Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023522
B. Nemec, L. Žlajpah, A. Ude
In this paper we address a problem of how to open the doors with an articulated robot. We propose a novel algorithm, that combines widely used reinforcement learning approach with intelligent control algorithms. In order to speed up learning, we formed more structured search, which exploits physical constraints of the problem to be solved. The underlying controller, which acts as a policy search agent, generates movements along the admissible directions defined by physical constraints of the task. This way we can efficiently solve many practical problems such as door opening without almost any previous knowledge of the environment. The approach was verified in simulation as well as with real robot experiment.
{"title":"Door opening by joining reinforcement learning and intelligent control","authors":"B. Nemec, L. Žlajpah, A. Ude","doi":"10.1109/ICAR.2017.8023522","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023522","url":null,"abstract":"In this paper we address a problem of how to open the doors with an articulated robot. We propose a novel algorithm, that combines widely used reinforcement learning approach with intelligent control algorithms. In order to speed up learning, we formed more structured search, which exploits physical constraints of the problem to be solved. The underlying controller, which acts as a policy search agent, generates movements along the admissible directions defined by physical constraints of the task. This way we can efficiently solve many practical problems such as door opening without almost any previous knowledge of the environment. The approach was verified in simulation as well as with real robot experiment.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124384650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023652
Ming Chen, Lujia Wang, Cheng-Zhong Xu, Renfa Li
Intelligent human robot interaction are becoming popular in both industry and academia. However, amongst current techniques, speech recognition is a challenging topic, including real-time translation with high accuracy, amicability and the support for recognizing minor languages or sophisticated dialects. In this paper, we propose a human-friendly prototype deployed on NAO robots in a real-life scenario through daily speech commands and NAO would act accordingly. We primarily adopt HMM-GMM, the combination of HMMs (Hidden Markov Models) and GMMs (Gaussian Mixtures Models). The experimental results show that the proposed prototype achieves high accuracy and well-received by experiment subjects.
{"title":"A novel approach of system design for dialect speech interaction with NAO robot","authors":"Ming Chen, Lujia Wang, Cheng-Zhong Xu, Renfa Li","doi":"10.1109/ICAR.2017.8023652","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023652","url":null,"abstract":"Intelligent human robot interaction are becoming popular in both industry and academia. However, amongst current techniques, speech recognition is a challenging topic, including real-time translation with high accuracy, amicability and the support for recognizing minor languages or sophisticated dialects. In this paper, we propose a human-friendly prototype deployed on NAO robots in a real-life scenario through daily speech commands and NAO would act accordingly. We primarily adopt HMM-GMM, the combination of HMMs (Hidden Markov Models) and GMMs (Gaussian Mixtures Models). The experimental results show that the proposed prototype achieves high accuracy and well-received by experiment subjects.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129281057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023672
Mandan Liu
There are many nature-inspired algorithms being proposed and researched to solve combinatorial optimization problems. The theory of Five-elements in Chinese traditional culture implies a possible approach to solve present-day problems of science and engineering. In this paper, the Five-elements Cycle Model (FECM) is developed based on the mechanism of generation and restriction among five elements, and Five-elements Cycle Optimization (FECO) algorithm is proposed for finding the optimal solution of travelling salesman problems. The performance and parameter comparison of FECO is given by experiments, the comparison with 7 optimization algorithms based on various mechanisms for some TSP instances from TSPLIB are also given, which indicate the availability of FECO.
{"title":"Five-elements cycle optimization algorithm for the travelling salesman problem","authors":"Mandan Liu","doi":"10.1109/ICAR.2017.8023672","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023672","url":null,"abstract":"There are many nature-inspired algorithms being proposed and researched to solve combinatorial optimization problems. The theory of Five-elements in Chinese traditional culture implies a possible approach to solve present-day problems of science and engineering. In this paper, the Five-elements Cycle Model (FECM) is developed based on the mechanism of generation and restriction among five elements, and Five-elements Cycle Optimization (FECO) algorithm is proposed for finding the optimal solution of travelling salesman problems. The performance and parameter comparison of FECO is given by experiments, the comparison with 7 optimization algorithms based on various mechanisms for some TSP instances from TSPLIB are also given, which indicate the availability of FECO.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129906139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023518
C. S. Wieghardt, Bernardo Wagner
Rising automation requirements in manufacturing lead to an increasing demand for robot self-calibration. Self-calibration becomes a challenging task for mobile robots since the environment is dynamic, at least from the perspective of moving robots. This paper proposes a new self-calibration method by tracking the end-effector with the help of a head-mounted projector (see Fig. 1). Pseudorandom coded light is projected into the environment and single images are decoded. The pattern consists of checkerboard-like corner-primitives, which are detected by a camera-pair, mounted on the robot base. Triangulation yields the primitives' positions. The projector can be described as an inverse camera model, so its pose is determinable by taking the primitive points as reference. The extrinsic hand-projector and camera-robot transformations are given by the commonly known formula AX = ZB. Further optimization and the incorporation of the joint parameters allow the calibration of the manipulator. Self-calibration means that no sort of calibration object like a checkerboard is needed. Since the decoding is applied to single images, the environment is permitted to change, and the robot is allowed to move around freely during calibration. Experimental results of this method show a submillimeter accuracy of the proposed projector tracking as well as improvements of the robot's accuracy in its typical workspace.
{"title":"Self-calibration of a mobile manipulator using structured light","authors":"C. S. Wieghardt, Bernardo Wagner","doi":"10.1109/ICAR.2017.8023518","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023518","url":null,"abstract":"Rising automation requirements in manufacturing lead to an increasing demand for robot self-calibration. Self-calibration becomes a challenging task for mobile robots since the environment is dynamic, at least from the perspective of moving robots. This paper proposes a new self-calibration method by tracking the end-effector with the help of a head-mounted projector (see Fig. 1). Pseudorandom coded light is projected into the environment and single images are decoded. The pattern consists of checkerboard-like corner-primitives, which are detected by a camera-pair, mounted on the robot base. Triangulation yields the primitives' positions. The projector can be described as an inverse camera model, so its pose is determinable by taking the primitive points as reference. The extrinsic hand-projector and camera-robot transformations are given by the commonly known formula AX = ZB. Further optimization and the incorporation of the joint parameters allow the calibration of the manipulator. Self-calibration means that no sort of calibration object like a checkerboard is needed. Since the decoding is applied to single images, the environment is permitted to change, and the robot is allowed to move around freely during calibration. Experimental results of this method show a submillimeter accuracy of the proposed projector tracking as well as improvements of the robot's accuracy in its typical workspace.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130252029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023658
Hongling Wang, Cheng-jin Zhang, Yong Song, Bao Pang
The information-fusion methods are developed in this paper for mobile robots performing simultaneous localization and mapping (SLAM) adapting search and rescue (SAR) environment. Fusion systems consist of laser range finder (LRF) sensors, localization sonars, gyro odometry, Kinect-sensor, RGB-D camera, and other proprioceptive sensors. The integrated particle filter algorithms run through the proposed informationfusion systems to perform SLAM task in collapsed disaster scenarios. We discussed several fusion approaches which include parallel measurements filtering, exploration trajectories fusing, and combination sensors' measurements and mobile robots' trajectories. The different fusion errors are analyzed by comparing the estimated trajectories and fusion trajectory to true trajectories, respectively. The simulations and experiments validate the effectiveness of the proposed information-fusion methods in improving SLAM performances adapting to SAR scenarios.
{"title":"Information-fusion based robot simultaneous localization and mapping adapted to search and rescue cluttered environment","authors":"Hongling Wang, Cheng-jin Zhang, Yong Song, Bao Pang","doi":"10.1109/ICAR.2017.8023658","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023658","url":null,"abstract":"The information-fusion methods are developed in this paper for mobile robots performing simultaneous localization and mapping (SLAM) adapting search and rescue (SAR) environment. Fusion systems consist of laser range finder (LRF) sensors, localization sonars, gyro odometry, Kinect-sensor, RGB-D camera, and other proprioceptive sensors. The integrated particle filter algorithms run through the proposed informationfusion systems to perform SLAM task in collapsed disaster scenarios. We discussed several fusion approaches which include parallel measurements filtering, exploration trajectories fusing, and combination sensors' measurements and mobile robots' trajectories. The different fusion errors are analyzed by comparing the estimated trajectories and fusion trajectory to true trajectories, respectively. The simulations and experiments validate the effectiveness of the proposed information-fusion methods in improving SLAM performances adapting to SAR scenarios.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127745919","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As a new form of space system construction and space operation, cellular space robot has the advantages of standardization, reconfiguration and system flexibility. The system flexibility depends on the flexibility of the configuration of the cellular space robot. In order to accomplish different tasks, cellular space robot needs to change its configuration by self-reconfiguration. However, since the variety types of cells, heterogeneous self-configuration problem of the cellular space robot constitutes a formidable technical challenge. In the process of self-reconfiguration, frequent cell disassembly operations will waste time and might bring additional risks. To solve the above-mentioned problems, a reconfiguration algorithm for heterogeneous cellular space robot is proposed to reduce the times of cell disassembly operations. Firstly, all cells for reconfiguration are divided into different levels. Then the cells are moved to the corresponding level of the intermediate configuration. Finally, the cells in the intermediate configuration are reconstructed to form the target configuration. The applicability of this algorithm is proven. The amount of cell disassembly of this algorithm is O(n). 3D simulations validate that the algorithm can realize the self-reconfiguration of the cellular space robot.
{"title":"Reconfiguration planning for heterogeneous cellular space robot","authors":"Yifei Zhang, Panfeng Huang, Yizhai Zhang, Haitao Chang","doi":"10.1109/ICAR.2017.8023516","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023516","url":null,"abstract":"As a new form of space system construction and space operation, cellular space robot has the advantages of standardization, reconfiguration and system flexibility. The system flexibility depends on the flexibility of the configuration of the cellular space robot. In order to accomplish different tasks, cellular space robot needs to change its configuration by self-reconfiguration. However, since the variety types of cells, heterogeneous self-configuration problem of the cellular space robot constitutes a formidable technical challenge. In the process of self-reconfiguration, frequent cell disassembly operations will waste time and might bring additional risks. To solve the above-mentioned problems, a reconfiguration algorithm for heterogeneous cellular space robot is proposed to reduce the times of cell disassembly operations. Firstly, all cells for reconfiguration are divided into different levels. Then the cells are moved to the corresponding level of the intermediate configuration. Finally, the cells in the intermediate configuration are reconstructed to form the target configuration. The applicability of this algorithm is proven. The amount of cell disassembly of this algorithm is O(n). 3D simulations validate that the algorithm can realize the self-reconfiguration of the cellular space robot.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114069301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, a deep learning inspired solution is proposed and developed to enable timeliness and practicality of the pre-existing ground stereo vision guidance system for flxed-wing UAVs' safe landing. Since the ground guidance prototype was restricted within applications due to its untimeliness, eventually the vision-based detection less than 15 fps (frame per second). Under such circumstances, we employ a regression based deep learning algorithm into automatic detection on the flying aircraft in the landing sequential images. The system architecture is upgraded so as to be compatible with the novel deep learning requests, and furthermore, annotated datasets are conducted to support training and testing of the regression-based learning detection algorithm. Experimental results validate that the detection attaches 100 fps or more while the localization accuracy is kept in the same level.
{"title":"Enabling ∼100fps detection on a landing unmanned aircraft for its on-ground vision-based recovery","authors":"Zhengjiang Cao, Kuang Zhao, Qiang Fang, Weiwei Kong, Dengqing Tang, Tianjiang Hu","doi":"10.1109/ICAR.2017.8023640","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023640","url":null,"abstract":"In this paper, a deep learning inspired solution is proposed and developed to enable timeliness and practicality of the pre-existing ground stereo vision guidance system for flxed-wing UAVs' safe landing. Since the ground guidance prototype was restricted within applications due to its untimeliness, eventually the vision-based detection less than 15 fps (frame per second). Under such circumstances, we employ a regression based deep learning algorithm into automatic detection on the flying aircraft in the landing sequential images. The system architecture is upgraded so as to be compatible with the novel deep learning requests, and furthermore, annotated datasets are conducted to support training and testing of the regression-based learning detection algorithm. Experimental results validate that the detection attaches 100 fps or more while the localization accuracy is kept in the same level.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"59 17","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120864295","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023667
R. Koch, S. May, A. Nüchter
A favoured sensor for mapping is a 3D laser scanner since it allows a wide scanning range, precise measurements, and is usable indoor and outdoor. Hence, a mapping module delivers detailed and high resolution maps which makes it possible to navigate safely. Difficulties result from transparent and specular reflective objects which cause erroneous and dubious measurements. At such objects, based on the incident angle, measurements result from the object surface, an object behind the transparent surface, or an object mirrored with respect to the reflective surface. This paper describes an enhanced Pre-Filter-Module to distinguish between these cases. Two experiments demonstrate the usability and show that for single scans the identification of mentioned objects in 3D is possible. The first experiment was made in an empty room with a mirror. The second experiment was made in a stairway which contains a glass door. Further, results show that a discrimination between a specular reflective and a transparent object is possible. Especially for transparent objects the detected size is restricted to the incident angle. That is why future work concentrates on implementing a post-filter module. Gained experience shows that collecting the data of multiple scans and postprocess them as soon as the object was bypassed will improve the map.
{"title":"Effective distinction of transparent and specular reflective objects in point clouds of a multi-echo laser scanner","authors":"R. Koch, S. May, A. Nüchter","doi":"10.1109/ICAR.2017.8023667","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023667","url":null,"abstract":"A favoured sensor for mapping is a 3D laser scanner since it allows a wide scanning range, precise measurements, and is usable indoor and outdoor. Hence, a mapping module delivers detailed and high resolution maps which makes it possible to navigate safely. Difficulties result from transparent and specular reflective objects which cause erroneous and dubious measurements. At such objects, based on the incident angle, measurements result from the object surface, an object behind the transparent surface, or an object mirrored with respect to the reflective surface. This paper describes an enhanced Pre-Filter-Module to distinguish between these cases. Two experiments demonstrate the usability and show that for single scans the identification of mentioned objects in 3D is possible. The first experiment was made in an empty room with a mirror. The second experiment was made in a stairway which contains a glass door. Further, results show that a discrimination between a specular reflective and a transparent object is possible. Especially for transparent objects the detected size is restricted to the incident angle. That is why future work concentrates on implementing a post-filter module. Gained experience shows that collecting the data of multiple scans and postprocess them as soon as the object was bypassed will improve the map.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122705656","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023497
Martin Bem, Miha Deniša, Timotej Gaspar, Jaka Jereb, Robert Bevec, I. Kovac, A. Ude
To make robotics feasible for use in small and medium enterprises (SMEs) several issues have to be addressed. The most obvious is the ability to produce small batches of products with minimal changeover cost and time. In this paper an innovative flexible fixture based on a Gough-Stewart platform called the hexapod is proposed. The fixture is designed to be suitable for a whole family of automotive lights. The main characteristics of the hexapod is its passivity, i.e. the reconfiguration can be performed manually or by using an external mechanism e.g. a robot. Once a desirable configuration is reached a set of hydromechanical brakes is used to hold the mechanism in the desired pose. To show the effectiveness of the hexapods a set of automotive lights assembly in dedicated robot cell experiments were performed. Additionally, positioning repeatability and the locked system stiffness were measured. Finally, a robot cell for a complete light assembly has been implemented together with robot assisted fixture reconfiguration between different light models.
{"title":"Reconfigurable fixture evaluation for use in automotive light assembly","authors":"Martin Bem, Miha Deniša, Timotej Gaspar, Jaka Jereb, Robert Bevec, I. Kovac, A. Ude","doi":"10.1109/ICAR.2017.8023497","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023497","url":null,"abstract":"To make robotics feasible for use in small and medium enterprises (SMEs) several issues have to be addressed. The most obvious is the ability to produce small batches of products with minimal changeover cost and time. In this paper an innovative flexible fixture based on a Gough-Stewart platform called the hexapod is proposed. The fixture is designed to be suitable for a whole family of automotive lights. The main characteristics of the hexapod is its passivity, i.e. the reconfiguration can be performed manually or by using an external mechanism e.g. a robot. Once a desirable configuration is reached a set of hydromechanical brakes is used to hold the mechanism in the desired pose. To show the effectiveness of the hexapods a set of automotive lights assembly in dedicated robot cell experiments were performed. Additionally, positioning repeatability and the locked system stiffness were measured. Finally, a robot cell for a complete light assembly has been implemented together with robot assisted fixture reconfiguration between different light models.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116710044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023514
R. G. Braga, Roberto C. da Silva, A. B. Ramos, F. Mora-Camino
Disasters involving gas leakage can cause serious damage to properties, to the environment and even endanger human lives. In these situations it is very important to locate the source of gas leakage as fast as possible. A swarm of robots is a solution specially efficient in missions involving exploration and search in unknown environments. This work proposes a strategy using behavioral rules and an idea inspired by the Particle Swarm Optimization algorithm to control a group of Unmanned Aerial Vehicles (UAVs) while searching for the source of a gas leakage. The solution was implemented in C++ using the ROS platform and was tested in simulations using the Pixhawk SITL simulator. Results show that after some time the UAVs converge to the source of leaking gas.
{"title":"UAV swarm control strategies: A case study for leak detection","authors":"R. G. Braga, Roberto C. da Silva, A. B. Ramos, F. Mora-Camino","doi":"10.1109/ICAR.2017.8023514","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023514","url":null,"abstract":"Disasters involving gas leakage can cause serious damage to properties, to the environment and even endanger human lives. In these situations it is very important to locate the source of gas leakage as fast as possible. A swarm of robots is a solution specially efficient in missions involving exploration and search in unknown environments. This work proposes a strategy using behavioral rules and an idea inspired by the Particle Swarm Optimization algorithm to control a group of Unmanned Aerial Vehicles (UAVs) while searching for the source of a gas leakage. The solution was implemented in C++ using the ROS platform and was tested in simulations using the Pixhawk SITL simulator. Results show that after some time the UAVs converge to the source of leaking gas.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117352292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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