Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6630666
J. Roll, Bo Cheng, Xinyan Deng
The design and construction of a 2.6 gram electromagnetic actuator operated at resonance is presented. This design is based on wedge-shaped electromagnetic coil generating a driving torque on a rotor embedded with permanent magnets. Additional permanent magnets are used to create a virtual spring effect, supply a restoring torque to the rotor and adding nonlinear system stiffness. Flapping wing parameters were varied systematically to generate 16 unique wing profiles, from which wings were fabricated. Independent bench tests for the coil and spring magnets were used to modify analytical models of the actuator, derived in detail in a parallel study. Based on the equations of motion, estimates for the primary mode of resonance and the peak-peak stroke amplitude were determined using an approximate solution. Frequency response tests were conducted on the flapper using the set of test wings at varying supply voltages and spring configurations to verify the predicted resonate frequencies and amplitudes. Wing kinematics and mean lift measurements were performed for the flapper operating at resonance, producing a lift-to-weight ratio for the actuator of over one at 24V.
{"title":"Design, fabrication, and experiments of an electromagnetic actuator for flapping wing micro air vehicles","authors":"J. Roll, Bo Cheng, Xinyan Deng","doi":"10.1109/ICRA.2013.6630666","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630666","url":null,"abstract":"The design and construction of a 2.6 gram electromagnetic actuator operated at resonance is presented. This design is based on wedge-shaped electromagnetic coil generating a driving torque on a rotor embedded with permanent magnets. Additional permanent magnets are used to create a virtual spring effect, supply a restoring torque to the rotor and adding nonlinear system stiffness. Flapping wing parameters were varied systematically to generate 16 unique wing profiles, from which wings were fabricated. Independent bench tests for the coil and spring magnets were used to modify analytical models of the actuator, derived in detail in a parallel study. Based on the equations of motion, estimates for the primary mode of resonance and the peak-peak stroke amplitude were determined using an approximate solution. Frequency response tests were conducted on the flapper using the set of test wings at varying supply voltages and spring configurations to verify the predicted resonate frequencies and amplitudes. Wing kinematics and mean lift measurements were performed for the flapper operating at resonance, producing a lift-to-weight ratio for the actuator of over one at 24V.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126045298","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6630900
Hanns Tappeiner, R. Klatzky, P. Rowe, Jorgen Pedersen, R. Hollis
We describe an experimental system for the evaluation of teleoperation performance. The system was used in two experiments where operators were assigned the task of discovering a buried object while minimizing contact forces. The studies i) demonstrated the advantage of haptic feedback in the discovery task, and ii) compared different methods for haptic feedback, including our new bimanual method, Touch and Guide in Tandem (TAGIT). Results show that TAGIT enables the effective workspace of the teleoperator to be expanded while minimizing forces from exploration and contact, reducing their variability, and reducing task completion times.
我们描述了一个远程操作性能评估的实验系统。该系统在两个实验中使用，操作员被分配的任务是在最小化接触力的情况下发现被掩埋的物体。这些研究i)证明了触觉反馈在发现任务中的优势，ii)比较了不同的触觉反馈方法，包括我们的新方法，Touch and Guide in Tandem (TAGIT)。结果表明，TAGIT可以扩大遥操作人员的有效工作空间，同时最大限度地减少探索和接触的力，减少它们的可变性，并缩短任务完成时间。
{"title":"Bimanual haptic teleoperation for discovering and uncovering buried objects","authors":"Hanns Tappeiner, R. Klatzky, P. Rowe, Jorgen Pedersen, R. Hollis","doi":"10.1109/ICRA.2013.6630900","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630900","url":null,"abstract":"We describe an experimental system for the evaluation of teleoperation performance. The system was used in two experiments where operators were assigned the task of discovering a buried object while minimizing contact forces. The studies i) demonstrated the advantage of haptic feedback in the discovery task, and ii) compared different methods for haptic feedback, including our new bimanual method, Touch and Guide in Tandem (TAGIT). Results show that TAGIT enables the effective workspace of the teleoperator to be expanded while minimizing forces from exploration and contact, reducing their variability, and reducing task completion times.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123428600","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631068
G. Antonelli, F. Arrichiello, F. Caccavale, A. Marino
In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.
{"title":"Decentralized centroid and formation control for multi-robot systems","authors":"G. Antonelli, F. Arrichiello, F. Caccavale, A. Marino","doi":"10.1109/ICRA.2013.6631068","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631068","url":null,"abstract":"In this paper, a decentralized control strategy for networked multi-robot systems that allows the tracking of the team centroid and the relative formation is presented. The proposed solution consists of a distributed observer-controller scheme where, based only on local information, each robot estimates the collective state and tracks the two assigned control variables. We provide a formal stability analysis of the observer-controller scheme and we relate convergence properties to the topology of the connectivity graph. Experiments are presented to validate the approach.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123708003","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631105
Michael Milford, I. Turner, Peter Corke
In this paper we demonstrate passive vision-based localization in environments more than two orders of magnitude darker than the current benchmark using a $100 webcam and a $500 camera. Our approach uses the camera's maximum exposure duration and sensor gain to achieve appropriately exposed images even in unlit night-time environments, albeit with extreme levels of motion blur. Using the SeqSLAM algorithm, we first evaluate the effect of variable motion blur caused by simulated exposures of 132 ms to 10000 ms duration on localization performance. We then use actual long exposure camera datasets to demonstrate day-night localization in two different environments. Finally we perform a statistical analysis that compares the baseline performance of matching unprocessed grayscale images to using patch normalization and local neighborhood normalization - the two key SeqSLAM components. Our results and analysis show for the first time why the SeqSLAM algorithm is effective, and demonstrate the potential for cheap camera-based localization systems that function across extreme perceptual change.
{"title":"Long exposure localization in darkness using consumer cameras","authors":"Michael Milford, I. Turner, Peter Corke","doi":"10.1109/ICRA.2013.6631105","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631105","url":null,"abstract":"In this paper we demonstrate passive vision-based localization in environments more than two orders of magnitude darker than the current benchmark using a $100 webcam and a $500 camera. Our approach uses the camera's maximum exposure duration and sensor gain to achieve appropriately exposed images even in unlit night-time environments, albeit with extreme levels of motion blur. Using the SeqSLAM algorithm, we first evaluate the effect of variable motion blur caused by simulated exposures of 132 ms to 10000 ms duration on localization performance. We then use actual long exposure camera datasets to demonstrate day-night localization in two different environments. Finally we perform a statistical analysis that compares the baseline performance of matching unprocessed grayscale images to using patch normalization and local neighborhood normalization - the two key SeqSLAM components. Our results and analysis show for the first time why the SeqSLAM algorithm is effective, and demonstrate the potential for cheap camera-based localization systems that function across extreme perceptual change.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125367365","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631339
Alejandro González, M. Hayashibe, P. Fraisse
A human's center of mass (CoM) trajectory is useful to evaluate the dynamic stability during daily life activities such as walking and standing up. To estimate the subject-specific CoM position in the home environment, we make use of a statically equivalent serial chain (SESC) developed with a portable measurement system. In this paper we implement a constrained Kalman filter to achieve an online estimation of the SESC parameters while accounting for the human body's bilateral symmetry. This results in constraining SESC parameters to be consistent with the human skeletal model used. The proposed identification method can inform the subject or the therapist, in real-time, about the quality of the on-going CoM estimation. This information can be helpful to reduce the identification time and establish a personalized protocol. A Kinect is used as a markerless motion capture system for measuring limb orientations while the Wii board is used to measure the subject's center of pressure (CoP) during the identification phase. CoP measurements and Kinect data were recorded for four able-bodied subjects. The recorded data was then given to the proposed recursive algorithm to identify the parameters of the SESC online. A cross-validation test was performed to verify the identification performance. The results for these subjects are shown and discussed.
{"title":"Online identification and visualization of the statically equivalent serial chain via constrained Kalman filter","authors":"Alejandro González, M. Hayashibe, P. Fraisse","doi":"10.1109/ICRA.2013.6631339","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631339","url":null,"abstract":"A human's center of mass (CoM) trajectory is useful to evaluate the dynamic stability during daily life activities such as walking and standing up. To estimate the subject-specific CoM position in the home environment, we make use of a statically equivalent serial chain (SESC) developed with a portable measurement system. In this paper we implement a constrained Kalman filter to achieve an online estimation of the SESC parameters while accounting for the human body's bilateral symmetry. This results in constraining SESC parameters to be consistent with the human skeletal model used. The proposed identification method can inform the subject or the therapist, in real-time, about the quality of the on-going CoM estimation. This information can be helpful to reduce the identification time and establish a personalized protocol. A Kinect is used as a markerless motion capture system for measuring limb orientations while the Wii board is used to measure the subject's center of pressure (CoP) during the identification phase. CoP measurements and Kinect data were recorded for four able-bodied subjects. The recorded data was then given to the proposed recursive algorithm to identify the parameters of the SESC online. A cross-validation test was performed to verify the identification performance. The results for these subjects are shown and discussed.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125516467","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6630651
M. Beccani, C. Natali, M. Rentschler, P. Valdastri
Palpating tissues and organs to identify hidden tumors or to detect buried vessels is not a viable option in laparoscopic surgery due to lack of force feedback. So far, research toward restoring tactile and kinesthetic sensations in minimally invasive surgery has focused on the distal sensing element or on the proximal rendering of haptic cues. In this work we present a pilot study to assess the feasibility of wireless tissue palpation, where a magnetic device is deployed through a standard surgical trocar and operated to perform tissue palpation without requiring a dedicated entry port. The setup consists of a wireless intra-body device and an external robotic manipulator holding a load cell and a permanent magnet. Embedded in the wireless cylindrical device (12.7 mm in diameter and 27.5 mm in height) is a sensing module, a wireless microcontroller, a battery and a permanent magnet. This preliminary study assessed the precision in reconstructing the indentation depth based on magnetic field measurements at the wireless device (i.e., 0.1 mm accuracy). Experimental trials demonstrated the effectiveness of wireless vertical indentation in detecting the elastic modulus of three different silicone tissue simulators (elastic modulus ranging from 50 kPa to 93 kPa), showing a maximum relative error below 3%. Finally, wireless palpation was used to identify differences in tissue stiffness from a lump embedded into a porcine liver. The reported results have the potential to open a new paradigm in the field of palpation devices, where direct physical connection across the abdominal wall is no longer required.
{"title":"Wireless tissue palpation: Proof of concept for a single degree of freedom","authors":"M. Beccani, C. Natali, M. Rentschler, P. Valdastri","doi":"10.1109/ICRA.2013.6630651","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630651","url":null,"abstract":"Palpating tissues and organs to identify hidden tumors or to detect buried vessels is not a viable option in laparoscopic surgery due to lack of force feedback. So far, research toward restoring tactile and kinesthetic sensations in minimally invasive surgery has focused on the distal sensing element or on the proximal rendering of haptic cues. In this work we present a pilot study to assess the feasibility of wireless tissue palpation, where a magnetic device is deployed through a standard surgical trocar and operated to perform tissue palpation without requiring a dedicated entry port. The setup consists of a wireless intra-body device and an external robotic manipulator holding a load cell and a permanent magnet. Embedded in the wireless cylindrical device (12.7 mm in diameter and 27.5 mm in height) is a sensing module, a wireless microcontroller, a battery and a permanent magnet. This preliminary study assessed the precision in reconstructing the indentation depth based on magnetic field measurements at the wireless device (i.e., 0.1 mm accuracy). Experimental trials demonstrated the effectiveness of wireless vertical indentation in detecting the elastic modulus of three different silicone tissue simulators (elastic modulus ranging from 50 kPa to 93 kPa), showing a maximum relative error below 3%. Finally, wireless palpation was used to identify differences in tissue stiffness from a lump embedded into a porcine liver. The reported results have the potential to open a new paradigm in the field of palpation devices, where direct physical connection across the abdominal wall is no longer required.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126776893","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6630838
Susanne Petsch, Darius Burschka
Robots are meanwhile able to perform several tasks. But what happens, if one or multiple of the robot's joints fail? Is the robot still able to perform the required tasks? Which capabilities of the robot get limited and which ones are lost? We propose an analysis of manipulator structures for the comparison of a robot's capabilities with respect to efficient control. The comparison is processed (1) within a robot in the case of joint failures and (2) between robots with or without joint failures. It is important, that the analysis can be processed independently of the structure of the manipulator. The results have to be comparable between different manipulator structures. Therefore, an abstract representation of the robot's dynamic capabilities is necessary. We introduce the Maneuverability Volume and the Spinning Pencil for this purpose. The Maneuverability Volume shows, how efficiently the end-effector can be moved to any other position. The Spinning Pencil reflects the robot's capability to change its end-effector orientation efficiently. Our experiments show not only the different capabilities of two manipulator structures, but also the change of the capabilities if one or multiple joints fail.
{"title":"Analysis of manipulator structures under joint-failure with respect to efficient control in task-specific contexts","authors":"Susanne Petsch, Darius Burschka","doi":"10.1109/ICRA.2013.6630838","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630838","url":null,"abstract":"Robots are meanwhile able to perform several tasks. But what happens, if one or multiple of the robot's joints fail? Is the robot still able to perform the required tasks? Which capabilities of the robot get limited and which ones are lost? We propose an analysis of manipulator structures for the comparison of a robot's capabilities with respect to efficient control. The comparison is processed (1) within a robot in the case of joint failures and (2) between robots with or without joint failures. It is important, that the analysis can be processed independently of the structure of the manipulator. The results have to be comparable between different manipulator structures. Therefore, an abstract representation of the robot's dynamic capabilities is necessary. We introduce the Maneuverability Volume and the Spinning Pencil for this purpose. The Maneuverability Volume shows, how efficiently the end-effector can be moved to any other position. The Spinning Pencil reflects the robot's capability to change its end-effector orientation efficiently. Our experiments show not only the different capabilities of two manipulator structures, but also the change of the capabilities if one or multiple joints fail.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"98 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116435434","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631177
M. Lutz, D. Stampfer, C. Schlegel
Reliable object recognition is a mandatory prerequisite for Service Robots in everyday environments. Typical approaches for object recognition use single algorithms or features. However, none is yet able to classify across all types of objects and the field of object recognition is thus still an open challenge. We propose an approach for object recognition and pose estimation that combines existing algorithms. Probabilistic methods are used to fuse the classification and pose estimation results, considering the error introduced by the measurements, actuators (sensor on manipulator) and algorithms. Since integration is one of the real challenges from the laboratory towards the real world, we demonstrate the approach in two fully integrated scenarios. We run the experiments on two platforms and focus on the distinction of few but similar objects.
{"title":"Probabilistic object recognition and pose estimation by fusing multiple algorithms","authors":"M. Lutz, D. Stampfer, C. Schlegel","doi":"10.1109/ICRA.2013.6631177","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631177","url":null,"abstract":"Reliable object recognition is a mandatory prerequisite for Service Robots in everyday environments. Typical approaches for object recognition use single algorithms or features. However, none is yet able to classify across all types of objects and the field of object recognition is thus still an open challenge. We propose an approach for object recognition and pose estimation that combines existing algorithms. Probabilistic methods are used to fuse the classification and pose estimation results, considering the error introduced by the measurements, actuators (sensor on manipulator) and algorithms. Since integration is one of the real challenges from the laboratory towards the real world, we demonstrate the approach in two fully integrated scenarios. We run the experiments on two platforms and focus on the distinction of few but similar objects.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122570498","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6631354
K. Alexis, Christoph Hürzeler, R. Siegwart
A new type of coaxial-rotor unmanned helicopter capable of physically interacting with its environment is the subject of this paper. Its design is optimized in order to provide the means of robust environmental interaction through contact (e.g. docking and sliding on walls). Due to the rapid change of the dynamics from the free-flying helicopter to the helicopter subject to the forces and moments during contact a hybrid systems modeling approach is followed. This global model of the system's dynamics is the basis for the design of a hybrid model predictive controller that guarantees the stability of the hybrid system and provides the capability of controlled docking on walls as well as sliding on them. The capabilities of the platform and the efficiency of the control law are illustrated through experimental studies.
{"title":"Hybrid modeling and control of a coaxial unmanned rotorcraft interacting with its environment through contact","authors":"K. Alexis, Christoph Hürzeler, R. Siegwart","doi":"10.1109/ICRA.2013.6631354","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631354","url":null,"abstract":"A new type of coaxial-rotor unmanned helicopter capable of physically interacting with its environment is the subject of this paper. Its design is optimized in order to provide the means of robust environmental interaction through contact (e.g. docking and sliding on walls). Due to the rapid change of the dynamics from the free-flying helicopter to the helicopter subject to the forces and moments during contact a hybrid systems modeling approach is followed. This global model of the system's dynamics is the basis for the design of a hybrid model predictive controller that guarantees the stability of the hybrid system and provides the capability of controlled docking on walls as well as sliding on them. The capabilities of the platform and the efficiency of the control law are illustrated through experimental studies.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122849865","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 : 2013-05-06DOI: 10.1109/ICRA.2013.6630990
A. Kleiner, A. Kolling
We consider the problem of computing trajectories for a team of of coordinated unmanned aerial vehicles (UAVs) in large and complex 2D and 2.5D environments to guarantee the detection of any evading target. Our approach is based on the coordination of 2D sweep lines that move through the environment to clear it from all contamination, representing the possibility of a target being located in an area, and thereby detecting all targets. The trajectories of the UAVs are computed from the motion of these sweep lines. Low cost coordination strategies of the UAV sweep lines are computed in 2D and simply-connected polygonal environments and then converted to strategies capable of clearing multiply-connected 2.5D environments. We present simulation experiments with maps of real and artificial environments and demonstrate the execution of strategies with simulated quadrotors using the Robot Operating System (ROS) framework. The algorithms used for the experiments are made available on a public repository.
{"title":"Guaranteed search with large teams of unmanned aerial vehicles","authors":"A. Kleiner, A. Kolling","doi":"10.1109/ICRA.2013.6630990","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630990","url":null,"abstract":"We consider the problem of computing trajectories for a team of of coordinated unmanned aerial vehicles (UAVs) in large and complex 2D and 2.5D environments to guarantee the detection of any evading target. Our approach is based on the coordination of 2D sweep lines that move through the environment to clear it from all contamination, representing the possibility of a target being located in an area, and thereby detecting all targets. The trajectories of the UAVs are computed from the motion of these sweep lines. Low cost coordination strategies of the UAV sweep lines are computed in 2D and simply-connected polygonal environments and then converted to strategies capable of clearing multiply-connected 2.5D environments. We present simulation experiments with maps of real and artificial environments and demonstrate the execution of strategies with simulated quadrotors using the Robot Operating System (ROS) framework. The algorithms used for the experiments are made available on a public repository.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122860648","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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