Monocular 3D object detection (Mono3OD) is a challenging yet cost-effective vision task in the fields of autonomous driving and mobile robotics. The lack of reliable depth information makes obtaining accurate 3D positional information extremely difficult. In recent years, center-guided monocular 3D object detectors have directly regressed the absolute depth of the object center based on 2D detection
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Deep Reinforcement Learning with Inverse Jacobian based Model-Free Path Planning for Deburring in Complex Industrial Environment J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-20 M. R. Rahul, Shital S. Chiddarwar
In this study, we present an innovative approach to robotic deburring path planning by combining deep reinforcement learning (DRL) with an inverse Jacobian strategy. Existing model-based path planning methods, including sampling-based approaches, often suffer from computational complexity and challenges in capturing the dynamics of deburring systems. To overcome these limitations, our novel DRL-based
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Visual Localization and Mapping in Dynamic and Changing Environments J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-15 João Carlos Virgolino Soares, Vivian Suzano Medeiros, Gabriel Fischer Abati, Marcelo Becker, Glauco Caurin, Marcelo Gattass, Marco Antonio Meggiolaro
The real-world deployment of fully autonomous mobile robots depends on a robust simultaneous localization and mapping (SLAM) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing environments, where objects are moved or replaced after the robot has already mapped the scene. This paper proposes Changing-SLAM, a method for robust Visual SLAM in
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Configuration and Force-field Aware Variable Impedance Control with Faster Re-learning J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-18 Shail Jadav, Harish J. Palanthandalam-Madapusi
Variable impedance control (VIC) is rapidly becoming an important ingredient for robotic manipulation in unstructured and uncertain environments. In such situations, it is often necessary to rapidly adapt to different impedance levels as per the task requirements, and to return to a low baseline impedance for safety requirements. Such a capability is crucial to stabilize interactions in divergent force
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A Semi-Supervised Federated Learning Fault Diagnosis Method Based on Adaptive Class Prototype Points for Data Suffered by High Missing Rate J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-14 Funa Zhou, Wei Xu, Chaoge Wang, Xiong Hu, Tianzhen Wang
With the development of Autonomous Marine Vehicles, research on real-time health monitoring based on data from remote monitoring and shore-based control center has attracted more and more attention. However, the feature extraction capability of each local client model is limited by the size and quality of data collected by remote monitoring. For clients with zero-shot, it is necessary to design an
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Modeling and Control of an Octopus Inspired Soft Arm under Prescribed Spatial Motion Constraints J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-15 Jie Ma, Zhiji Han, Zhijie Liu, Guotao Li, Wei He, Shuzhi Sam Ge
Precise control of soft robots remains challenging due to their highly compliant nature. Existing kinematic models may not enable accurate control performance as they do not account for actuation forces and dynamics. This paper tackles the problem of precise motion control for a soft robotic arm with longitudinal muscle actuators. We develop an integrated modeling and control framework that incorporates
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Visual Detection Algorithm for Enhanced Environmental Perception of Unmanned Surface Vehicles in Complex Marine Environments J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-16 Kaiyuan Dong, Tao Liu, Yan Zheng, Zhen Shi, Hongwang Du, Xianfeng Wang
Unmanned surface vehicles (USVs) are distinguished by their intelligence, compactness, and absence of human casualties, making them a vital component of the maritime industry. The implementation of vision-based algorithms for sea surface target detection can enhance the autonomous perceptual abilities of USVs. In the present study, a sea surface target detection algorithm was proposed that fulfils
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Neuro-Adaptive Formation Control of Nonlinear Multi-Agent Systems With Communication Delays J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-07 Kiarash Aryankia, Rastko R. Selmic
The paper focuses on formation control with constant communication delays for second-order, uncertain, nonlinear multi-agents with a nonsymmetric control gain matrix and an unknown control direction. The multi-agent system is modeled using an undirected graph. A three-layer neural network (NN) is employed to approximate an unknown nonlinearity. Unlike a conventional one- or two-layer NN, the three-layer
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Jubileo: An Immersive Simulation Framework for Social Robot Design J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-07 Jair Augusto Bottega, Victor Augusto Kich, Junior Costa de Jesus, Raul Steinmetz, Alisson Henrique Kolling, Ricardo Bedin Grando, Rodrigo da Silva Guerra, Daniel Fernando Tello Gamarra
This paper introduces Jubileo, an open-source simulated humanoid robot as a framework for the development of human-robot interaction applications. By leveraging the power of the Robot Operating System (ROS) and Unity in a virtual reality environment, this simulation establishes a strong connection to real robotics, faithfully replicating the robot’s physical components down to its motors and enabling
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High Pressure Hosing-Drone Dynamics and Controls J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-02 Blake Hament, Paul Oh
Cleaning concrete bridges and overpasses is essential before inspections, but traditional methods put workers and commuters at risk of bodily harm. UAS for bridge and overpass cleaning is attractive because it keeps humans out of harm’s way while reducing cost and time required for cleanings. The challenge for a hosing-UAS is that high pressure flow required for cleaning produces high reaction forces
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A Novel Triangular-Based Estimation Technique for Bezier Curve Control Points Generation on Autonomous Vehicle Path Planning at the Roundabout Intersection J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-02 Akhil Vinayak, Muhammad Aizzat Zakaria, K. Baarath, Mohamad Heerwan Peeie, Muhammad Izhar Ishak
Path planning plays a major role in autonomous vehicle navigation. Among different kinds of intersections, roundabouts are far more difficult to plot a course than other intersections due to their special design. Different curve fitting methods such as circles, clothoid curves, Bezier curves are utilized for path planning inside a roundabout. Among those Bezier curves are widely used as they can generate
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Robust LQR-Based Architecture for Faulty Networked Control Systems J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-02 João Benevides, Roberto Inoue, Marco Terra
This paper proposes a networked control architecture that provides robustness not only to parametric uncertainties in the model but also to packet dropouts and time-varying network-induced delays. Contrary to the common approach of nonlinear optimization solvers, the estimation and control approaches stand out by providing a direct solution derived from an Extended Kalman Filter and a Recursive Robust
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Online Distributed Relative Positioning Utilizing Multiple Cooperative Autonomous Agents J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-02 Nicolas Souli, Panayiotis Kolios, Georgios Ellinas
Currently, an unmanned aerial vehicle (UAV) utilizes global navigation satellite systems (GNSS) in conjunction with other modalities for localization purposes. Nevertheless, this approach faces robustness issues when GNSS signals become unavailable or sensors malfunction. Clearly, the robustness of the system increases considerably when multiple UAV agents are employed to perform collaborative positioning
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A Shared Control Approach Based on First-Order Dynamical Systems and Closed-Loop Variable Stiffness Control J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-01 Haotian Xue, Youssef Michel, Dongheui Lee
In this paper, we present a novel learning-based shared control framework. This framework deploys first-order Dynamical Systems (DS) as motion generators providing the desired reference motion, and a Variable Stiffness Dynamical Systems (VSDS) (Chen et al. 2021) for haptic guidance. We show how to shape several features of our controller in order to achieve authority allocation, local motion refinement
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Forest Fire Localization: From Reinforcement Learning Exploration to a Dynamic Drone Control J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-11-30 Jonatan Alvarez, Assia Belbachir, Faiza Belbachir, Jamy Chahal, Abdelhak Goudjil, Johvany Gustave, Aybüke Öztürk Suri
Globalization impacts directly pollution, and one of the side effects is the increasing number of forest fires and their fast propagation. To reduce this phenomenon, several studies have tried to model fire propagation and find an adequate method to predict (or follow) this spread to stop it. However, to the best of our knowledge, most of the developed works do not use an adaptive exploration strategy
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Cooperative Circumnavigation with Robust Vector Field Guidance for Multiple UAVs in Unknown Wind Environments J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-11-30 Tagir Muslimov
Accounting for wind perturbations while controlling a formation of unmanned aerial vehicles (UAVs) is of a particular interest for researchers: it helps confirm the operability of algorithms in realistic non-laboratory conditions and increases the efficiency of these algorithms. This approach, however, becomes a problem for a decentralized formation due to its interconnected structure. This research
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Localization Exploiting Semantic and Metric Information in Non-static Indoor Environments J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-12-01 Clara Gomez, Alejandra C. Hernandez, Ramón Barber, Cyrill Stachniss
Mobile robot localization is an important task in navigation and can be challenging, especially in non-static environments as the scene naturally involves movable objects and appearance changes. In this paper, we address the problem of estimating the robot’s pose in non-static environments containing movable objects. We understand as non-static environments, dynamic environments in which objects might
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Research on Real-time Detection of Stacked Objects Based on Deep Learning J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-11-29 Kaiguo Geng, Jinwei Qiao, Na Liu, Zhi Yang, Rongmin Zhang, Huiling Li
Deep Learning has garnered significant attention in the field of object detection and is widely used in both industry and everyday life. The objective of this study is to investigate the applicability and targeted improvements of Deep Learning-based object detection in complex stacked environments. We analyzed the limitations in practical applications under such conditions, pinpointed the specific
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Robust Extrinsic Self-Calibration of Camera and Solid State LiDAR J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-11-27 Jiahui Liu, Xingqun Zhan, Cheng Chi, Xin Zhang, Chuanrun Zhai
This work proposes an extrinsic calibration approach designed for the alignment of a monocular camera with a prism-spinning solid-state LiDAR. Challenges arise due to the absence of adjacent laser rings, which are essential for the detection of line or plane features, in solid-state LiDAR systems. Additionally, the existence of a distinct type of outlier, designated as ‘vacant points’, complicates
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A New Visual Front-end Combining KLT with Descriptor Matching for Visual-inertial Odometry J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-11-23 Zihao Wu, Baoguo Yu, Rui Li, Zhi Deng, Yingjing Shi
Currently, feature-based visual-inertial odometry (VIO) predominantly employs descriptor-matching or Kanade-Lucas-Tomasi (KLT)-based methods for feature tracking. However, these methods are prone to short track lengths and large accumulative errors. In this study, we propose a novel approach that seamlessly integrates the advantages of KLT and descriptor-matching techniques through a tightly-coupled
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Human–Robot Collaborative Lifting Motion Prediction and Experimental Validation J. Intell. Robot. Syst. (IF 3.3) Pub Date : 2023-11-24 Asif Arefeen, Joel Quarnstrom, Shahbaz P. Qadri Syed, He Bai, Yujiang Xiang
This paper presents a human–robot collaborative symmetric lifting motion prediction using inverse dynamics optimization. The human and robot arm are modeled in Denavit-Hartenberg (DH) representation. A floating-base rigid body with 6 global degrees of freedom (DOFs) is similarly modeled as a three-dimensional (3D) table. A set of grasping forces characterizes the human-table and robot-table interactions