
Intelligent Autonomous Systems 15
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Content
- Intro
- Preface
- Organization
- Program Committee
- Contents
- Path Planning, Localization and Navigation
- A Viterbi-like Approach for Trajectory Planning with Different Maneuvers
- Abstract
- 1 Introduction
- 2 Related Work
- 3 The Trajectory Planning
- 3.1 Basic Considerations
- 3.2 Primitive Trajectories and Maneuvers
- 3.3 Finding an Optimal Variation
- 3.4 Examples and Evaluation
- 4 Conclusions and Future Work
- References
- Improving Relaxation-Based Constrained Path Planning via Quadratic Programming
- 1 Introduction
- 2 Planning Algorithm
- 2.1 Differentiable Constraints
- 2.2 Local Motions Using Quadratic Programming
- 2.3 QPlan
- 3 Simulation Results
- 4 Conclusions
- References
- Robust Path Planning Against Pose Errors for Mobile Robots in Rough Terrain
- 1 Introduction
- 2 Approach
- 3 Error Estimation
- 3.1 Pose Error Estimation of Each Node
- 3.2 Collision Check Using Error Ellipsoid
- 4 Sampling Method of Velocity
- 5 Simulation
- 5.1 Simulation Setting
- 5.2 Simulation Result
- 6 Experiment
- 6.1 Experiment Setting
- 6.2 Experiment Result
- 7 Conclusion
- References
- Stereo Vision-Based Optimal Path Planning with Stochastic Maps for Mobile Robot Navigation
- 1 Introduction
- 2 Methodology
- 2.1 3D Point Cloud Model from Stereo Vision
- 2.2 Post Processing of 3D Point Cloud Model Phase
- 2.3 Building Navigation Map Phase
- 2.4 Scoring Of 2D Navigation Map Cells Phase
- 2.5 The Navigation Algorithm
- 3 Experimental Setup and Comparative Analysis of Test Results
- 4 Conclusion
- References
- Variance Based Trajectory Segmentation in Object-Centric Coordinates
- 1 Introduction
- 2 Trajectory's Variance of Human Demonstration
- 2.1 Preliminaries
- 2.2 Related Works
- 2.3 Paper Contribution
- 3 Task Segmentation and Motion Generation
- 3.1 Align Time Series Data
- 3.2 Task Segmentation
- 3.3 Motion Generation
- 4 Experiments with REAL ROBOT
- 5 Conclusion
- References
- MILP-Based Dual-Arm Motion Planning Considering Shared Transfer Path for Pick-Up and Place
- Abstract
- 1 Introduction
- 2 MILP-Based Dual-Arm Motion Planning Submission
- 2.1 Virtual Objects and Goals
- 2.2 Formulation of Pick-Up and Place Work
- 2.3 Path Planning with RRT
- 3 Result Simulation
- 4 Experiment
- 4.1 Experiment 1
- 4.2 Collision Avoidance Using Each Arm
- 5 Conclusion
- Acknowledgment
- References
- Multiple Path Planner Integration for Obstacle Avoidance: MoveIt! and Potential Field Planner Synergy
- 1 Introduction
- 2 MoveIt! and OMPL
- 3 Potential Field Planner
- 4 Synergy Protocol
- 5 Experiments
- 6 Results and Conclusions
- 7 Code Repository
- References
- An Integrated Planning of Exploration, Coverage, and Object Localization for an Efficient Indoor Semantic Mapping
- 1 Introduction
- 2 Related Work
- 2.1 Exploration
- 2.2 Coverage
- 2.3 Object Search
- 2.4 Integrated Viewpoint Planning
- 3 Target Task and Overview of Integrated Viewpoint Planning
- 4 Integration of Exploration and Mapping Viewpoint Planning
- 4.1 Viewpoint Generation for Exploration
- 4.2 Viewpoint Generation for Coverage
- 4.3 Integrated Planning
- 5 Object Verification and Viewpoint Generation
- 5.1 Object Candidate Detection and Verification
- 5.2 Verification Viewpoint Generation
- 5.3 Integrated Planning
- 6 Experimental Results
- 6.1 Determining the Threshold for the Increment of Free Space Area
- 6.2 Mapping Results and Comparison Among Strategies
- 7 Conclusions and Future Work
- References
- Unsupervised Hump Detection for Mobile Robots Based On Kinematic Measurements and Deep-Learning Based Autoencoder
- 1 Introduction
- 2 Concept
- 3 Anomaly Detection and Deep Learning
- 4 Data Acquisition
- 4.1 Experimental Measurement Settings and Preparation
- 4.2 Measurement of Kinematics
- 4.3 Preprocessing and Visualization of Kinematic Data
- 5 Experiments
- 5.1 RNN Architecture
- 5.2 Training and Anomaly Detection
- 6 Results
- 6.1 Kinematic Measurements
- 6.2 Anomaly Detection
- 7 Discussion
- 8 Conclusion and Future Work
- References
- Efficient Coverage of Unstructured Environments
- 1 Introduction
- 2 Related Work
- 3 Problem Formulation
- 4 Our Approach to Coverage Planning
- 4.1 Decomposition of the Environment
- 4.2 Possible Boustrophedon Paths
- 4.3 Formulation as Traveling Salesman Problem
- 4.4 Solving the Traveling Salesman Problem
- 5 Considering Capacity Constraints
- 6 Path Execution and Replanning
- 7 Experimental Results
- 7.1 Comparative Experiments
- 7.2 Performance in Dynamic Scenarios
- 8 Conclusions
- References
- Intelligent Systems
- Probabilistic Logic for Intelligent Systems
- 1 Introduction
- 2 Related Work
- 3 Method
- 3.1 When Variables Are Not Independent
- 4 Experiments and Results
- 4.1 Independent Variables
- 4.2 Non-independent Variables
- 4.3 Trajectory Visualization and Finding Good Initial Guesses
- 5 Conclusions and Future Work
- 5.1 Numerical Solutions
- References
- Aggregating Models for Anomaly Detection in Space Systems: Results from the FCTMAS Study
- 1 Introduction
- 2 The Application Context
- 3 Related Work
- 4 Problem Formulation
- 5 Problem Analysis and Solution
- 5.1 Analysis of the State Space
- 5.2 Solving Algorithms
- 6 Experimental Evaluation
- 7 Conclusion
- References
- Detection of Motion Patterns and Transition Conditions for Automatic Flow Diagram Generation of Robotic Tasks
- 1 Introduction
- 2 Visualization of Source Code
- 2.1 Schematic Representations
- 2.2 Our Method
- 3 Detecting Motion Patterns in Robotic Tasks
- 3.1 Code Segmentation
- 3.2 Pattern Detection and Regrouping
- 4 Detecting Transition Conditions
- 4.1 Identifying Triggering Clauses
- 4.2 Determining Relations Between Motion Patterns
- 5 Experiment on Flow Diagram Generation
- 6 Conclusion
- References
- Least Action Sequence Determination in the Planning of Non-prehensile Manipulation with Multiple Mobile Robots
- 1 Introduction
- 2 Methodology
- 2.1 Generation of Manipulation States
- 2.2 Transition Between Manipulation States
- 3 Implementation
- 4 Conclusion
- References
- Convolutional Channel Features-Based Person Identification for Person Following Robots
- 1 Introduction
- 2 Related Work
- 3 Person Tracking
- 3.1 LRF-Based Person Tracking
- 3.2 Visual Person Region Detection
- 4 Person Identification
- 4.1 Convolutional Channel Features
- 4.2 Online Boosting-Based Person Classifier
- 4.3 Evaluation
- 5 Person Following Experiment
- 6 Conclusion
- References
- Service Robot Using Estimation of Body Direction Based on Gait for Human-Robot Interaction
- Abstract
- 1 Introduction
- 2 System Overview
- 3 Gait Measurement Algorithm for Moving Robot
- 3.1 Human Walking Model
- 3.2 State Equation of Each Leg
- 3.3 Gait Phase Judgement
- 3.4 Leg Tracking Considering Gait Phase
- 4 Estimation of Body Direction Based on Gait
- 4.1 Observation of Body Pose Based on Gait
- 4.2 State Equation of Body
- 5 Experiments
- 6 Conclusion
- Acknowledgement
- References
- Accurate Pouring with an Autonomous Robot Using an RGB-D Camera
- 1 Introduction
- 2 Related Work
- 3 The Autonomous Pouring System
- 3.1 Liquid Height Detection
- 3.2 Kalman Filter
- 3.3 Pouring Control
- 4 Experiments
- 4.1 Influence of Different Liquids
- 4.2 Influence of Varying Initial Volume
- 4.3 Influence of Varying Target Heights
- 4.4 Influence of Bottle Opening
- 4.5 Influence of Different Cups
- 4.6 Influence of Initial Liquid in Cup
- 4.7 Comparison of Pouring Accuracy
- 5 Conclusion
- References
- MS3D: Mean-Shift Object Tracking Boosted by Joint Back Projection of Color and Depth
- 1 Introduction
- 2 Related Work
- 3 Proposed Algorithm
- 3.1 Discriminative Color Model
- 3.2 Back Projection of Color and Depth PDF
- 3.3 Occlusion Aware Mean-Shift Tracking
- 4 Experiment Results
- 5 Conclusion
- References
- Heterogeneous Multi-agent Routing Strategy for Robot-and-Picker-to-Good Order Fulfillment System
- 1 Introduction
- 2 Routing Problems Formulation
- 2.1 Robot Routing Problem Formulation
- 2.2 Worker Routing Problem Formulation
- 3 Genetic Algorithm Based Optimization
- 4 Simulations and Results
- 4.1 Description of Warehouse, Order Batches and Agents
- 4.2 Simulation Settings and Algorithmic Parameters
- 4.3 Results, Analysis and Solution Comparison
- 5 Conclusions and Future Work
- References
- Multiple Mobile Robot Management System for Transportation Tasks in Automated Laboratories Environment
- Abstract
- 1 Introduction
- 2 System Structure
- 3 Communication
- 4 Robot Selection Strategies
- 4.1 The Highest Charging Value
- 4.2 Nearest Robot Working Strategy
- 5 Robot-Robot Interaction
- 6 Experiment
- 7 Conclusion
- Acknowledgment
- References
- Robot Design
- A Rolling Contact Joint Lower Extremity Exoskeleton Knee
- 1 Introduction
- 2 Requirements
- 3 Design
- 3.1 Modelling of the Rolling Contact Joint
- 3.2 Mechanical Design
- 3.3 Actuation
- 4 Evaluation and Results
- 4.1 Prototype
- 4.2 Experiments
- 5 Conclusion and Future Work
- References
- Towards a Stair Climbing Robot System Based on a Re-configurable Linkage Mechanism
- Abstract
- 1 Introduction
- 2 Related Work
- 2.1 Stair Climbing Robots
- 2.2 Re-configurable Leg Mechanisms
- 3 Simulated Model
- 4 Mechanical Design and Fabrication
- 4.1 Full Robot Design Concept
- 4.2 CAD Model
- 4.3 Prototype Fabrication
- 5 Experimental Results
- 6 Conclusions and Future Work
- References
- Can Walking Be Modeled in a Pure Mechanical Fashion
- 1 Introduction
- 1.1 Legged Locomotion Survey
- 2 Problem Position
- 2.1 Spring-Loaded Inverted Pendulum Motion
- 2.2 Energy-Based Motion
- 2.3 Balanced Mode
- 3 Gait Pattern
- 3.1 Motivations for an Elliptic Model
- 3.2 Maintaining the Gait Cycle
- 4 Conclusions
- References
- Modular Robot that Modeled Cell Membrane Dynamics of a Cellular Slime Mold
- 1 Introduction
- 2 Self-reconfigurable Cellular Slime Mold
- 2.1 Cellular Slime Mold Deformation by Cell Membrane Dynamics
- 2.2 Cell Membrane Deformation by Pseudopod Elongation
- 3 Chemical Reaction Model for Deformation
- 3.1 The Phosphatidylinositol Lipids Signaling System
- 3.2 Cell Cytoskeleton Polymerization Model
- 4 Development of Real Physical Modular Robots
- 4.1 Overview of the Real Physical Modular Robots
- 4.2 Actuation of Connected Modular Robots
- 4.3 Control System
- 5 Verification of Self-reconfiguration
- 5.1 Experimental Setting
- 5.2 Experimental Results
- 6 Conclusion and Future Work
- References
- Locomotion of Hydraulic Amoeba-Like Robot Utilizing Transition of Mass Distribution
- 1 Introduction
- 2 Configuration of the Robot
- 2.1 Configuration of the Robot
- 2.2 Pipe and Pump Arrangement
- 2.3 Slippery Nylon Net for Effective Inflation of Fore-Chamber
- 3 Realization of Locomotion
- 3.1 Procedure for Locomotion
- 3.2 Realization of the Locomotion
- 4 Experiment
- 5 Conclusion
- References
- Common Dimensional Autoencoder for Identifying Agonist-Antagonist Muscle Pairs in Musculoskeletal Robots
- 1 Introduction
- 2 Proposed Method
- 2.1 Linear Model Extraction
- 2.2 Common Dimensional Autoencoder
- 3 Simulation
- 3.1 Setup
- 3.2 Results
- 4 Discussion and Conclusion
- References
- Analysis of Variable-Stiffness Soft Finger Joints
- 1 Introduction
- 2 Fingers
- 2.1 Finger Design
- 2.2 Prototype Manufacturing
- 3 Testing Bench
- 3.1 Making the Structure
- 3.2 Sensors
- 4 Experimental Testing of the Fingers
- 4.1 Test Description
- 4.2 Test Implementation
- 5 Results
- 5.1 Analogical Reading
- 5.2 Calculation of the Real Values
- 5.3 Discussion
- 6 Conclusions and Future Work
- References
- Method for Robot to Create New Function by Uniting with Surrounding Objects
- 1 Introduction
- 2 Related Works
- 3 Robot that Creates New Functions by Uniting with Surrounding Objects
- 3.1 Application
- 3.2 Necessary Factor of the Robot that Creates Function by Uniting with Surrounding Objects
- 4 First Prototype and Demonstration
- 4.1 First Prototype
- 4.2 Demonstration
- 5 Second Prototype and Demonstrations
- 5.1 The Second Prototype
- 5.2 Demonstration of Creating a Function to Handle Object on a High Place
- 5.3 Demonstration of Creating Automatic Open and Close Function for Door
- 6 Conclusion and Future Works
- References
- Sensing and Actuation
- Configuration Depending Crosstalk Torque Calibration for Robotic Manipulators with Deep Neural Regression Models
- 1 Introduction
- 2 Related Work
- 3 Problem Description
- 4 Methodology
- 4.1 Random Forest Regression
- 4.2 Neural Network Regression
- 4.3 Lookup Table
- 5 Experiments
- 5.1 Data Acquisition
- 5.2 Evaluation of Lookup Tables
- 5.3 Evaluation of NN and RF Regression
- 6 Result/Discussion
- 7 Conclusion
- References
- Simulation of the SynTouch BioTac Sensor
- 1 Introduction
- 2 Related Work
- 3 The BioTac Sensor
- 3.1 Raw Sensor Data
- 3.2 Experimental Setup
- 3.3 Captured Dataset and Postprocessing
- 4 Simulation Model
- 4.1 Neural Network Architecture
- 4.2 Network Inputs and Outputs
- 4.3 Implementation
- 5 Evaluation
- 5.1 Performance
- 6 Conclusions
- References
- Force Sensing for Multi-point Contact Using a Constrained, Passive Joint Based on the Moment-Equivalent Point
- 1 Introduction
- 2 Moment-Equivalent Point
- 3 Force Sensing Based on MEP
- 4 Experiment
- 4.1 Experimental Setup
- 4.2 Experimental Procedure
- 4.3 Results
- 5 Conclusion
- References
- Simulation and Transfer of Reinforcement Learning Algorithms for Autonomous Obstacle Avoidance
- 1 Introduction
- 2 Methods
- 2.1 Simulation
- 2.2 Transfer
- 3 Results
- 3.1 Simulation
- 3.2 Transfer
- 4 Discussion
- References
- HI-VAL: Iterative Learning of Hierarchical Value Functions for Policy Generation
- 1 Introduction
- 2 Related Work
- 3 HI-VAL
- 3.1 Exploration and Sample Collection
- 3.2 Hierarchical Action Selection
- 3.3 HI-VAL Algorithm
- 4 Experimental Evaluation
- 4.1 Fetching Task
- 4.2 Pick and Delivery Task
- 5 Conclusion
- References
- Learning-Based Task Failure Prediction for Selective Dual-Arm Manipulation in Warehouse Stowing
- 1 Introduction
- 2 Related Work
- 3 Overview
- 3.1 Stowing Task and Task Failures
- 3.2 Selective Dual-Arm Stowing System
- 4 Selective Dual-ARM Stowing with Failure Prediction
- 4.1 Dual-Arm Stowing Motion
- 4.2 Task Failure Prediction
- 4.3 Motion Select Algorithm
- 4.4 Motion Select System
- 5 Experiments
- 5.1 Stowing Task Dataset
- 5.2 Task Failure Prediction
- 5.3 Selective Execution of Dual-Arm Support Motion
- 6 Conclusion
- References
- Learning of Motion Primitives Using Reference-Point-Dependent GP-HSMM for Domestic Service Robots
- 1 Introduction
- 2 Discovery of Motion Primitives
- 2.1 Segmentation of Time-Series Data
- 2.2 Reference-Point-Dependent Hidden Semi-Markov Model
- 3 Design of Reference Point
- 3.1 Daily Action in the Home
- 3.2 Reference Points for Expressing Trajectory
- 4 Experiment
- 4.1 Discovered Motion Primitives
- 5 Conclusion
- References
- Nonlinear Model Predictive Control for Two-Wheeled Service Robots
- Abstract
- 1 Introduction
- 2 Two-Wheeled Service Robots
- 3 Control System Design for Two-Wheeled Service Robots
- 3.1 Model
- 3.2 Setting up the Goal
- 3.3 Nonlinear Model Predictive Control Problem
- 3.4 Setting the Evaluation Function Weight
- 3.5 Stability of Proposed System
- 4 Simulation
- 4.1 Simulation Conditions
- 4.2 Simulation Results
- 5 Experiments
- 6 Conclusion
- References
- A Generalised Method for Adaptive Longitudinal Control Using Reinforcement Learning
- 1 Introduction
- 2 Problem Formulation
- 3 Approach
- 3.1 Generalised Approach to Longitudinal Control
- 3.2 Least Square Policy Iteration
- 3.3 Learning the ACC Through LSPI
- 3.4 Cruise Control Mode
- 3.5 ACC and Cruise Control Modes Combined
- 4 Implementation
- 4.1 Experimental Setup
- 5 Experiments
- 5.1 Single-Car Scenario: single-car
- 5.2 Multi-cars Scenario: multi-car
- 6 Conclusion
- References
- Reconstructing State-Space from Movie Using Convolutional Autoencoder for Robot Control
- 1 Introduction
- 2 Proposed Method
- 2.1 State-Space Reconstruction
- 2.2 Linear Model Extraction and Control
- 3 Simulation
- 4 Discussion and Conclusion
- References
- BSplines Properties with Interval Analysis for Constraint Satisfaction Problem: Application in Robotics
- 1 Introduction
- 2 Problem Statement
- 3 Interval Analysis
- 3.1 Presentation
- 3.2 Solving CSP Using Interval Analysis
- 3.3 The Pessimism
- 4 BSplines Identification
- 4.1 Definition and Convex Hull Property
- 4.2 Multi-dimension BSplines
- 4.3 Control Point Identification
- 4.4 Kronecker Product
- 4.5 Properties of the Kronecker Product
- 4.6 Recursive Inverse Kronecker Product
- 4.7 Example
- 5 BSplines and Kronecker Product in the Contraction
- 5.1 One Constraint Contraction
- 5.2 Monomial Contraction
- 5.3 Implementation Trick
- 5.4 How to Deal with Non Linear Functions?
- 6 Simulations and Results
- 7 Conclusion and Perspectives
- References
- Human Detection and Interaction
- Robot Vision System for Real-Time Human Detection and Action Recognition
- 1 Introduction
- 2 Input Image Based on Optical Flow
- 3 Convolutional Neural Network
- 4 Local Search Window
- 5 Experiment
- 5.1 Settings
- 5.2 Classifier for Humans
- 5.3 Classifier for Actions
- 5.4 Effectiveness of Local Search Window
- 5.5 Real-Time Human Detection and Action Recognition
- 6 Conclusions and Future Works
- References
- Movement Based Classification of People with Stroke Through Automated Analysis of Three-Dimensional Motion Data
- Abstract
- 1 Introduction
- 2 Methods
- 2.1 Subjects
- 2.2 Tasks
- 2.3 Data Collection
- 2.4 Data Reduction
- 2.5 Feature Extraction
- 2.6 Data Classification
- 3 Results
- 4 Discussion
- 5 Conclusion
- Acknowledgements and Funding
- References
- Real-Time Marker-Less Multi-person 3D Pose Estimation in RGB-Depth Camera Networks
- 1 Introduction
- 2 Related Work
- 2.1 Single-View Body Pose Estimation
- 2.2 Multi-view Body Pose Estimation
- 3 System Design
- 3.1 Camera Network Setup
- 3.2 Single-View Estimation of 3D Poses
- 3.3 Multi-view Fusion of 3D Poses
- 4 Experiments
- 4.1 Implementation Details
- 5 Conclusions and Future Works
- References
- People Finding Under Visibility Constraints Using Graph-Based Motion Prediction
- 1 Introduction
- 2 Related Work
- 3 Problem Formulation
- 4 Graph-Based People Tracking
- 5 Selecting Search Locations via Monte Carlo Simulations
- 6 Experimental Results
- 6.1 Experimental Setup
- 6.2 Evaluation and Results
- 7 Conclusion
- References
- Proposal and Validation of an Index for the Operator's Haptic Sensitivity in a Master-Slave System
- Abstract
- 1 Introduction
- 2 Proposal of the Haptic Sensitivity Index
- 2.1 Dynamic Factors in Perception
- 2.2 Definition of the Index
- 3 Properties of the Haptic Sensitivity Index
- 3.1 Experimental Apparatus
- 3.2 Subject and Motion
- 3.3 Experiment Introduction
- 3.3.1 Objective
- 3.3.2 Experimental Procedure
- 3.3.3 Experiment Results
- 4 Validity of the Haptic Sensitivity Index
- 4.1 Relationship Between Parameters and C Value
- 4.2 Experimental Procedure
- 4.3 Experimental Results
- 4.3.1 Pairs of Parameter Sets with the Same Index Value
- 4.3.2 Pairs of Parameter Sets with just Noticeably Different Index Values
- 5 Discussion and Future Works
- 5.1 Relationship Between Haptic Sensitivity and Contact Velocity
- 5.2 Application of the Index
- 5.3 Future Works
- References
- Operating a Robot by Nonverbal Voice Expressed with Acoustic Features
- 1 Introduction
- 2 Nonverbal Voice for Operating Robots
- 2.1 Related Work
- 2.2 Using Characteristic of Frequency Domain for Operating a Robot
- 3 Multiplexing Operation by Nonverbal Voice
- 3.1 Three Kinds of Voice for the Operation
- 3.2 Possibilities of the Utterance
- 3.3 Grasping Experiments
- 4 Operation with Tongue Positions Distinguished by Nonverbal Voice
- 4.1 Distinguishing Tongue Positions by Nonverbal Voice
- 4.2 Grasping Experiments
- 5 Conclusion
- References
- Reduced Feature Set for Emotion Recognition Based on Angle and Size Information
- 1 Introduction
- 2 Problem Statement
- 3 Feature Creation
- 3.1 Generalized Procrustes Analysis
- 3.2 Angle and Size Features
- 4 Experiments
- 5 Conclusion
- References
- Multimodal Path Planning Using Potential Field for Human-Robot Interaction
- Abstract
- 1 Introduction
- 2 Overview of Robot System
- 3 Recognition Reliability
- 3.1 Human Recognition Method
- 3.2 Recognition Reliability r_{All}^{I}
- 3.3 Experiment for Evaluating Recognition Reliability Characteristics
- 3.4 Formulation of Recognition Reliability Characteristics r_{{}}^{I}
- 4 Multimodal Path Planning
- 4.1 Design of Each Potential
- 4.2 Weighting Each Potential
- 4.3 Path Planning Considering the Potential Field
- 5 Experiment
- 6 Conclusion
- Acknowledgment
- References
- 2D and 3D Computer Vision for Robotics
- Deep Learning Waterline Detection for Low-Cost Autonomous Boats
- 1 Introduction
- 2 Related Work
- 3 Methods
- 3.1 Network Architecture
- 3.2 Data Set
- 3.3 Training
- 3.4 Waterline Detection Algorithm
- 4 Experimental Results
- 5 Conclusions
- References
- Context-Aware Recognition of Drivable Terrain with Automated Parameters Estimation
- 1 Introduction
- 2 Related Work
- 3 Terrain Classification System
- 3.1 System Structure
- 3.2 Local Terrain Representation
- 3.3 Extraction of Features
- 3.4 Classification
- 4 Probabilistic Inference
- 5 Estimation of Parameters
- 6 Experiments and Results
- 7 Conclusions
- References
- Crop Edge Detection Based on Stereo Vision
- 1 Introduction
- 2 Stereo Vision System
- 3 Height Segmentation
- 3.1 Motivation
- 4 Elevation Grid Map
- 4.1 Expectation Maximization with Gaussian Mixture Model
- 4.2 Bayesian Filtering
- 5 Crop Edge Detection
- 6 Linear Crop Edge Model
- 6.1 Motivation
- 6.2 Model Fitting
- 6.3 Model Crop Edge Filtering
- 6.4 Model Confidence
- 7 Experiments and Results
- 8 Conclusions
- References
- Extracting Structure of Buildings Using Layout Reconstruction
- 1 Introduction
- 2 Related Work
- 3 Our Method
- 4 Experimental Results
- 4.1 Results with Grid Maps from Stage
- 4.2 Results with Publicly Available Datasets
- 4.3 Results with Partial Grid Maps
- 4.4 Results with Blueprints and Evacuation Maps
- 4.5 Results with a Grid Map Acquired by a Real Robot
- 5 Conclusions
- References
- Unknown Object Detection by Punching: An Impacting-Based Approach to Picking Novel Objects
- 1 Introduction
- 2 Overview of Impacting-Based Object Detection
- 3 Details of Object Detection
- 3.1 Keypoint Detection
- 3.2 Keypoint Matching
- 3.3 Keypoint Pair Filtering
- 3.4 Object Tracking
- 3.5 Object Segmentation
- 3.6 Picking
- 4 Experiments
- 4.1 Experimental Setup
- 4.2 Assumptions
- 4.3 Experiments of Object Detection
- 4.4 Picking Experiments
- 5 Conclusion
- References
- Efficient Semantic Segmentation for Visual Bird's-Eye View Interpretation
- 1 Introduction
- 2 Related Work
- 3 Methods
- 3.1 ArgMax Implementation
- 3.2 ENet's Channel Pruning
- 4 Channel Factor Selection
- 5 Results
- 6 Conclusion
- References
- Concept Study for Vehicle Self-Localization Using Neural Networks for Detection of Pole-Like Landmarks
- 1 Introduction
- 2 Related Work
- 3 Overview of the Approach
- 4 Implementation
- 4.1 Perception via LiDAR
- 4.2 Perception via Stereo Camera
- 4.3 Perception via Mono Camera
- 5 Results
- 5.1 Old Approach
- 5.2 New Approach
- 6 Conclusion
- References
- Cross Domain Image Transformation Using Effective Latent Space Association
- 1 Introduction
- 2 Related Work
- 3 Model
- 4 Training Details
- 5 Experiments
- 5.1 Results
- 6 Conclusion
- References
- Global Registration of Point Clouds for Mapping
- 1 Introduction
- 1.1 Related Work
- 1.2 Overview
- 2 Approach
- 2.1 Global Matcher
- 2.2 Local Matcher
- 2.3 Match Validation
- 2.4 Global Optimization
- 3 Results
- 4 Conclusions and Future Works
- References
- Cluster ICP: Towards Sparse to Dense Registration
- 1 Introduction
- 2 Related Work
- 2.1 Feature-Based Approaches
- 2.2 Dense Approaches
- 3 Proposed Method
- 3.1 Surface Normal Segmentation
- 3.2 CICP Matching Pipeline
- 3.3 Optimization Framework
- 4 Results
- 4.1 Dense-Sparse Registration with CICP
- 4.2 Comparison with Existing Methods
- 4.3 Dense-to-Dense Data
- 5 Conclusion
- References
- Markerless Ad-Hoc Calibration of a Hyperspectral Camera and a 3D Laser Scanner
- 1 Introduction
- 2 Related Work
- 3 Generating Hyperspectral Panoramas
- 4 Extrinsic Calibration
- 4.1 Cylindric Camera Model
- 4.2 Mutual Information
- 4.3 Smoothing the Objective Function
- 5 Experiments
- 5.1 Qualitative Results
- 5.2 Run Time Analysis
- 5.3 Application Example
- 6 Conclusion
- References
- Predicting the Next Best View for 3D Mesh Refinement
- 1 Introduction
- 2 Related Works
- 3 Proposed Method
- 3.1 Photo-Consistent Reconstruction Index
- 3.2 Next Best View
- 4 Experimental Validation
- 5 Conclusions and Future Works
- References
- Robotic Applications
- Grasping Strategies for Picking Items in an Online Shopping Warehouse
- 1 Introduction
- 1.1 Application
- 1.2 Summary
- 2 Related Work
- 3 Proposed Approach
- 3.1 HAF
- 3.2 AGILE
- 4 Experimentation and Results
- 4.1 Experimentation Procedures
- 4.2 Preliminary Object to Gripper Matching
- 4.3 Preliminary Implementation of Algorithms
- 4.4 Testing Objects in Isolation
- 5 Conclusion
- References
- Learning Based Industrial Bin-Picking Trained with Approximate Physics Simulator
- 1 Introduction
- 2 Related Works
- 3 Physics Simulator
- 4 Learning Based Approach
- 4.1 Convolutional Neural Network
- 4.2 Discriminator
- 4.3 Optimum Grasping Pose Detection
- 5 Collection of Training Data
- 6 Results
- 6.1 Discrimination
- 6.2 Derivation of Optimum Grasping Pose
- 6.3 Analysis of Model Approximation
- 7 Conclusions
- References
- Tool Exchangeable Grasp/Assembly Planner
- 1 Introduction
- 2 Definitions
- 3 Assembly/Grasp Planner
- 3.1 Placing Pose
- 3.2 Grasping Posture Set
- 3.3 Assembly Graph Search
- 3.4 Assembly Sequence
- 4 Results
- 5 Conclusion
- References
- Daily Assistive Robot Uses a Bag for Carrying Objects with Pre-contact Sensing Gripper
- 1 Introduction
- 1.1 Related Works
- 1.2 Paper Contribution
- 2 Daily Assistive Robot System for Carrying Objects with Bags
- 2.1 Overview
- 3 Pre-contact Manipulation for Daily Assistive Tasks with Bags
- 3.1 Finding Bag Handle
- 3.2 Opening a Bag
- 3.3 Putting the Robot Hand into the Bag
- 3.4 Object Grasping
- 4 Daily Assistive Robot Uses a Bag for Carrying Objects Experiments
- 5 Conclusion
- References
- Design of an Adaptive Force Controlled Robotic Polishing System Using Adaptive Fuzzy-PID
- 1 Introduction
- 2 Design and Setup of the Polishing Tool
- 3 System Dynamics
- 4 Fuzzy-PID Controller for Polishing
- 5 Experimental Setup and Results
- 5.1 Experimental Setup
- 5.2 Results and Discussion
- 6 Conclusions
- References
- Efficient, Collaborative Screw Assembly in a Shared Workspace
- 1 Introduction
- 1.1 Motivation
- 1.2 State of the Art
- 1.3 Problem Description
- 1.4 Goal
- 1.5 Concept
- 1.6 Structure
- 2 Approach
- 2.1 Hardware Setup
- 2.2 Challenges
- 2.3 Solution
- 2.4 Highlights
- 3 Results and Experiments
- 3.1 Experiments
- 3.2 Results
- 3.3 Discussion
- 4 Conclusions and Future Work
- References
- KittingBot: A Mobile Manipulation Robot for Collaborative Kitting in Automotive Logistics
- 1 Introduction
- 2 Related Work
- 3 System Overview
- 4 Perception
- 4.1 Container Detection
- 4.2 Part Segmentation
- 4.3 Parts Variant Recognition
- 5 Manipulation
- 6 Experiments
- 6.1 Showcase Setup
- 6.2 Kitting
- 6.3 Additional Experiments
- 7 Conclusion
- References
- User-Friendly Intuitive Teaching Tool for Easy and Efficient Robot Teaching in Human-Robot Collaboration
- 1 Introduction
- 2 Concept of Intuitive Teaching Device
- 2.1 Requirements
- 2.2 Design Concept
- 3 Jog Mechanism for Six DoF Motion Operation
- 4 Intuitive Teaching Method
- 5 Experiments
- 6 Conclusion and Future Research
- References
- A Critical Reflection on the Expectations About the Impact of Educational Robotics on Problem Solving Capability
- 1 Introduction
- 2 The Uncatchable Problem Solving Capability
- 2.1 The Three Components Model
- 2.2 A Short Review of Educational Robotics Applied to Problem Solving
- 3 Description of the Course
- 3.1 Setting and Participants
- 3.2 The Reasons Behind the Choice of Robot LEGO
- 3.3 Method and Activities
- 3.4 The Questionnaire
- 4 Data Analysis
- 4.1 The Course's Evaluation
- 4.2 The Perception of Robotics
- 4.3 The Attitude Towards Learning with Robotics
- 4.4 The Team Working Experience
- 4.5 The Way to Approach Problems
- 5 The Essential Step of Awareness
- 6 Considerations for the Future
- 7 Conclusions
- References
- Inferring Capabilities by Experimentation
- 1 Introduction
- 2 Related Work
- 3 Capability Models
- 4 Building Capability Models
- 4.1 Active Learning for Bayesian Networks
- 4.2 Model Refinement
- 5 Quantifying Capabilities
- 6 Results
- 6.1 BallKick Task
- 6.2 Pickup Task
- 7 Conclusion and Future Work
- References
- Triggering Robot Hand Reflexes with Human EMG Data Using Spiking Neurons
- 1 Introduction
- 2 Methods
- 2.1 Human EMG Data Interface and Training Data
- 2.2 Sub Network for EMG Classification
- 2.3 Sub Network for Motion Representation for Reflexes
- 2.4 Mapping to Robot Motor Commands
- 2.5 Integration Off All Components
- 3 Results
- 3.1 SNN Implementation
- 3.2 Training Data
- 3.3 Processing of EMG Data and Classification
- 3.4 Motion Generation
- 3.5 Interface to the Robot Hand
- 4 Discussion
- References
- A Localizability Constraint-Based Path Planning Method for Unmanned Aerial Vehicle
- 1 Introduction
- 2 Localizability Estimation
- 2.1 Static Localizability Matrix
- 2.2 Localizability Measure
- 3 Localizability Constraint-Based Path Planning Method
- 3.1 Objective Function
- 3.2 Constraints
- 3.3 Extraction of Local and Global Passable Regions
- 3.4 Optimization Method
- 4 Simulation and Discussion
- 4.1 Simulation Set-Up
- 4.2 Urban Canyon Environment
- 4.3 Wilderness Environment
- 4.4 Localization Error Analysis
- 5 Conclusion
- References
- Using IMU Sensor and EKF Algorithm in Attitude Control of a Quad-Rotor Helicopter
- Abstract
- 1 Introduction
- 2 Modeling of Quad-Rotor
- 3 Attitude Estimation of Quad-Rotor Using EKF
- 3.1 System Configuration
- 3.2 Attitude Control of Quad-Rotor Using IMU
- 4 Experiment and Result
- 5 Conclusion
- Acknowledgements
- References
- Unmanned Aerial Vehicles in Wireless Sensor Networks: Automated Sensor Deployment and Mobile Sink Nodes
- 1 Introduction
- 2 System Architecture
- 3 Individual Components
- 3.1 Sensor Node Hardware
- 3.2 Releasing Mechanism
- 3.3 Unmanned Aerial Vehicle
- 3.4 Optimal Route Calculation
- 4 System Validation
- 5 Conclusions
- References
- A Multi-layer Autonomous Vehicle and Simulation Validation Ecosystem Axis: ZalaZONE
- Abstract
- 1 Introduction
- 2 Education and Research
- 3 Proving Ground
- 3.1 Dynamic Platform
- 3.2 Braking Platform
- 3.3 Smart City Zone
- 3.4 High and Low Speed Handling Courses
- 3.5 Motorway Section
- 3.6 Rural Roads
- 3.7 High-Speed Oval
- 3.8 Communication Network
- 3.9 Control Concept
- 4 Public Road and Urban Environment
- 4.1 Real Urban Test Environment
- 4.2 National and Cross-Border Test Loops
- 5 Sampling Vehicles with Crowdsourced Traffic Cloud
- 6 Conclusion
- References
- Towards Large Scale Urban Traffic Reference Data: Smart Infrastructure in the Test Area Autonomous Driving Baden-Württemberg
- 1 Introduction
- 2 Related Work
- 3 Concept
- 3.1 Local Intelligent Infrastructure
- 3.2 Perception Problem Factorization
- 4 Implementation
- 4.1 Camera Calibration
- 4.2 Object Detection
- 4.3 Multi Sensor Association and Fusion
- 4.4 Temporal Association and Multi-Target Tracking
- 4.5 Vehicle-To-X Communication
- 5 Evaluation
- 5.1 Hardware Setup
- 5.2 Object Recognition
- 5.3 Vehicle-to-X
- 6 Conclusion
- References
- Author Index
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