Pub Date : 2013-05-06DOI: 10.1109/ICRA.2013.6630823
Antonio Leccese, A. Gasparri, A. Priolo, G. Oriolo, G. Ulivi
In this paper, a novel decentralized swarm aggregation algorithm for multi-robot systems with an integrated obstacle avoidance is proposed. In this framework, the interaction among robots is limited to their visibility neighborhood, i.e., robots that are within the visibility range of each other. Furthermore, to better comply with the hardware/software limitations of mobile robotic platforms, robots actuators are assumed to be saturated. A theoretical characterization of the main properties of the proposed swarm aggregation algorithm is provided. Simulations have been carried out to validate the theoretical results and experiments have been performed with a team of low-cost mobile robots to demonstrate the effectiveness of the proposed approach in real scenario.
{"title":"A swarm aggregation algorithm based on local interaction with actuator saturations and integrated obstacle avoidance","authors":"Antonio Leccese, A. Gasparri, A. Priolo, G. Oriolo, G. Ulivi","doi":"10.1109/ICRA.2013.6630823","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630823","url":null,"abstract":"In this paper, a novel decentralized swarm aggregation algorithm for multi-robot systems with an integrated obstacle avoidance is proposed. In this framework, the interaction among robots is limited to their visibility neighborhood, i.e., robots that are within the visibility range of each other. Furthermore, to better comply with the hardware/software limitations of mobile robotic platforms, robots actuators are assumed to be saturated. A theoretical characterization of the main properties of the proposed swarm aggregation algorithm is provided. Simulations have been carried out to validate the theoretical results and experiments have been performed with a team of low-cost mobile robots to demonstrate the effectiveness of the proposed approach in real scenario.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"53 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":"121545673","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.2013.6630967
Hugh Cover, Sanjiban Choudhury, S. Scherer, Sanjiv Singh
Micro aerial vehicles operating outdoors must be able to maneuver through both dense vegetation and across empty fields. Existing approaches do not exploit the nature of such an environment. We have designed an algorithm which plans rapidly through free space and is efficiently guided around obstacles. In this paper we present SPARTAN (Sparse Tangential Network) as an approach to create a sparsely connected graph across a tangential surface around obstacles. We find that SPARTAN can navigate a vehicle autonomously through an outdoor environment producing plans 172 times faster than the state of the art (RRT*). As a result SPARTAN can reliably deliver safe plans, with low latency, using the limited computational resources of a lightweight aerial vehicle.
{"title":"Sparse Tangential Network (SPARTAN): Motion planning for micro aerial vehicles","authors":"Hugh Cover, Sanjiban Choudhury, S. Scherer, Sanjiv Singh","doi":"10.1109/ICRA.2013.6630967","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630967","url":null,"abstract":"Micro aerial vehicles operating outdoors must be able to maneuver through both dense vegetation and across empty fields. Existing approaches do not exploit the nature of such an environment. We have designed an algorithm which plans rapidly through free space and is efficiently guided around obstacles. In this paper we present SPARTAN (Sparse Tangential Network) as an approach to create a sparsely connected graph across a tangential surface around obstacles. We find that SPARTAN can navigate a vehicle autonomously through an outdoor environment producing plans 172 times faster than the state of the art (RRT*). As a result SPARTAN can reliably deliver safe plans, with low latency, using the limited computational resources of a lightweight aerial vehicle.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"16 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":"114882571","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.2013.6630677
Dan Feldman, Stephanie Gil, Ross A. Knepper, Brian J. Julian, D. Rus
We present an approach to position k servers (e.g. mobile robots) to provide a service to n independently moving clients; for example, in mobile ad-hoc networking applications where inter-agent distances need to be minimized, connectivity constraints exist between servers, and no a priori knowledge of the clients' motion can be assumed. Our primary contribution is an algorithm to compute and maintain a small representative set, called a kinematic coreset, of the n moving clients.We prove that, in any given moment, the maximum distance between the clients and any set of k servers is approximated by the coreset up to a factor of (1 ± ε), where ε > 0 is an arbitrarily small constant. We prove that both the size of our coreset and its update time is polynomial in k log(n)/ε. Although our optimization problem is NP-hard (i.e., takes time exponential in the number of servers to solve), solving it on the small coreset instead of the original clients results in a tractable controller. The approach is validated in a small scale hardware experiment using robot servers and human clients, and in a large scale numerical simulation using thousands of clients.
{"title":"K-robots clustering of moving sensors using coresets","authors":"Dan Feldman, Stephanie Gil, Ross A. Knepper, Brian J. Julian, D. Rus","doi":"10.1109/ICRA.2013.6630677","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630677","url":null,"abstract":"We present an approach to position k servers (e.g. mobile robots) to provide a service to n independently moving clients; for example, in mobile ad-hoc networking applications where inter-agent distances need to be minimized, connectivity constraints exist between servers, and no a priori knowledge of the clients' motion can be assumed. Our primary contribution is an algorithm to compute and maintain a small representative set, called a kinematic coreset, of the n moving clients.We prove that, in any given moment, the maximum distance between the clients and any set of k servers is approximated by the coreset up to a factor of (1 ± ε), where ε > 0 is an arbitrarily small constant. We prove that both the size of our coreset and its update time is polynomial in k log(n)/ε. Although our optimization problem is NP-hard (i.e., takes time exponential in the number of servers to solve), solving it on the small coreset instead of the original clients results in a tractable controller. The approach is validated in a small scale hardware experiment using robot servers and human clients, and in a large scale numerical simulation using thousands of clients.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"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":"124123148","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.2013.6631285
Y. Kuroki, Y. Kosaka, Taro Takahashi, E. Niwa, H. Kaminaga, Yoshihiko Nakamura
This paper proposes a new torque sensing method, Cr-N alloy strain sensitive thin-film based torque sensors and distributed joint torque servo systems that enable human support robots to have capabilities to make physical interaction in adaptive and safe operation tasks. Stiffer torque sensing with stable and high-resolution sensing to meet practical level of the developed torque sensors have been achieved. We have developed the joint torque control based 4-DOF arm models in order to verify practical effectiveness of the proposed joint torque servo systems. We also demonstrated the joint torque control based bilateral master slave system exploring future applications.
{"title":"Cr-N alloy thin-film based torque sensors and joint torque servo systems for compliant robot control","authors":"Y. Kuroki, Y. Kosaka, Taro Takahashi, E. Niwa, H. Kaminaga, Yoshihiko Nakamura","doi":"10.1109/ICRA.2013.6631285","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631285","url":null,"abstract":"This paper proposes a new torque sensing method, Cr-N alloy strain sensitive thin-film based torque sensors and distributed joint torque servo systems that enable human support robots to have capabilities to make physical interaction in adaptive and safe operation tasks. Stiffer torque sensing with stable and high-resolution sensing to meet practical level of the developed torque sensors have been achieved. We have developed the joint torque control based 4-DOF arm models in order to verify practical effectiveness of the proposed joint torque servo systems. We also demonstrated the joint torque control based bilateral master slave system exploring future applications.","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":"126264820","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.2013.6630853
A. Vázquez, I. Payo, Raúl Fernández, J. Becedas, Javier J. Jimenez
Flexible-finger hands/grippers have some advantages over rigid ones when used in grasping tasks. For example, they absorb energy during the impact, which make them suitable in delicate manipulation or human interaction. In this work, we look at their performance during grasping tasks, analyzing the effect of some design parameters like precurvature and stiffness of the links, number/DOFs of fingers or scale of the hand. Our work is based on a grasp stability analysis together with a grasp closure analysis adapted to flexible hands. Simulation and experimental tests with a two flexible-finger gripper are provided as validation of our analysis.
{"title":"Design parameters of flexible grippers for grasping","authors":"A. Vázquez, I. Payo, Raúl Fernández, J. Becedas, Javier J. Jimenez","doi":"10.1109/ICRA.2013.6630853","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630853","url":null,"abstract":"Flexible-finger hands/grippers have some advantages over rigid ones when used in grasping tasks. For example, they absorb energy during the impact, which make them suitable in delicate manipulation or human interaction. In this work, we look at their performance during grasping tasks, analyzing the effect of some design parameters like precurvature and stiffness of the links, number/DOFs of fingers or scale of the hand. Our work is based on a grasp stability analysis together with a grasp closure analysis adapted to flexible hands. Simulation and experimental tests with a two flexible-finger gripper are provided as validation of our analysis.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"25 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":"125465869","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.2013.6630829
M. Wahle, B. Corves
This work deals with the control design and control simulation for a parallel structure with reduced degrees of freedom. Firstly, a novel coupled PD-control algorithm which yields uniform eigenfrequencies and properties in all directions of motion is introduced. The results of the linear model are compared to automated MBS-simulations. Afterwards, the stability range is compared to the actual measured stability range which is much smaller. Elasticity effects due to the platform and the joint stiffness are implemented in the MBS-model and evaluated. In the last step, we compare the simulated stability regions of the updated MBS-models to the measured boundaries.
{"title":"On the effect of structural elasticity on the stability and performance of parallel manipulators","authors":"M. Wahle, B. Corves","doi":"10.1109/ICRA.2013.6630829","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630829","url":null,"abstract":"This work deals with the control design and control simulation for a parallel structure with reduced degrees of freedom. Firstly, a novel coupled PD-control algorithm which yields uniform eigenfrequencies and properties in all directions of motion is introduced. The results of the linear model are compared to automated MBS-simulations. Afterwards, the stability range is compared to the actual measured stability range which is much smaller. Elasticity effects due to the platform and the joint stiffness are implemented in the MBS-model and evaluated. In the last step, we compare the simulated stability regions of the updated MBS-models to the measured boundaries.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"36 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":"125732299","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.2013.6631163
Dylan Shinzaki, Chris Gage, Sarah Tang, M. Moline, Barrett W. Wolfe, C. Lowe, C. Clark
This paper presents a system of multiple coordinating autonomous underwater vehicles (AUV) that can localize and track a shark tagged with an acoustic transmitter. Each AUV is equipped with a stereo-hydrophone system that provides measurements of the relative bearing to the transmitter, as well as an acoustic modem that allows for inter-AUV communication and hence cooperative shark state estimation and decentralized tracking control. Online state estimation of the shark's state is performed using a Particle Filter in which measurements are shared between AUVs. The decentralized control system enables the AUVs to circumnavigate a dynamic target, (i.e. the estimated shark location). Each AUV circles the target by tracking circles of different radii and at different phase angles with respect to the target so as to obtain simultaneous sensor vantage points and minimize chance of AUV collision. A series of experiments using two AUVs were conducted in Big Fisherman's Cove in Santa Catalina Island, CA and demonstrated the ability to track a tagged leopard shark (Triakis semifasciata). The performance of the tracking was compared to standard manual tracking performed using an directional hydrophone operated by a researcher in a boat. In an additional experiment, the AUVs tracked an acoustic tag attached to the tracking boat to quantify the error of the state estimation of the system.
{"title":"A multi-AUV system for cooperative tracking and following of leopard sharks","authors":"Dylan Shinzaki, Chris Gage, Sarah Tang, M. Moline, Barrett W. Wolfe, C. Lowe, C. Clark","doi":"10.1109/ICRA.2013.6631163","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631163","url":null,"abstract":"This paper presents a system of multiple coordinating autonomous underwater vehicles (AUV) that can localize and track a shark tagged with an acoustic transmitter. Each AUV is equipped with a stereo-hydrophone system that provides measurements of the relative bearing to the transmitter, as well as an acoustic modem that allows for inter-AUV communication and hence cooperative shark state estimation and decentralized tracking control. Online state estimation of the shark's state is performed using a Particle Filter in which measurements are shared between AUVs. The decentralized control system enables the AUVs to circumnavigate a dynamic target, (i.e. the estimated shark location). Each AUV circles the target by tracking circles of different radii and at different phase angles with respect to the target so as to obtain simultaneous sensor vantage points and minimize chance of AUV collision. A series of experiments using two AUVs were conducted in Big Fisherman's Cove in Santa Catalina Island, CA and demonstrated the ability to track a tagged leopard shark (Triakis semifasciata). The performance of the tracking was compared to standard manual tracking performed using an directional hydrophone operated by a researcher in a boat. In an additional experiment, the AUVs tracked an acoustic tag attached to the tracking boat to quantify the error of the state estimation of the system.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"46 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":"125843727","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.2013.6630612
D. Hunziker, Mohanarajah Gajamohan, M. Waibel, R. D’Andrea
In this paper we present the design and implementation of Rapyuta1, the RoboEarth Cloud Engine. Rapyuta is an open source Platform-as-a-Service (PaaS) framework designed specifically for robotics applications. Rapyuta helps robots to offload heavy computation by providing secured customizable computing environments in the cloud. The computing environments also allow robots to easily access the RoboEarth knowledge repository. Furthermore, these computing environments are tightly interconnected, paving the way for deployment of robotic teams. We also describe specific use case configurations and present some performance results.
{"title":"Rapyuta: The RoboEarth Cloud Engine","authors":"D. Hunziker, Mohanarajah Gajamohan, M. Waibel, R. D’Andrea","doi":"10.1109/ICRA.2013.6630612","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630612","url":null,"abstract":"In this paper we present the design and implementation of Rapyuta1, the RoboEarth Cloud Engine. Rapyuta is an open source Platform-as-a-Service (PaaS) framework designed specifically for robotics applications. Rapyuta helps robots to offload heavy computation by providing secured customizable computing environments in the cloud. The computing environments also allow robots to easily access the RoboEarth knowledge repository. Furthermore, these computing environments are tightly interconnected, paving the way for deployment of robotic teams. We also describe specific use case configurations and present some performance results.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"87 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":"126012231","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.2013.6630672
V. M. Gonçalves, L. Pimenta, C. Maia, G. Pereira
This paper addresses the problem of coordinating the motion of multiple fixed-wing Unmanned Aerial Vehicles (UAVs) following closed intersecting curves. We require that each UAV avoid collisions with its teammates without changing its predefined, periodic path. Also, each robot must keep a minimum speed to avoid stall and a maximum speed determined by its physical constraints. The centralized solution presented in this paper is modeled as a Mixed Integer Linear Programming (MILP) problem. The solution to this problem, which maximizes safeness (in the sense of collision avoidance), determines, for each UAV, the start time and the velocity profile over the curve.
{"title":"Coordination of multiple fixed-wing UAVs traversing intersecting periodic paths","authors":"V. M. Gonçalves, L. Pimenta, C. Maia, G. Pereira","doi":"10.1109/ICRA.2013.6630672","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6630672","url":null,"abstract":"This paper addresses the problem of coordinating the motion of multiple fixed-wing Unmanned Aerial Vehicles (UAVs) following closed intersecting curves. We require that each UAV avoid collisions with its teammates without changing its predefined, periodic path. Also, each robot must keep a minimum speed to avoid stall and a maximum speed determined by its physical constraints. The centralized solution presented in this paper is modeled as a Mixed Integer Linear Programming (MILP) problem. The solution to this problem, which maximizes safeness (in the sense of collision avoidance), determines, for each UAV, the start time and the velocity profile over the curve.","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":"121984220","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.2013.6631017
William Vega-Brown, A. Bachrach, A. Bry, Jonathan Kelly, N. Roy
We present CELLO (Covariance Estimation and Learning through Likelihood Optimization), an algorithm for predicting the covariances of measurements based on any available informative features. This algorithm is intended to improve the accuracy and reliability of on-line state estimation by providing a principled way to extend the conventional fixed-covariance Gaussian measurement model. We show that in experiments, CELLO learns to predict measurement covariances that agree with empirical covariances obtained by manually annotating sensor regimes. We also show that using the learned covariances during filtering provides substantial quantitative improvement to the overall state estimate.
{"title":"CELLO: A fast algorithm for Covariance Estimation","authors":"William Vega-Brown, A. Bachrach, A. Bry, Jonathan Kelly, N. Roy","doi":"10.1109/ICRA.2013.6631017","DOIUrl":"https://doi.org/10.1109/ICRA.2013.6631017","url":null,"abstract":"We present CELLO (Covariance Estimation and Learning through Likelihood Optimization), an algorithm for predicting the covariances of measurements based on any available informative features. This algorithm is intended to improve the accuracy and reliability of on-line state estimation by providing a principled way to extend the conventional fixed-covariance Gaussian measurement model. We show that in experiments, CELLO learns to predict measurement covariances that agree with empirical covariances obtained by manually annotating sensor regimes. We also show that using the learned covariances during filtering provides substantial quantitative improvement to the overall state estimate.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"28 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":"122281703","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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