65,892 research outputs found
Online Informative Path Planning for Active Classification on UAVs
We propose an informative path planning (IPP) algorithm for active
classification using an unmanned aerial vehicle (UAV), focusing on weed
detection in precision agriculture. We model the presence of weeds on farmland
using an occupancy grid and generate plans according to information-theoretic
objectives, enabling the UAV to gather data efficiently. We use a combination
of global viewpoint selection and evolutionary optimization to refine the UAV's
trajectory in continuous space while satisfying dynamic constraints. We
validate our approach in simulation by comparing against standard "lawnmower"
coverage, and study the effects of varying objectives and optimization
strategies. We plan to evaluate our algorithm on a real platform in the
immediate future.Comment: 7 pages, 4 figures, submission to International Symposium on
Experimental Robotics 201
Experimental Validation of Contact Dynamics for In-Hand Manipulation
This paper evaluates state-of-the-art contact models at predicting the
motions and forces involved in simple in-hand robotic manipulations. In
particular it focuses on three primitive actions --linear sliding, pivoting,
and rolling-- that involve contacts between a gripper, a rigid object, and
their environment. The evaluation is done through thousands of controlled
experiments designed to capture the motion of object and gripper, and all
contact forces and torques at 250Hz. We demonstrate that a contact modeling
approach based on Coulomb's friction law and maximum energy principle is
effective at reasoning about interaction to first order, but limited for making
accurate predictions. We attribute the major limitations to 1) the
non-uniqueness of force resolution inherent to grasps with multiple hard
contacts of complex geometries, 2) unmodeled dynamics due to contact
compliance, and 3) unmodeled geometries dueto manufacturing defects.Comment: International Symposium on Experimental Robotics, ISER 2016, Tokyo,
Japa
A Benchmarking Study on Vision-Based Grasp Synthesis Algorithms
In this paper, we present a benchmarking study of vision-based grasp
synthesis algorithms, each with distinct approaches, and provide a comparative
analysis of their performance under different experimental conditions. In
particular, we compare two machine-learning-based and two analytical algorithms
to determine their strengths and weaknesses in different scenarios. In
addition, we provide an open-source benchmarking tool developed from
state-of-the-art benchmarking procedures and protocols to systematically
evaluate different grasp synthesis algorithms. Our findings offer insights into
the performance of the evaluated algorithms, which can aid in selecting the
most appropriate algorithm for different scenarios.Comment: Submitted to International Symposium on Experimental Robotics (ISER)
202
Automatic Crack Detection in Built Infrastructure Using Unmanned Aerial Vehicles
This paper addresses the problem of crack detection which is essential for
health monitoring of built infrastructure. Our approach includes two stages,
data collection using unmanned aerial vehicles (UAVs) and crack detection using
histogram analysis. For the data collection, a 3D model of the structure is
first created by using laser scanners. Based on the model, geometric properties
are extracted to generate way points necessary for navigating the UAV to take
images of the structure. Then, our next step is to stick together those
obtained images from the overlapped field of view. The resulting image is then
clustered by histogram analysis and peak detection. Potential cracks are
finally identified by using locally adaptive thresholds. The whole process is
automatically carried out so that the inspection time is significantly improved
while safety hazards can be minimised. A prototypical system has been developed
for evaluation and experimental results are included.Comment: In proceeding of The 34th International Symposium on Automation and
Robotics in Construction (ISARC), pp. 823-829, Taipei, Taiwan, 201
A Computational Approach for Human-like Motion Generation in Upper Limb Exoskeletons Supporting Scapulohumeral Rhythms
This paper proposes a computational approach for generation of reference path
for upper-limb exoskeletons considering the scapulohumeral rhythms of the
shoulder. The proposed method can be used in upper-limb exoskeletons with 3
Degrees of Freedom (DoF) in shoulder and 1 DoF in elbow, which are capable of
supporting shoulder girdle. The developed computational method is based on
Central Nervous System (CNS) governing rules. Existing computational reference
generation methods are based on the assumption of fixed shoulder center during
motions. This assumption can be considered valid for reaching movements with
limited range of motion (RoM). However, most upper limb motions such as
Activities of Daily Living (ADL) include large scale inward and outward
reaching motions, during which the center of shoulder joint moves
significantly. The proposed method generates the reference motion based on a
simple model of human arm and a transformation can be used to map the developed
motion for other exoskeleton with different kinematics. Comparison of the model
outputs with experimental results of healthy subjects performing ADL, show that
the proposed model is able to reproduce human-like motions.Comment: In 2017 IEEE International Symposium on Wearable & Rehabilitation
Robotics (WeRob2017
tinySLAM-based exploration with a swarm of nano-UAVs
This paper concerns SLAM and exploration for a swarm of nano-UAVs. The laser
range finder-based tinySLAM algorithm is used to build maps of the environment.
The maps are synchronized using an iterative closest point algorithm. The UAVs
then explore the map by steering to points selected by a modified dynamic
coverage algorithm, for which we prove a stability result. Both algorithms
inform each other, allowing the UAVs to map out new areas of the environment
and move into them for exploration. Experimental findings using the nano-UAV
Crazyflie 2.1 platform are presented. A key challenge is to implement all
algorithms on the hardware limited experimental platform.Comment: Published at the Sixth International Symposium on Swarm Behavior and
Bio-Inspired Robotics 2023 (SWARM 6th 2023). Pages 899-90
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