首页 > 最新文献

Journal of Intelligent & Robotic Systems最新文献

英文 中文
Optimal Transport and Model Predictive Control-based Simultaneous Task Assignment and Trajectory Planning for Unmanned System Swarm 基于最优传输和模型预测控制的无人系统蜂群同时任务分配和轨迹规划
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-02-03 DOI: 10.1007/s10846-024-02060-z
Xiwei Wu, Bing Xiao, Lu Cao, Haibin Huang

This paper presents a simultaneous task assignment and trajectory planning method for unmanned system swarm by using optimal transport and model predictive control (OT-MPC). Unlike the conventional hierarchical assignment and planning, the proposed approach addresses both the task assignment and trajectory planning subproblems concurrently. To be specific, a unified cost function is designed to solve task assignment and trajectory planning problem. Moreover, the multi-tasks are assigned by using optimal transport, which establishes an optimal mapping between tasks and unmanned system vehicles based on transportation cost. The trajectory planning is achieved by using model predictive control, which generates high-quality navigation trajectories considering obstacle avoidance. Finally, the proposed method is applied to the unmanned surface vehicles swarm. Numerical simulations and experiments were conducted to validate the effectiveness of the proposed method.

本文提出了一种利用最优传输和模型预测控制(OT-MPC)同时进行无人系统蜂群任务分配和轨迹规划的方法。与传统的分层分配和规划不同,本文提出的方法同时解决任务分配和轨迹规划两个子问题。具体来说,设计了一个统一的成本函数来解决任务分配和轨迹规划问题。此外,多任务分配采用最优运输方式,根据运输成本在任务和无人系统车辆之间建立最优映射。利用模型预测控制实现轨迹规划,在考虑避障的情况下生成高质量的导航轨迹。最后,将提出的方法应用于无人水面飞行器群。通过数值模拟和实验验证了所提方法的有效性。
{"title":"Optimal Transport and Model Predictive Control-based Simultaneous Task Assignment and Trajectory Planning for Unmanned System Swarm","authors":"Xiwei Wu, Bing Xiao, Lu Cao, Haibin Huang","doi":"10.1007/s10846-024-02060-z","DOIUrl":"https://doi.org/10.1007/s10846-024-02060-z","url":null,"abstract":"<p>This paper presents a simultaneous task assignment and trajectory planning method for unmanned system swarm by using optimal transport and model predictive control (OT-MPC). Unlike the conventional hierarchical assignment and planning, the proposed approach addresses both the task assignment and trajectory planning subproblems concurrently. To be specific, a unified cost function is designed to solve task assignment and trajectory planning problem. Moreover, the multi-tasks are assigned by using optimal transport, which establishes an optimal mapping between tasks and unmanned system vehicles based on transportation cost. The trajectory planning is achieved by using model predictive control, which generates high-quality navigation trajectories considering obstacle avoidance. Finally, the proposed method is applied to the unmanned surface vehicles swarm. Numerical simulations and experiments were conducted to validate the effectiveness of the proposed method.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"68 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139662543","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Fusion of Time-of-Flight Based Sensors with Monocular Cameras for a Robotic Person Follower 基于飞行时间的传感器与单目摄像头的融合,用于机器人人员跟随器
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-02-03 DOI: 10.1007/s10846-023-02037-4
José Sarmento, Filipe Neves dos Santos, André Silva Aguiar, Vítor Filipe, António Valente

Human-robot collaboration (HRC) is becoming increasingly important in advanced production systems, such as those used in industries and agriculture. This type of collaboration can contribute to productivity increase by reducing physical strain on humans, which can lead to reduced injuries and improved morale. One crucial aspect of HRC is the ability of the robot to follow a specific human operator safely. To address this challenge, a novel methodology is proposed that employs monocular vision and ultra-wideband (UWB) transceivers to determine the relative position of a human target with respect to the robot. UWB transceivers are capable of tracking humans with UWB transceivers but exhibit a significant angular error. To reduce this error, monocular cameras with Deep Learning object detection are used to detect humans. The reduction in angular error is achieved through sensor fusion, combining the outputs of both sensors using a histogram-based filter. This filter projects and intersects the measurements from both sources onto a 2D grid. By combining UWB and monocular vision, a remarkable 66.67% reduction in angular error compared to UWB localization alone is achieved. This approach demonstrates an average processing time of 0.0183s and an average localization error of 0.14 meters when tracking a person walking at an average speed of 0.21 m/s. This novel algorithm holds promise for enabling efficient and safe human-robot collaboration, providing a valuable contribution to the field of robotics.

在工业和农业等领域使用的先进生产系统中,人机协作正变得越来越重要。这种协作可以减轻人类的体力负担,从而减少伤害和提高士气,有助于提高生产率。HRC 的一个重要方面是机器人安全跟随特定人类操作员的能力。为了应对这一挑战,我们提出了一种新方法,利用单目视觉和超宽带 (UWB) 收发器来确定人类目标与机器人的相对位置。超宽带收发器能够利用超宽带收发器跟踪人类,但会出现明显的角度误差。为了减少这一误差,我们使用了带有深度学习物体检测功能的单目摄像头来检测人类。角度误差的减少是通过传感器融合实现的,即使用基于直方图的滤波器将两个传感器的输出结合起来。该滤波器将两个来源的测量值投影并交汇到一个二维网格上。通过结合 UWB 和单目视觉,与单独的 UWB 定位相比,角度误差显著减少了 66.67%。这种方法的平均处理时间为 0.0183 秒,在以平均 0.21 米/秒的速度跟踪行走的人时,平均定位误差为 0.14 米。这种新型算法有望实现高效、安全的人机协作,为机器人学领域做出宝贵贡献。
{"title":"Fusion of Time-of-Flight Based Sensors with Monocular Cameras for a Robotic Person Follower","authors":"José Sarmento, Filipe Neves dos Santos, André Silva Aguiar, Vítor Filipe, António Valente","doi":"10.1007/s10846-023-02037-4","DOIUrl":"https://doi.org/10.1007/s10846-023-02037-4","url":null,"abstract":"<p>Human-robot collaboration (HRC) is becoming increasingly important in advanced production systems, such as those used in industries and agriculture. This type of collaboration can contribute to productivity increase by reducing physical strain on humans, which can lead to reduced injuries and improved morale. One crucial aspect of HRC is the ability of the robot to follow a specific human operator safely. To address this challenge, a novel methodology is proposed that employs monocular vision and ultra-wideband (UWB) transceivers to determine the relative position of a human target with respect to the robot. UWB transceivers are capable of tracking humans with UWB transceivers but exhibit a significant angular error. To reduce this error, monocular cameras with Deep Learning object detection are used to detect humans. The reduction in angular error is achieved through sensor fusion, combining the outputs of both sensors using a histogram-based filter. This filter projects and intersects the measurements from both sources onto a 2D grid. By combining UWB and monocular vision, a remarkable 66.67% reduction in angular error compared to UWB localization alone is achieved. This approach demonstrates an average processing time of 0.0183s and an average localization error of 0.14 meters when tracking a person walking at an average speed of 0.21 m/s. This novel algorithm holds promise for enabling efficient and safe human-robot collaboration, providing a valuable contribution to the field of robotics.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"59 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139662536","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
RGB-D Based Visual SLAM Algorithm for Indoor Crowd Environment 基于 RGB-D 的室内人群环境视觉 SLAM 算法
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-02-02 DOI: 10.1007/s10846-023-02046-3
Jianfeng Li, Juan Dai, Zhong Su, Cui Zhu

Most current research on dynamic visual Simultaneous Localization and Mapping (SLAM) systems focuses on scenes where static objects occupy most of the environment. However, in densely populated indoor environments, the movement of the crowd can lead to the loss of feature information, thereby diminishing the system’s robustness and accuracy. This paper proposes a visual SLAM algorithm for dense crowd environments based on a combination of the ORB-SLAM2 framework and RGB-D cameras. Firstly, we introduced a dedicated target detection network thread and improved the performance of the target detection network, enhancing its detection coverage in crowded environments, resulting in a 41.5% increase in average accuracy. Additionally, we found that some feature points other than humans in the detection box were mistakenly deleted. Therefore, we proposed an algorithm based on standard deviation fitting to effectively filter out the features. Finally, our system is evaluated on the TUM and Bonn RGB-D dynamic datasets and compared with ORB-SLAM2 and other state-of-the-art visual dynamic SLAM methods. The results indicate that our system’s pose estimation error is reduced by at least 93.60% and 97.11% compared to ORB-SLAM2 in high dynamic environments and the Bonn RGB-D dynamic dataset, respectively. Our method demonstrates comparable performance compared to other recent visual dynamic SLAM methods.

目前对动态视觉同步定位与绘图(SLAM)系统的研究大多集中在静态物体占据大部分环境的场景上。然而,在人口密集的室内环境中,人群的移动会导致特征信息的丢失,从而降低系统的鲁棒性和准确性。本文结合 ORB-SLAM2 框架和 RGB-D 摄像机,提出了一种适用于密集人群环境的视觉 SLAM 算法。首先,我们引入了专用的目标检测网络线程,并改进了目标检测网络的性能,提高了其在拥挤环境中的检测覆盖率,使平均精度提高了 41.5%。此外,我们还发现检测框中一些非人类的特征点被误删。因此,我们提出了一种基于标准偏差拟合的算法,以有效过滤掉这些特征点。最后,我们的系统在 TUM 和 Bonn RGB-D 动态数据集上进行了评估,并与 ORB-SLAM2 和其他最先进的视觉动态 SLAM 方法进行了比较。结果表明,在高动态环境和波恩 RGB-D 动态数据集中,与 ORB-SLAM2 相比,我们系统的姿态估计误差分别减少了至少 93.60% 和 97.11%。与其他最新的视觉动态 SLAM 方法相比,我们的方法性能相当。
{"title":"RGB-D Based Visual SLAM Algorithm for Indoor Crowd Environment","authors":"Jianfeng Li, Juan Dai, Zhong Su, Cui Zhu","doi":"10.1007/s10846-023-02046-3","DOIUrl":"https://doi.org/10.1007/s10846-023-02046-3","url":null,"abstract":"<p>Most current research on dynamic visual Simultaneous Localization and Mapping (SLAM) systems focuses on scenes where static objects occupy most of the environment. However, in densely populated indoor environments, the movement of the crowd can lead to the loss of feature information, thereby diminishing the system’s robustness and accuracy. This paper proposes a visual SLAM algorithm for dense crowd environments based on a combination of the ORB-SLAM2 framework and RGB-D cameras. Firstly, we introduced a dedicated target detection network thread and improved the performance of the target detection network, enhancing its detection coverage in crowded environments, resulting in a 41.5% increase in average accuracy. Additionally, we found that some feature points other than humans in the detection box were mistakenly deleted. Therefore, we proposed an algorithm based on standard deviation fitting to effectively filter out the features. Finally, our system is evaluated on the TUM and Bonn RGB-D dynamic datasets and compared with ORB-SLAM2 and other state-of-the-art visual dynamic SLAM methods. The results indicate that our system’s pose estimation error is reduced by at least 93.60% and 97.11% compared to ORB-SLAM2 in high dynamic environments and the Bonn RGB-D dynamic dataset, respectively. Our method demonstrates comparable performance compared to other recent visual dynamic SLAM methods.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"2 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139670319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Context Adaptive Fault Tolerant Multi-sensor fusion: Towards a Fail-Safe Multi Operational Objective Vehicle Localization 上下文自适应容错多传感器融合:实现故障安全的多业务目标车辆定位
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-02-01 DOI: 10.1007/s10846-023-01906-2
Nesrine Harbaoui, Khoder Makkawi, Nourdine Ait-Tmazirte, Maan El Badaoui El Najjar

In many transport applications, one of the safety critical function is the localization. This is all the more true for land transport applications such as autonomous vehicles. While the democratization of satellite positioning systems, such as GPS, Galileo, Beidou or Glonass, has made it possible to consider a global solution applicable anywhere in the world, the principle of positioning by receiving signals from satellites more than twenty thousand kilometers away shows limits when they are confronted with disturbances related to the environment close to the receiver. However, for these safety-critical applications, the requirements are strong and sometimes even conflicting. The developed function must meet a defined level of precision, availability, continuity of service, integrity, operational safety and finally robustness to environment changes. Taken separately, these requirements can be achieved by actions recommended by the literature. For more precision and availability, coupling between absolute GNSS data and relative INS and odometer data, is recommended. To increase safety and integrity, a fault detection layer is essential, but this will negatively impact availability. One therefore needs a fault management layer. A harmonious policy, thought at the function design, makes it possible to achieve all the objectives. In this study, we propose a framework based on a tripartite approach: the tight fusion of GNSS and IMU data, the development of a diagnostic layer based on information theory and using the very promising alpha Rényi divergence, as well as a fault isolation layer. The diagnostic layer is designed to be robust and adaptive to changing environment through a deep neural network. The proposed framework is tested on data acquired in the field. Encouraging results allow to consider the generalization of the concept.

在许多运输应用中,安全的关键功能之一是定位。对于自动驾驶汽车等陆地运输应用来说,更是如此。虽然卫星定位系统(如 GPS、伽利略、北斗或格洛纳斯)的民主化使我们有可能考虑一种适用于世界任何地方的全球解决方案,但通过接收来自两万公里以外卫星的信号进行定位的原理,在遇到与接收器附近环境有关的干扰时就会显示出局限性。然而,对于这些安全关键型应用,要求非常严格,有时甚至相互冲突。所开发的功能必须满足规定的精度、可用性、服务连续性、完整性、操作安全性以及对环境变化的稳健性。分别来看,这些要求可以通过文献建议的措施来实现。为了提高精度和可用性,建议将全球导航卫星系统的绝对数据与 INS 和里程表的相对数据结合起来。为提高安全性和完整性,故障检测层必不可少,但这将对可用性产生负面影响。因此,我们需要一个故障管理层。在功能设计时考虑到和谐的政策,就有可能实现所有目标。在本研究中,我们提出了一个基于三方方法的框架:GNSS 和 IMU 数据的紧密融合、基于信息论并利用前景广阔的阿尔法雷尼发散法开发的诊断层以及故障隔离层。诊断层是通过深度神经网络设计的,具有鲁棒性并能适应不断变化的环境。所提出的框架在实地获取的数据上进行了测试。令人鼓舞的结果使我们可以考虑推广这一概念。
{"title":"Context Adaptive Fault Tolerant Multi-sensor fusion: Towards a Fail-Safe Multi Operational Objective Vehicle Localization","authors":"Nesrine Harbaoui, Khoder Makkawi, Nourdine Ait-Tmazirte, Maan El Badaoui El Najjar","doi":"10.1007/s10846-023-01906-2","DOIUrl":"https://doi.org/10.1007/s10846-023-01906-2","url":null,"abstract":"<p>In many transport applications, one of the safety critical function is the localization. This is all the more true for land transport applications such as autonomous vehicles. While the democratization of satellite positioning systems, such as GPS, Galileo, Beidou or Glonass, has made it possible to consider a global solution applicable anywhere in the world, the principle of positioning by receiving signals from satellites more than twenty thousand kilometers away shows limits when they are confronted with disturbances related to the environment close to the receiver. However, for these safety-critical applications, the requirements are strong and sometimes even conflicting. The developed function must meet a defined level of precision, availability, continuity of service, integrity, operational safety and finally robustness to environment changes. Taken separately, these requirements can be achieved by actions recommended by the literature. For more precision and availability, coupling between absolute GNSS data and relative INS and odometer data, is recommended. To increase safety and integrity, a fault detection layer is essential, but this will negatively impact availability. One therefore needs a fault management layer. A harmonious policy, thought at the function design, makes it possible to achieve all the objectives. In this study, we propose a framework based on a tripartite approach: the tight fusion of GNSS and IMU data, the development of a diagnostic layer based on information theory and using the very promising alpha Rényi divergence, as well as a fault isolation layer. The diagnostic layer is designed to be robust and adaptive to changing environment through a deep neural network. The proposed framework is tested on data acquired in the field. Encouraging results allow to consider the generalization of the concept.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"42 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139662625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Scalable Task Allocation with Communications Connectivity for Flying Ad-Hoc Networks 飞行 Ad-Hoc 网络的可扩展任务分配与通信连接
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-02-01 DOI: 10.1007/s10846-024-02059-6
Wai Lun Leong, Jiawei Cao, Rodney Teo

Task allocation enables heterogeneous agents to execute heterogeneous tasks in the domain of unmanned aerial vehicles, while responding to dynamic changes in the environment and available resources to complete complex, multi-objective missions, leading to swarm intelligence. We propose a bio-inspired approach using digital pheromones to perform scalable task allocation when the number of agents, tasks, and the diameter of the communications graph increase. The resulting emergent behaviour also enables idle agents in the swarm to provide periodic or continuous connectivity between disconnected parts of the swarm. We validate our results through simulation and demonstrate the feasibility of our approach by applying it to the 3D coverage and patrol problem.

任务分配使异构代理能够在无人飞行器领域执行异构任务,同时响应环境和可用资源的动态变化,完成复杂的多目标任务,从而实现蜂群智能。我们提出了一种生物启发方法,利用数字信息素在代理数量、任务和通信图直径增加时执行可扩展的任务分配。由此产生的新兴行为还能让蜂群中的闲置代理在蜂群的断开部分之间提供周期性或持续的连接。我们通过仿真验证了我们的结果,并将其应用于三维覆盖和巡逻问题,从而证明了我们方法的可行性。
{"title":"Scalable Task Allocation with Communications Connectivity for Flying Ad-Hoc Networks","authors":"Wai Lun Leong, Jiawei Cao, Rodney Teo","doi":"10.1007/s10846-024-02059-6","DOIUrl":"https://doi.org/10.1007/s10846-024-02059-6","url":null,"abstract":"<p>Task allocation enables heterogeneous agents to execute heterogeneous tasks in the domain of unmanned aerial vehicles, while responding to dynamic changes in the environment and available resources to complete complex, multi-objective missions, leading to swarm intelligence. We propose a bio-inspired approach using digital pheromones to perform scalable task allocation when the number of agents, tasks, and the diameter of the communications graph increase. The resulting emergent behaviour also enables idle agents in the swarm to provide periodic or continuous connectivity between disconnected parts of the swarm. We validate our results through simulation and demonstrate the feasibility of our approach by applying it to the 3D coverage and patrol problem.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"10 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139670130","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Dynamic Via-points and Improved Spatial Generalization for Online Trajectory Generation with Dynamic Movement Primitives 利用动态运动基元在线生成轨迹的动态通过点和改进的空间概括能力
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-01-29 DOI: 10.1007/s10846-024-02051-0
Antonis Sidiropoulos, Zoe Doulgeri

Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization, modulation and robustness properties. However, the spatial generalization of DMP can be problematic in some cases, leading to excessive overscaling and in turn large velocities and accelerations. While other DMP variants have been proposed in the literature to tackle this issue, they can also exhibit excessive overscaling as we show in this work. Moreover, incorporating intermediate points (via-points) for adjusting the DMP trajectory to account for the geometry of objects related to the task, or to avoid or push aside objects that obstruct a specific task, is not addressed by the current DMP literature. In this work we tackle these unresolved so far issues by proposing an improved online spatial generalization, that remedies the shortcomings of the classical DMP generalization, and moreover allows the incorporation of dynamic via-points. This is achieved by designing an online adaptation scheme for the DMP weights which is proved to minimize the distance from the demonstrated acceleration profile to retain the shape of the demonstration, subject to dynamic via-point and initial/final state constraints. Extensive comparative simulations with the classical and other DMP variants are conducted, while experimental results validate the practical usefulness and efficiency of the proposed method.

动态运动基元(Dynamic Movement Primitives,DMP)在各种机器人任务中都取得了显著的适用性和成功,这主要归功于它们的泛化、调制和鲁棒性特性。然而,在某些情况下,DMP 的空间泛化可能会出现问题,导致过度缩放,进而产生较大的速度和加速度。虽然文献中提出了其他 DMP 变体来解决这一问题,但正如我们在本研究中展示的那样,这些变体也会表现出过度缩放。此外,目前的 DMP 文献还没有涉及到结合中间点(过点)来调整 DMP 轨迹,以考虑与任务相关的物体的几何形状,或避开或推开阻碍特定任务的物体。在这项工作中,我们提出了一种改进的在线空间泛化方法,弥补了经典 DMP 泛化方法的不足,并允许纳入动态通过点,从而解决了这些迄今尚未解决的问题。为此,我们为 DMP 权重设计了一个在线适应方案,该方案被证明能最大限度地减小与已演示加速度曲线的距离,从而在动态通过点和初始/最终状态限制条件下保持演示的形状。实验结果验证了所提方法的实用性和效率。
{"title":"Dynamic Via-points and Improved Spatial Generalization for Online Trajectory Generation with Dynamic Movement Primitives","authors":"Antonis Sidiropoulos, Zoe Doulgeri","doi":"10.1007/s10846-024-02051-0","DOIUrl":"https://doi.org/10.1007/s10846-024-02051-0","url":null,"abstract":"<p>Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization, modulation and robustness properties. However, the spatial generalization of DMP can be problematic in some cases, leading to excessive overscaling and in turn large velocities and accelerations. While other DMP variants have been proposed in the literature to tackle this issue, they can also exhibit excessive overscaling as we show in this work. Moreover, incorporating intermediate points (via-points) for adjusting the DMP trajectory to account for the geometry of objects related to the task, or to avoid or push aside objects that obstruct a specific task, is not addressed by the current DMP literature. In this work we tackle these unresolved so far issues by proposing an improved online spatial generalization, that remedies the shortcomings of the classical DMP generalization, and moreover allows the incorporation of dynamic via-points. This is achieved by designing an online adaptation scheme for the DMP weights which is proved to minimize the distance from the demonstrated acceleration profile to retain the shape of the demonstration, subject to dynamic via-point and initial/final state constraints. Extensive comparative simulations with the classical and other DMP variants are conducted, while experimental results validate the practical usefulness and efficiency of the proposed method.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"169 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139580650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Online Capability Based Task Allocation of Cooperative Manipulators 基于能力的合作机械手在线任务分配
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-01-25 DOI: 10.1007/s10846-024-02050-1
Keshab Patra, Arpita Sinha, Anirban Guha

The cooperative manipulator group can accomplish complex and heavy payload tasks of object manipulation and transportation compared to a single manipulator. Effective coordination is crucial for cooperative task accomplishments. Multi-manipulator task distribution is highly complex because of the varying dynamic capabilities of the manipulators. We have introduced a novel fastest technique to quantify the dynamic task capability of the cooperative manipulator by scalar quantity and allocate the task accordingly. The scalar quantity determines the capability of applying an external wrench by end effector (EE) in line with the required wrench at the center of mass of the manipulating object. This quantity helps to diminish tracking errors in object manipulations or transportation and actuator saturation avoidance. The task distribution among the members is in proportion to their computed dynamic capability to ensure equal priority to the individual manipulators. The proposed task distribution formulation ensures the minimum magnitude of wrench interaction at the grasp point and the minimum internal wrench build-up in the object. Several physical simulation results assure trajectory tracking performance with the proposed task capability metric. The same metric aids in identifying the least capable manipulator, rearranging members for better performance, and deciding the required number of manipulators in the manipulator group.

与单个机械手相比,合作机械手小组可以完成复杂而繁重的物体操作和运输任务。有效的协调对于合作完成任务至关重要。由于机械手的动态能力各不相同,多机械手任务分配非常复杂。我们引入了一种新颖的最快技术,通过标量量化合作机械手的动态任务能力,并据此分配任务。标量决定了末端效应器(EE)在操纵物体的质心处根据所需的扳手施加外部扳手的能力。这个量有助于减少物体操纵或运输过程中的跟踪误差,并避免致动器饱和。各成员之间的任务分配与其计算的动态能力成比例,以确保各机械手具有同等的优先权。所提出的任务分配方案可确保抓取点的扳手相互作用量最小,物体内部的扳手积聚量最小。一些物理仿真结果确保了使用所提出的任务能力指标进行轨迹跟踪的性能。该指标还有助于识别能力最弱的机械手,重新安排成员以提高性能,以及决定机械手组中所需的机械手数量。
{"title":"Online Capability Based Task Allocation of Cooperative Manipulators","authors":"Keshab Patra, Arpita Sinha, Anirban Guha","doi":"10.1007/s10846-024-02050-1","DOIUrl":"https://doi.org/10.1007/s10846-024-02050-1","url":null,"abstract":"<p>The cooperative manipulator group can accomplish complex and heavy payload tasks of object manipulation and transportation compared to a single manipulator. Effective coordination is crucial for cooperative task accomplishments. Multi-manipulator task distribution is highly complex because of the varying dynamic capabilities of the manipulators. We have introduced a novel fastest technique to quantify the dynamic task capability of the cooperative manipulator by scalar quantity and allocate the task accordingly. The scalar quantity determines the capability of applying an external wrench by end effector (EE) in line with the required wrench at the center of mass of the manipulating object. This quantity helps to diminish tracking errors in object manipulations or transportation and actuator saturation avoidance. The task distribution among the members is in proportion to their computed dynamic capability to ensure equal priority to the individual manipulators. The proposed task distribution formulation ensures the minimum magnitude of wrench interaction at the grasp point and the minimum internal wrench build-up in the object. Several physical simulation results assure trajectory tracking performance with the proposed task capability metric. The same metric aids in identifying the least capable manipulator, rearranging members for better performance, and deciding the required number of manipulators in the manipulator group.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"163 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139561044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV 全向变形多旋翼无人机 OmniMorph 的建模、分析和控制
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-01-25 DOI: 10.1007/s10846-024-02054-x
Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes, Quentin Sablé, Antonio Franchi

This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers’ mutual aerodynamic interference.

本文首次介绍了一种新型变形多旋翼无人飞行器(UAV)的设计、建模和控制,我们称之为 OmniMorph。通过变形能力,可以选择能耗最优化的配置,同时确保所需任务所需的机动性。例如,在标准的点对点位移过程中,可以使用最节能的单向推力(UDT)配置。而全动(FA)和全向(OD)配置则可用于全姿态跟踪,例如恒定姿态水平运动和现场全旋转,以及全扳手 6D 交互控制和 6D 干扰抑制。使用单个伺服电机即可实现变形,从而最大限度地降低重量、成本和维护复杂性。对传动特性进行了研究,提出了在性能和控制力之间进行折中的最佳控制器,并在实际模拟中进行了验证。对原型机进行了初步测试,以评估螺旋桨的相互气动干扰。
{"title":"Modelling, Analysis, and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV","authors":"Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes, Quentin Sablé, Antonio Franchi","doi":"10.1007/s10846-024-02054-x","DOIUrl":"https://doi.org/10.1007/s10846-024-02054-x","url":null,"abstract":"<p>This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient <i>uni-directional thrust</i> (UDT) configuration can be used, e.g., during standard point-to-point displacements. <i>Fully-actuated</i> (FA) and <i>omnidirectional</i> (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers’ mutual aerodynamic interference.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"9 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139561037","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Communication-Aware Control of Large Data Transmissions via Centralized Cognition and 5G Networks for Multi-Robot Map merging 通过集中认知和 5G 网络实现多机器人地图合并的大数据传输通信感知控制
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-01-25 DOI: 10.1007/s10846-023-02045-4
Gerasimos Damigos, Nikolaos Stathoulopoulos, Anton Koval, Tore Lindgren, George Nikolakopoulos

Multiple modern robotic applications benefit from centralized cognition and processing schemes. However, modern equipped robotic platforms can output a large amount of data, which may exceed the capabilities of modern wireless communication systems if all data is transmitted without further consideration. This research presents a multi-agent, centralized, and real-time 3D point cloud map merging scheme for ceaselessly connected robotic agents. Centralized architectures enable mission awareness to all agents at all times, making tasks such as search and rescue more effective. The centralized component is placed on an edge server, ensuring low communication latency, while all agents access the server utilizing a fifth-generation (5G) network. In addition, the proposed solution introduces a communication-aware control function that regulates the transmissions of map instances to prevent the creation of significant data congestion and communication latencies as well as address conditions where the robotic agents traverse in limited to no coverage areas. The presented framework is agnostic of the used localization and mapping procedure, while it utilizes the full power of an edge server. Finally, the efficiency of the novel established framework is being experimentally validated based on multiple scenarios.

多种现代机器人应用都受益于集中认知和处理方案。然而,现代装备的机器人平台可以输出大量数据,如果不做进一步考虑就传输所有数据,可能会超出现代无线通信系统的能力。本研究提出了一种多代理、集中式、实时三维点云图合并方案,适用于不间断连接的机器人代理。集中式架构可让所有代理随时了解任务情况,从而更有效地执行搜救等任务。集中式组件放置在边缘服务器上,确保了较低的通信延迟,而所有代理都利用第五代(5G)网络访问服务器。此外,所提出的解决方案还引入了通信感知控制功能,该功能可调节地图实例的传输,以防止产生严重的数据拥塞和通信延迟,并解决机器人代理在有限或无覆盖区域内穿越的情况。所提出的框架与所使用的定位和映射程序无关,同时充分利用了边缘服务器的全部功能。最后,基于多种场景的实验验证了所建立的新型框架的效率。
{"title":"Communication-Aware Control of Large Data Transmissions via Centralized Cognition and 5G Networks for Multi-Robot Map merging","authors":"Gerasimos Damigos, Nikolaos Stathoulopoulos, Anton Koval, Tore Lindgren, George Nikolakopoulos","doi":"10.1007/s10846-023-02045-4","DOIUrl":"https://doi.org/10.1007/s10846-023-02045-4","url":null,"abstract":"<p>Multiple modern robotic applications benefit from centralized cognition and processing schemes. However, modern equipped robotic platforms can output a large amount of data, which may exceed the capabilities of modern wireless communication systems if all data is transmitted without further consideration. This research presents a multi-agent, centralized, and real-time 3D point cloud map merging scheme for ceaselessly connected robotic agents. Centralized architectures enable mission awareness to all agents at all times, making tasks such as search and rescue more effective. The centralized component is placed on an edge server, ensuring low communication latency, while all agents access the server utilizing a fifth-generation (5G) network. In addition, the proposed solution introduces a communication-aware control function that regulates the transmissions of map instances to prevent the creation of significant data congestion and communication latencies as well as address conditions where the robotic agents traverse in limited to no coverage areas. The presented framework is agnostic of the used localization and mapping procedure, while it utilizes the full power of an edge server. Finally, the efficiency of the novel established framework is being experimentally validated based on multiple scenarios.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"33 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139561036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Correction to the Euler Lagrange Multirotor Model with Euler Angles Generalized Coordinates 修正带有欧拉角广义坐标的欧拉-拉格朗日多旋翼模型
IF 3.3 4区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2024-01-24 DOI: 10.1007/s10846-023-02040-9
Simone Martini, Kimon P. Valavanis, Margareta Stefanovic, Matthew J. Rutherford, Alessandro Rizzo

This technical note proves analytically how the exact equivalence of the Newton-Euler and Euler-Lagrange modeling formulations as applied to multirotor UAVs is achieved. This is done by deriving a correct Euler-Lagrange multirotor attitude dynamics model. A review of the published literature reveals that the commonly adopted Euler-Lagrange multirotor dynamics model is equivalent to the Newton-Euler model only when it comes to the position dynamics, but not in the attitude dynamics. Step-by-step derivations and calculations are provided to show how modeling equivalence to the Newton-Euler formulation is proven. The modeling equivalence is then verified by obtaining identical results in numerical simulation studies. Simulation results also illustrate that when using the correct model for feedback linearization, controller stability at high gains is improved.

本技术说明通过分析证明了牛顿-欧拉(Newton-Euler)和欧拉-拉格朗日(Euler-Lagrange)建模公式应用于多旋翼无人机时如何实现精确等效。这是通过推导正确的欧拉-拉格朗日多旋翼飞行器姿态动力学模型来实现的。对已发表文献的回顾表明,通常采用的欧拉-拉格朗日多旋翼动力学模型仅在位置动力学方面等同于牛顿-欧拉模型,而在姿态动力学方面则不然。本文通过逐步推导和计算,展示了如何证明模型等效于牛顿-欧拉公式。然后通过数值模拟研究获得相同的结果来验证建模等效性。仿真结果还表明,当使用正确的模型进行反馈线性化时,控制器在高增益下的稳定性会得到改善。
{"title":"Correction to the Euler Lagrange Multirotor Model with Euler Angles Generalized Coordinates","authors":"Simone Martini, Kimon P. Valavanis, Margareta Stefanovic, Matthew J. Rutherford, Alessandro Rizzo","doi":"10.1007/s10846-023-02040-9","DOIUrl":"https://doi.org/10.1007/s10846-023-02040-9","url":null,"abstract":"<p>This technical note proves analytically how the exact equivalence of the Newton-Euler and Euler-Lagrange modeling formulations as applied to multirotor UAVs is achieved. This is done by deriving a correct Euler-Lagrange multirotor attitude dynamics model. A review of the published literature reveals that the commonly adopted Euler-Lagrange multirotor dynamics model is equivalent to the Newton-Euler model only when it comes to the position dynamics, but not in the attitude dynamics. Step-by-step derivations and calculations are provided to show how modeling equivalence to the Newton-Euler formulation is proven. The modeling equivalence is then verified by obtaining identical results in numerical simulation studies. Simulation results also illustrate that when using the correct model for feedback linearization, controller stability at high gains is improved.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":"16 1","pages":""},"PeriodicalIF":3.3,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139561038","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
期刊
Journal of Intelligent & Robotic Systems
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1