{"title":"Adaptive robust backstepping sliding mode control of a de-Icing Industrial robot manipulator using Neural Network with dead Zone","authors":"Van T. La, Shoudao Huang, T. D. Tran, D. H. Vu","doi":"10.2316/J.2021.206-0465","DOIUrl":"https://doi.org/10.2316/J.2021.206-0465","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"190 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116145569","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 : 1900-01-01DOI: 10.2316/Journal.206.2016.6.206-4434
G. SajadSaeedi, Amr Nagaty, Carl Thibault, M. Trentini, Howard Li
Robots need autonomous navigation to complete their tasks e fficiently. This becomes more challenging in GPS-denied environments where positioning information is not available. For small flying robots and quadroto rs, inherent limitations such as limited sensor payload and small system time-consta nt add another layer of challenge to the problem. This paper presents a solution for autonomous navigation of a quadrotor rotorcraft by performing autonomous behaviors, such as explorat ion, returning home, or following waypoints. The solution relies on accurate loc alization, mapping, and navigation between waypoints. Multiple tests were perform ed in simulated and real-world environments to show the effectiveness of the pr oposed solution.
{"title":"Perception and Navigation for an Autonomous quadrotor in GPS-denied Environments","authors":"G. SajadSaeedi, Amr Nagaty, Carl Thibault, M. Trentini, Howard Li","doi":"10.2316/Journal.206.2016.6.206-4434","DOIUrl":"https://doi.org/10.2316/Journal.206.2016.6.206-4434","url":null,"abstract":"Robots need autonomous navigation to complete their tasks e fficiently. This becomes more challenging in GPS-denied environments where positioning information is not available. For small flying robots and quadroto rs, inherent limitations such as limited sensor payload and small system time-consta nt add another layer of challenge to the problem. This paper presents a solution for autonomous navigation of a quadrotor rotorcraft by performing autonomous behaviors, such as explorat ion, returning home, or following waypoints. The solution relies on accurate loc alization, mapping, and navigation between waypoints. Multiple tests were perform ed in simulated and real-world environments to show the effectiveness of the pr oposed solution.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116437703","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 : 1900-01-01DOI: 10.2316/Journal.206.2005.1.206-2770
Haishen Wu, J. Zelek
{"title":"A Multiclassifier-based Near-Real-Time Face Detection System","authors":"Haishen Wu, J. Zelek","doi":"10.2316/Journal.206.2005.1.206-2770","DOIUrl":"https://doi.org/10.2316/Journal.206.2005.1.206-2770","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122424218","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}
{"title":"Differential flatness Active disturbance rejection control Approach for a class of nonlinear uncertain Systems","authors":"Congzhi Huang, C. Luo, Yan Li, Tianyang Zhang","doi":"10.2316/J.2019.206-5179","DOIUrl":"https://doi.org/10.2316/J.2019.206-5179","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"310 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122781960","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 : 1900-01-01DOI: 10.2316/Journal.206.2014.2.206-3977
G. Palli, S. Pirozzi
{"title":"Integration of an Optical force Sensor into the actuation Module of the DEXMART Hand","authors":"G. Palli, S. Pirozzi","doi":"10.2316/Journal.206.2014.2.206-3977","DOIUrl":"https://doi.org/10.2316/Journal.206.2014.2.206-3977","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122508264","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 : 1900-01-01DOI: 10.2316/Journal.206.2013.3.206-3792
C. Ulas, H. Temeltas
{"title":"Feature-Based 3D Outdoor SLAM with Local filters","authors":"C. Ulas, H. Temeltas","doi":"10.2316/Journal.206.2013.3.206-3792","DOIUrl":"https://doi.org/10.2316/Journal.206.2013.3.206-3792","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122152894","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 : 1900-01-01DOI: 10.2316/Journal.206.2018.2.206-5065
Gokmen Ascioglu, Y. Senol
{"title":"Prediction of Lower extremity Joint angles using Neural Networks for exoskeleton robotic leg","authors":"Gokmen Ascioglu, Y. Senol","doi":"10.2316/Journal.206.2018.2.206-5065","DOIUrl":"https://doi.org/10.2316/Journal.206.2018.2.206-5065","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116844032","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}
{"title":"A Hybrid gripper and its clamping force control for Long-Segment Devices in robotic Endovascular Intervention System","authors":"Kundong Wang, Jianyun Liu, Lu Li, S. Xia, Q. Lu","doi":"10.2316/J.2022.206-0417","DOIUrl":"https://doi.org/10.2316/J.2022.206-0417","url":null,"abstract":"","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116847080","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 : 1900-01-01DOI: 10.2316/Journal.206.2011.1.206-3405
N. Bezzo, R. Fierro, Ashleigh Swingler, S. Ferrari
In this paper we develop a framework based on disjunctive programming for motion planning of robotic networks. Although the methodology presented in this paper can be applied to general motion planning problems we focus on coordinating a team of mobile routers to maintain connectivity between a fixed base station and a mobile user within a walled environment. This connectivity management problem is decomposed into three steps: (i) a feasible line-of-sight path between the base station and the mobile user is computed; (ii) the number of required routers and their goal locations are determined; and (iii) the motion planning with obstacle and inter-vehicle collision avoidance problem is solved. To illustrate the flexibility of the proposed approach we also formulate a novel motion planning algorithm for a team of mobile robots as a disjunctive program. Cell decomposition is used to take into account the size and orientation of the robots. In both cases, connectivity and motion planning, the mixed-integer optimization problems are solve using CPLEX. Moreover, the proposed approach can easily accommodate input and other constraints and mission objectives. Simulation results show the applicability of the proposed strategy.
{"title":"A Disjunctive Programming Approach for Motion Planning of Mobile Router Networks","authors":"N. Bezzo, R. Fierro, Ashleigh Swingler, S. Ferrari","doi":"10.2316/Journal.206.2011.1.206-3405","DOIUrl":"https://doi.org/10.2316/Journal.206.2011.1.206-3405","url":null,"abstract":"In this paper we develop a framework based on disjunctive programming for motion planning of robotic networks. Although the methodology presented in this paper can be applied to general motion planning problems we focus on coordinating a team of mobile routers to maintain connectivity between a fixed base station and a mobile user within a walled environment. This connectivity management problem is decomposed into three steps: (i) a feasible line-of-sight path between the base station and the mobile user is computed; (ii) the number of required routers and their goal locations are determined; and (iii) the motion planning with obstacle and inter-vehicle collision avoidance problem is solved. To illustrate the flexibility of the proposed approach we also formulate a novel motion planning algorithm for a team of mobile robots as a disjunctive program. Cell decomposition is used to take into account the size and orientation of the robots. In both cases, connectivity and motion planning, the mixed-integer optimization problems are solve using CPLEX. Moreover, the proposed approach can easily accommodate input and other constraints and mission objectives. Simulation results show the applicability of the proposed strategy.","PeriodicalId":206015,"journal":{"name":"Int. J. Robotics Autom.","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117323485","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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