31,722 research outputs found
Optimization of complex robot applications under real physical limitations
International audienceThis paper deals with minimum time trajectory optimization along a specified path subject to thermal constraints. We point out here that robots are often integrated in complex robotic cells, and the interactions between the robot and its environment are often difficult or even impossible to model. The structure of the optimization problem allows us to decompose the optimization in two levels, the first one being based on models and results of the theory of the calculus of variations, the second one being based on measurements and derivative free algorithms. This decomposition allows us to optimize the velocity profiles efficiently without knowing in advance the interactions between the robot and is environment. We propose here two numerical algorithms for these two levels of the decomposition which show good convergence properties. The resulting optimal velocity profiles are 5 to 10% faster than classical ones, and have been executed successfully on a real Stäubli Rx90 manipulator robot
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
- …