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Robust circumnavigation of a heterogeneous multi-agent system Auton. Robot. (IF 3.602) Pub Date : 2021-01-22 Jaime González-Sierra, Daniel Flores-Montes, Eduardo Gamaliel Hernandez-Martinez, Guillermo Fernández-Anaya, Pablo Paniagua-Contro
This paper focuses on the design of robust control laws for a heterogeneous multi-agent system composed of omnidirectional and differential-drive mobile robots under the leader–follower scheme and considering the distance and orientation measurements. It is assume that the agent leader is an omnidirectional mobile robot moving freely in the plane while the rest of the agents are the followers. The
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Estimating boundary dynamics using robotic sensor networks with pointwise measurements Auton. Robot. (IF 3.602) Pub Date : 2021-01-21 David Saldaña, Renato Assunção, M. Ani Hsieh, Mario F. M. Campos, Vijay Kumar
In this paper, we consider environmental boundaries that can be represented by a time-varying closed curve. We use n robots equipped with location sensors to sample the dynamic boundary. The main difficulty during the prediction process is that only n boundary points can be observed at each time step. Our approach combines finite Fourier series for shape-estimation and polynomial fitting for point
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Game tree search for minimizing detectability and maximizing visibility Auton. Robot. (IF 3.602) Pub Date : 2021-01-20 Zhongshun Zhang, Jonathon M. Smereka, Joseph Lee, Lifeng Zhou, Yoonchang Sung, Pratap Tokekar
We introduce and study the problem of planning a trajectory for an agent to carry out a scouting mission while avoiding being detected by an adversarial opponent. This introduces a multi-objective version of classical visibility-based target search and pursuit-evasion problem. In our formulation, the agent receives a positive reward for increasing its visibility (by exploring new regions) and a negative
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Road surface detection and differentiation considering surface damages Auton. Robot. (IF 3.602) Pub Date : 2021-01-11 Thiago Rateke, Aldo von Wangenheim
A challenge still to be overcome in the field of visual perception for vehicle and robotic navigation on heavily damaged and unpaved roads is the task of reliable path and obstacle detection. The vast majority of the researches have scenario roads in good condition, from developed countries. These works cope with few situations of variation on the road surface and even fewer situations presenting surface
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An improved kinematic model for skid-steered wheeled platforms Auton. Robot. (IF 3.602) Pub Date : 2021-01-09 Sedat Dogru, Lino Marques
Dead reckoning in wheeled mobile platforms is a method that uses the kinematic model of the platforms to estimate their pose from the integration of the wheels’ motion. Due to its integrative principle, this method is very sensitive to modeling and measurement errors. Skid-steering platforms are no exception to this and although linear motions can be very well modeled, skid-based rotations depend on
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An optimal property of the hyperplane system in a finite cubing Auton. Robot. (IF 3.602) Pub Date : 2021-01-09 Dan Guralnik, Robert Ghrist
Motivated by navigation and control problems in robotics, Ghrist and Peterson introduced a class of non-positively curved (NPC) cubical complexes arising as configuration spaces of reconfigurable systems, best regarded as discretized state space representations of embodied agents such as a multi-jointed robotic arm. In current real world applications, agents are increasingly required to respond autonomously
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LTA*: Local tangent based A* for optimal path planning Auton. Robot. (IF 3.602) Pub Date : 2021-01-07 Muhammad Mateen Zafar, Muhammad Latif Anjum, Wajahat Hussain
Optimal path planning on non-convex maps is challenging: sampling-based algorithms (such as RRT) do not provide optimal solution in finite time; approaches based on visibility graphs are computationally expensive, while reduced visibility graphs (e.g., tangent graph) fail on such maps. We leverage a well-established, and surprisingly less utilized in path planning, geometrical property of convex decompositions
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A hierarchical representation of behaviour supporting open ended development and progressive learning for artificial agents Auton. Robot. (IF 3.602) Pub Date : 2021-01-05 François Suro, Jacques Ferber, Tiberiu Stratulat, Fabien Michel
One of the challenging aspects of open ended or lifelong agent development is that the final behaviour for which an agent is trained at a given moment can be an element for the future creation of one, or even several, behaviours of greater complexity, whose purpose cannot be anticipated. In this paper, we present modular influence network design (MIND), an artificial agent control architecture suited
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An efficient and direct method for trajectory optimization of robots constrained by contact kinematics and forces Auton. Robot. (IF 3.602) Pub Date : 2021-01-04 Jaemin Lee, Efstathios Bakolas, Luis Sentis
In this work, we propose a trajectory generation method for robotic systems with contact kinematics and force constraints based on optimal control and reachability analysis tools. Normally, the dynamics and constraints of a contact-constrained robot are nonlinear and coupled to each other. Instead of linearizing the model and constraints, we solve the optimal control problem directly to obtain feasible
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Quantitative analysis of robot gesticulation behavior Auton. Robot. (IF 3.602) Pub Date : 2021-01-04 Unai Zabala, Igor Rodriguez, José María Martínez-Otzeta, Itziar Irigoien, Elena Lazkano
Social robot capabilities, such as talking gestures, are best produced using data driven approaches to avoid being repetitive and to show trustworthiness. However, there is a lack of robust quantitative methods that allow to compare such methods beyond visual evaluation. In this paper a quantitative analysis is performed that compares two Generative Adversarial Networks based gesture generation approaches
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Decidability in robot manipulation planning Auton. Robot. (IF 3.602) Pub Date : 2020-12-23 Marilena Vendittelli, Andrea Cristofaro, Jean-Paul Laumond, Bud Mishra
Consider the problem of planning collision-free motion of n objects movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of \(m \le n\) objects simultaneously. This represents the abstract formulation of a general class of manipulation planning problems that are proven to be decidable in this paper. The tools used for proving decidability of
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Trajectory adaptation of biomimetic equilibrium point for stable locomotion of a large-size hexapod robot Auton. Robot. (IF 3.602) Pub Date : 2020-11-22 Chen Chen, Fusheng Zha, Wei Guo, Zhibin Li, Lining Sun, Junyi Shi
This paper proposes a control scheme inspired by the biological equilibrium point hypothesis (EPH) to enhance the motion stability of large-size legged robots. To achieve stable walking performances of a large-size hexapod robot on different outdoor terrains, we established a compliant-leg model and developed an approach for adapting the trajectory of the equilibrium point via contact force optimization
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Correction to: Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015 Auton. Robot. (IF 3.602) Pub Date : 2020-11-21 Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling, Vincent Wall, Oliver Brock
In the original publication of the article, the incorrect author photo was displayed in biography section.
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Enhancing the morphological segmentation of microscopic fossils through Localized Topology-Aware Edge Detection Auton. Robot. (IF 3.602) Pub Date : 2020-11-11 Qian Ge, Turner Richmond, Boxuan Zhong, Thomas M. Marchitto, Edgar J. Lobaton
Fossil single-celled marine organisms known as foraminifera are widely used in oceanographic research. The identification of species is one of the most common tasks when analyzing ocean samples. One of the primary criteria for species identification is their morphology. Automatic segmentation of images of foraminifera would aid on the identification task as well as on other morphological studies. We
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Autonomous quadrotor collision avoidance and destination seeking in a GPS-denied environment Auton. Robot. (IF 3.602) Pub Date : 2020-10-28 Thomas Kirven, Jesse B. Hoagg
We present a new integrated guidance and control method for autonomous collision avoidance and navigation in an unmapped GPS-denied environment that contains unknown obstacles. The algorithm is implemented on an experimental custom quadrotor that uses onboard vision sensing (i.e., an Intel RealSense R200) to detect the positions of obstacles. We demonstrate autonomous collision avoidance and destination
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Deep reinforcement learning for quadrotor path following with adaptive velocity Auton. Robot. (IF 3.602) Pub Date : 2020-10-24 Bartomeu Rubí, Bernardo Morcego, Ramon Pérez
This paper proposes a solution for the path following problem of a quadrotor vehicle based on deep reinforcement learning theory. Three different approaches implementing the Deep Deterministic Policy Gradient algorithm are presented. Each approach emerges as an improved version of the preceding one. The first approach uses only instantaneous information of the path for solving the problem. The second
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S4-SLAM: A real-time 3D LIDAR SLAM system for ground/watersurface multi-scene outdoor applications Auton. Robot. (IF 3.602) Pub Date : 2020-10-09 Bo Zhou, Yi He, Kun Qian, Xudong Ma, Xiaomao Li
For outdoor ground/watersurface multi-scene applications with sparse feature points, high moving speed and high dynamic noises, a real-time 3D LIDAR SLAM system (S4-SLAM) for unmanned vehicles/ships is proposed in this paper, which is composed of the odometry function in front-end and the loop closure function in back-end. Firstly, linear interpolation is used to eliminate the motion distortion caused
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Reinforcement based mobile robot path planning with improved dynamic window approach in unknown environment Auton. Robot. (IF 3.602) Pub Date : 2020-09-30 Lu Chang, Liang Shan, Chao Jiang, Yuewei Dai
Mobile robot path planning in an unknown environment is a fundamental and challenging problem in the field of robotics. Dynamic window approach (DWA) is an effective method of local path planning, however some of its evaluation functions are inadequate and the algorithm for choosing the weights of these functions is lacking, which makes it highly dependent on the global reference and prone to fail
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The Orbiting Dubins Traveling Salesman Problem: planning inspection tours for a minehunting AUV Auton. Robot. (IF 3.602) Pub Date : 2020-09-29 Artur Wolek, James McMahon, Benjamin R. Dzikowicz, Brian H. Houston
The Orbiting Dubins Traveling Salesman Problem (ODTSP) is to plan a minimum-time tour for a Dubins vehicle model to inspect a set of targets in the plane by orbiting each target along a circular arc. This problem arises in underwater minehunting, where targets are mine-like objects on the sea bottom that are inspected by a sonar-equipped underwater vehicle. Each orbit subtends a prescribed angle so
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Synchronous intercept strategies for a robotic defense-intrusion game with two defenders Auton. Robot. (IF 3.602) Pub Date : 2020-09-15 Shuai Zhang, Mingyong Liu, Xiaokang Lei, Panpan Yang, Yunke Huang, Ruaridh Clark
We study the defense-intrusion game, in which a single attacker robot tries to reach a stationary target that is protected by two defender robots. We focus on the “synchronous intercept problem”, where both robots have to reach the attacker robot synchronously to intercept it. Assume that the attacker robot has the control policy which is based on attraction to the target and repulsion from the defenders
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Sensor fusion based manipulative action recognition Auton. Robot. (IF 3.602) Pub Date : 2020-09-11 Ye Gu, Meiqin Liu, Weihua Sheng, Yongsheng Ou, Yongqiang Li
Manipulative action recognition is one of the most important and challenging topic in the fields of image processing. In this paper, three kinds of sensor modules are used for motion, force and object information capture in the manipulative actions. Two fusion methods are proposed. Further, the recognition accuracy can be improved by using object as context. For the feature-level fusion method, significant
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Tightly-coupled ultra-wideband-aided monocular visual SLAM with degenerate anchor configurations Auton. Robot. (IF 3.602) Pub Date : 2020-08-28 Thien Hoang Nguyen, Thien-Minh Nguyen, Lihua Xie
This paper proposes an enhanced tightly-coupled sensor fusion scheme using a monocular camera and ultra-wideband (UWB) ranging sensors for the task of simultaneous localization and mapping. By leveraging UWB data, the method can achieve metric-scale, drift-reduced odometry and a map consisting of visual landmarks and UWB anchors without knowing the anchor positions. Firstly, the UWB configuration accommodates
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Correction to: Orientation constraints for Wi-Fi SLAM using signal strength gradients Auton. Robot. (IF 3.602) Pub Date : 2020-08-27 Hsiao-Chieh Yen, Chieh-Chih Wang, Cheng-Fu Chou
The original version of this article unfortunately missing the “Acknowledgements” section.
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An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints Auton. Robot. (IF 3.602) Pub Date : 2020-08-27 Virginia Ruiz Garate, Arash Ajoudani
When using a tool with a robotic hand-arm system, the stiffness at the grasped object plays a key role in the interaction with the environment, allowing the successful execution of the task. However, the rapidly increasing use of under-actuated hands in robotic systems due to their robustness and simplicity of control, pose limitations to the achievable object-level stiffness. Indeed, due to the serial
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RGB-D camera calibration and trajectory estimation for indoor mapping Auton. Robot. (IF 3.602) Pub Date : 2020-08-17 Liang Yang, Ivan Dryanovski, Roberto G. Valenti, George Wolberg, Jizhong Xiao
In this paper, we present a system for estimating the trajectory of a moving RGB-D camera with applications to building maps of large indoor environments. Unlike the current most researches, we propose a ‘feature model’ based RGB-D visual odometry system for a computationally-constrained mobile platform, where the ‘feature model’ is persistent and dynamically updated from new observations using a Kalman
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Angular momentum-based control of an underactuated orthotic system for crouch-to-stand motion Auton. Robot. (IF 3.602) Pub Date : 2020-08-08 Curt A. Laubscher, Ryan J. Farris, Jerzy T. Sawicki
This paper presents an angular momentum-based controller for crouch-to-stand motion of a powered pediatric lower-limb orthosis. The control law is developed using an underactuated triple pendulum model representing the legs of an orthosis-dummy system where the hip and knee joints are actuated but the ankle joint is unpowered. The control law is conceived to drive the angular momentum of the system
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Online coverage and inspection planning for 3D modeling Auton. Robot. (IF 3.602) Pub Date : 2020-08-08 Soohwan Song, Daekyum Kim, Sungho Jo
In this study, we address an exploration problem when constructing complete 3D models in an unknown environment using a Micro-Aerial Vehicle. Most previous exploration methods were based on the Next-Best-View (NBV) approaches, which iteratively determine the most informative view, that exposes the greatest unknown area from the current partial model. However, these approaches sometimes miss minor unreconstructed
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Plug-and-play supervisory control using muscle and brain signals for real-time gesture and error detection Auton. Robot. (IF 3.602) Pub Date : 2020-08-09 Joseph DelPreto; Andres F. Salazar-Gomez; Stephanie Gil; Ramin Hasani; Frank H. Guenther; Daniela Rus
Effective human supervision of robots can be key for ensuring correct robot operation in a variety of potentially safety-critical scenarios. This paper takes a step towards fast and reliable human intervention in supervisory control tasks by combining two streams of human biosignals: muscle and brain activity acquired via EMG and EEG, respectively. It presents continuous classification of left and
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Optimal solution of the Generalized Dubins Interval Problem: finding the shortest curvature-constrained path through a set of regions Auton. Robot. (IF 3.602) Pub Date : 2020-08-05 Petr Váňa; Jan Faigl
The Generalized Dubins Interval Problem (GDIP) stands to determine the minimal length path connecting two disk-shaped regions where the departure and terminal headings of Dubins vehicle are within the specified angle intervals. The GDIP is a generalization of the existing point-to-point planning problem for Dubins vehicle with a single heading angle per particular location that can be solved optimally
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A method for autonomous robotic manipulation through exploratory interactions with uncertain environments Auton. Robot. (IF 3.602) Pub Date : 2020-08-03 Pietro Balatti, Dimitrios Kanoulas, Nikos Tsagarakis, Arash Ajoudani
Expanding robot autonomy can deliver functional flexibility and enable fast deployment of robots in challenging and unstructured environments. In this direction, significant advances have been recently made in visual-perception driven autonomy, which is mainly due to the availability of rich sensory data-sets. However, current robots’ physical interaction autonomy levels still remain at a basic level
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An analysis of RelaxedIK : an optimization-based framework for generating accurate and feasible robot arm motions Auton. Robot. (IF 3.602) Pub Date : 2020-08-03 Daniel Rakita; Bilge Mutlu; Michael Gleicher
We present a real-time motion-synthesis method for robot manipulators, called RelaxedIK, that is able to not only accurately match end-effector pose goals as done by traditional IK solvers, but also create smooth, feasible motions that avoid joint-space discontinuities, self-collisions, and kinematic singularities. To achieve these objectives on-the-fly, we cast the standard IK formulation as a weighted-sum
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Scalable time-constrained planning of multi-robot systems Auton. Robot. (IF 3.602) Pub Date : 2020-07-31 Alexandros Nikou, Shahab Heshmati-alamdari, Dimos V. Dimarogonas
This paper presents a scalable procedure for time-constrained planning of a class of uncertain nonlinear multi-robot systems. In particular, we consider N robotic agents operating in a workspace which contains regions of interest (RoI), in which atomic propositions for each robot are assigned. The main goal is to design decentralized and robust control laws so that each robot meets an individual high-level
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Structuring of tactile sensory information for category formation in robotics palpation Auton. Robot. (IF 3.602) Pub Date : 2020-07-29 Luca Scimeca, Perla Maiolino, Ed Bray, Fumiya Iida
This paper proposes a framework to investigate the influence of physical interactions to sensory information, during robotic palpation. We embed a capacitive tactile sensor on a robotic arm to probe a soft phantom and detect and classify hard inclusions within it. A combination of PCA and K-Means clustering is used to: first, reduce the dimensionality of the spatiotemporal data obtained through the
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A dynamical system approach for detection and reaction to human guidance in physical human–robot interaction Auton. Robot. (IF 3.602) Pub Date : 2020-07-26 Mahdi Khoramshahi, Aude Billard
A seamless interaction requires two robotic behaviors: the leader role where the robot rejects the external perturbations and focuses on the autonomous execution of the task, and the follower role where the robot ignores the task and complies with human intentional forces. The goal of this work is to provide (1) a unified robotic architecture to produce these two roles, and (2) a human-guidance detection
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Wind disturbance rejection for unmanned aerial vehicles using acceleration feedback enhanced $$H_\infty $$ H ∞ method Auton. Robot. (IF 3.602) Pub Date : 2020-07-25 Bo Dai; Yuqing He; Guangyu Zhang; Feng Gu; Liying Yang; Weiliang Xu
One of the most critical issues for unmanned aerial vehicle (UAV) safety and precision flight is wind disturbance. To this end, this paper presents an acceleration feedback (AF) enhanced \(H_\infty \) method for UAV flight control against wind disturbance and its application on a hex-rotor platform. The dynamics of the UAV system are decoupled into attitude control and position control loops. A hierarchical
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High precision control and deep learning-based corn stand counting algorithms for agricultural robot Auton. Robot. (IF 3.602) Pub Date : 2020-07-21 Zhongzhong Zhang; Erkan Kayacan; Benjamin Thompson; Girish Chowdhary
This paper presents high precision control and deep learning-based corn stand counting algorithms for a low-cost, ultra-compact 3D printed and autonomous field robot for agricultural operations. Currently, plant traits, such as emergence rate, biomass, vigor, and stand counting, are measured manually. This is highly labor-intensive and prone to errors. The robot, termed TerraSentia, is designed to
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Planar max flow maps and determination of lanes with clearance Auton. Robot. (IF 3.602) Pub Date : 2020-07-17 Renato Farias; Marcelo Kallmann
One main challenge in multi-agent navigation is to generate trajectories minimizing bottlenecks in environments cluttered with obstacles. In this paper we approach this problem globally by taking into account the maximum flow capacity of a given polygonal environment. Given the difficulty in solving the continuous maximum flow of a planar environment, we present in this paper a GPU-based methodology
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Disturbance observer enhanced variable gain controller for robot teleoperation with motion capture using wearable armbands Auton. Robot. (IF 3.602) Pub Date : 2020-07-15 Darong Huang; Chenguang Yang; Zhaojie Ju; Shi-Lu Dai
Disturbance observer (DOB) based controller performs well in estimating and compensating for perturbation when the external or internal unknown disturbance is slowly time varying. However, to some extent, robot manipulators usually work in complex environment with high-frequency disturbance. Thereby, to enhance tracking performance in a teleoperation system, only traditional DOB technique is insufficient
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A unified kinematics modeling, optimization and control of universal robots: from serial and parallel manipulators to walking, rolling and hybrid robots Auton. Robot. (IF 3.602) Pub Date : 2020-07-14 Mahmoud Tarokh
The paper develops a unified kinematics modeling, optimization and control that is applicable to a wide range of autonomous and non-autonomous robots. These include hybrid robots that combine two or more modes of operations, such as combination of walking and rolling, or rolling and manipulation, as well as parallel robots in various configurations. The equations of motion are derived in compact forms
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Geolocalization with aerial image sequence for UAVs Auton. Robot. (IF 3.602) Pub Date : 2020-07-14 Yongfei Li; Hao He; Dongfang Yang; Shicheng Wang; Meng Zhang
The estimation of geolocation for aerial images is significant for tasks like map creating, or automatic navigation for unmanned aerial vehicles (UAVs). We propose a novel geolocalization method for the UAVs using only aerial images and reference road map. The corresponding road maps of the aerial images are firstly merged into a whole mosaic image using our newly-designed aerial image mosaicking algorithm
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Multi-objective drone path planning for search and rescue with quality-of-service requirements Auton. Robot. (IF 3.602) Pub Date : 2020-07-11 Samira Hayat; Evşen Yanmaz; Christian Bettstetter; Timothy X. Brown
We incorporate communication into the multi-UAV path planning problem for search and rescue missions to enable dynamic task allocation via information dissemination. Communication is not treated as a constraint but a mission goal. While achieving this goal, our aim is to avoid compromising the area coverage goal and the overall mission time. We define the mission tasks as: search, inform, and monitor
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Manipulation planning under changing external forces Auton. Robot. (IF 3.602) Pub Date : 2020-07-09 Lipeng Chen; Luis F. C. Figueredo; Mehmet R. Dogar
This paper presents a planner that enables robots to manipulate objects under changing external forces. Particularly, we focus on the scenario where a human applies a sequence of forceful operations, e.g. cutting and drilling, on an object that is held by a robot. The planner produces an efficient manipulation plan by choosing stable grasps on the object, by intelligently deciding when the robot should
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Orientation constraints for Wi-Fi SLAM using signal strength gradients Auton. Robot. (IF 3.602) Pub Date : 2020-07-09 Hsiao-Chieh Yen; Chieh-Chih Wang; Cheng-Fu Chou
We propose the signal strength gradient (SSG) orientation constraints for simultaneous localization and mapping (SLAM) using Wi-Fi received signal strength (RSS) measurements. We show that under certain circumstances, the relative orientation between nearby trajectory segments can be recovered from the cosine similarity between their SSGs. We then show how to obtain trajectory segments and self-consistent
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Iterative residual tuning for system identification and sim-to-real robot learning Auton. Robot. (IF 3.602) Pub Date : 2020-06-27 Adam David Allevato; Elaine Schaertl Short; Mitch Pryor; Andrea L. Thomaz
Robots are increasingly learning complex skills in simulation, increasing the need for realistic simulation environments. Existing techniques for approximating real-world physics with a simulation require extensive observation data and/or thousands of simulation samples. This paper presents iterative residual tuning (IRT), a deep learning system identification technique that modifies a simulator’s
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Nonlinear observability of unicycle multi-robot teams subject to nonuniform environmental disturbances Auton. Robot. (IF 3.602) Pub Date : 2020-06-26 Larkin Heintzman; Ryan K. Williams
In this work, we consider the problem of localizing a team of robots, without access to direct pose measurements, under the influence of nonuniform environmental disturbances and measurement bias. Specifically, we are interested in the conditions under which teams remain range-only localizable when the environmental disturbances vary from robot to robot. We approach this problem through nonlinear observability
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Exploration of the applicability of probabilistic inference for learning control in underactuated autonomous underwater vehicles Auton. Robot. (IF 3.602) Pub Date : 2020-06-25 Wilmer Ariza Ramirez; Zhi Quan Leong; Hung Duc Nguyen; Shantha Gamini Jayasinghe
Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in idealised conditions. For such a case, learning task from experience can be a useful alternative. This paper explores the capability of probabilistic inference learning
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Spatially-dependent Bayesian semantic perception under model and localization uncertainty Auton. Robot. (IF 3.602) Pub Date : 2020-06-25 Yuri Feldman; Vadim Indelman
Semantic perception can provide autonomous robots operating under uncertainty with more efficient representation of their environment and better ability for correct loop closures than only geometric features. However, accurate inference of semantics requires measurement models that correctly capture properties of semantic detections such as viewpoint dependence, spatial correlations, and intra- and
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Online trajectory planning and control of a MAV payload system in dynamic environments Auton. Robot. (IF 3.602) Pub Date : 2020-06-24 Nikhil D. Potdar; Guido C. H. E. de Croon; Javier Alonso-Mora
Micro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches for path planning of MAV swung payload system either compute conservative minimal-swing trajectories or pre-generate agile collision-free trajectories. However, these approaches have failed to address
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A velocity control strategy for collision avoidance of autonomous agricultural vehicles Auton. Robot. (IF 3.602) Pub Date : 2020-06-18 Jinlin Xue; Chengkai Xia; Jun Zou
Collision avoidance ability is very important for autonomous agricultural vehicles, but the influence of different obstacles in agricultural environment is rarely taken into account. In this paper, a velocity control strategy for collision avoidance was proposed to adjust the velocity of autonomous agricultural vehicles according to the movement state and dangerous degree of the obstacles and the distance
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Observability index optimization of robot calibration based on multiple identification spaces Auton. Robot. (IF 3.602) Pub Date : 2020-06-18 Zhouxiang Jiang; Min Huang; Xiaoqi Tang; Bao Song; Yixuan Guo
A calibration method is proposed for six-DoF serial robot based on multiple identification spaces consisting of two subspaces in which the orientations of joint 3 and poses of end-effector are measured simultaneously using hybrid sensors. The rotational geometric errors with higher sensitivities are identified in the first space while the rest are identified in the second. Compared with single identification
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Correction to: GP-SLAM: laser-based SLAM approach based on regionalized Gaussian process map reconstruction Auton. Robot. (IF 3.602) Pub Date : 2020-03-07 Bo Li, Yingqiang Wang, Yu Zhang, Wenjie Zhao, Jianyuan Ruan, Ping Li
Unfortunately, the acknowledgement text was incorrectly published in the original article.
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Event- and time-triggered dynamic task assignments for multiple vehicles Auton. Robot. (IF 3.602) Pub Date : 2020-04-04 Xiaoshan Bai; Ming Cao; Weisheng Yan
We study the dynamic task assignment problem in which multiple dispersed vehicles are employed to visit a set of targets. Some targets’ locations are initially known and the others are dynamically randomly generated during a finite time horizon. The objective is to visit all the target locations while trying to minimize the vehicles’ total travel time. Based on existing algorithms used to deal with
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Merging of appearance-based place knowledge among multiple robots Auton. Robot. (IF 3.602) Pub Date : 2020-03-26 Hakan Karaoğuz; H. Işil Bozma
If robots can merge the appearance-based place knowledge of other robots with their own, they can relate to these places even if they have not previously visited them. We have investigated this problem using robots with compatible visual sensing capabilities and with each robot having its individual long-term place memory. Here, each place refers to a spatial region as defined by a collection of appearances
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Formation control of unmanned micro aerial vehicles for straitened environments Auton. Robot. (IF 3.602) Pub Date : 2020-03-25 Martin Saska; Daniel Hert; Tomas Baca; Vit Kratky; Tiago Nascimento
This paper presents a novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles (multi-rotor helicopters, in the literature also often called unmanned aerial vehicles—UAVs or unmanned aerial system—UAS) in cluttered GPS-denied on straitened environments. The proposed method enables us to autonomously design complex maneuvers of a compact Micro Aerial Vehicles
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Generative Attention Learning: a “GenerAL” framework for high-performance multi-fingered grasping in clutter Auton. Robot. (IF 3.602) Pub Date : 2020-02-20 Bohan Wu; Iretiayo Akinola; Abhi Gupta; Feng Xu; Jacob Varley; David Watkins-Valls; Peter K. Allen
Generative Attention Learning (GenerAL) is a framework for high-DOF multi-fingered grasping that is not only robust to dense clutter and novel objects but also effective with a variety of different parallel-jaw and multi-fingered robot hands. This framework introduces a novel attention mechanism that substantially improves the grasp success rate in clutter. Its generative nature allows the learning
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GP-SLAM: laser-based SLAM approach based on regionalized Gaussian process map reconstruction Auton. Robot. (IF 3.602) Pub Date : 2020-02-13 Bo Li; Yingqiang Wang; Yu Zhang; Wenjie Zhao; Jianyuan Ruan; Ping Li
Existing laser-based 2D simultaneous localization and mapping (SLAM) methods exhibit limitations with regard to either efficiency or map representation. An ideal method should estimate the map of the environment and the state of the robot quickly and accurately while providing a compact and dense map representation. In this study, we develop a new laser-based SLAM algorithm by redesigning the two core
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Improved and scalable online learning of spatial concepts and language models with mapping Auton. Robot. (IF 3.602) Pub Date : 2020-02-08 Akira Taniguchi; Yoshinobu Hagiwara; Tadahiro Taniguchi; Tetsunari Inamura
We propose a novel online learning algorithm, called SpCoSLAM 2.0, for spatial concepts and lexical acquisition with high accuracy and scalability. Previously, we proposed SpCoSLAM as an online learning algorithm based on unsupervised Bayesian probabilistic model that integrates multimodal place categorization, lexical acquisition, and SLAM. However, our original algorithm had limited estimation accuracy
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Multi-agent informed path planning using the probability hypothesis density Auton. Robot. (IF 3.602) Pub Date : 2020-02-07 Jonatan Olofsson; Gustaf Hendeby; Tom Rune Lauknes; Tor Arne Johansen
An Informed Path Planning algorithm for multiple agents is presented. It can be used to efficiently utilize available agents when surveying large areas, when total coverage is unattainable. Internally the algorithm has a Probability Hypothesis Density (PHD) representation, inspired by modern multi-target tracking methods, to represent unseen objects. Using the PHD, the expected number of observed objects
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Approximate Bayesian reinforcement learning based on estimation of plant Auton. Robot. (IF 3.602) Pub Date : 2020-02-06 Kei Senda; Toru Hishinuma; Yurika Tani
This study proposes an approximate parametric model-based Bayesian reinforcement learning approach for robots, based on online Bayesian estimation and online planning for an estimated model. The proposed approach is designed to learn a robotic task with a few real-world samples and to be robust against model uncertainty, within feasible computational resources. The proposed approach employs two-stage
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An informative path planning framework for UAV-based terrain monitoring Auton. Robot. (IF 3.602) Pub Date : 2020-02-04 Marija Popović; Teresa Vidal-Calleja; Gregory Hitz; Jen Jen Chung; Inkyu Sa; Roland Siegwart; Juan Nieto
Unmanned aerial vehicles represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex environments. To address this issue, this article introduces a general informative path planning framework for monitoring scenarios using an aerial robot, focusing on problems in which
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