10,721 research outputs found
Performance regression testing and run-time verification of components in robotics systems
Wienke J, Wrede S. Performance regression testing and run-time verification of components in robotics systems. Advanced Robotics. 2017;31(22):1177-1192
CNN for IMU Assisted Odometry Estimation using Velodyne LiDAR
We introduce a novel method for odometry estimation using convolutional
neural networks from 3D LiDAR scans. The original sparse data are encoded into
2D matrices for the training of proposed networks and for the prediction. Our
networks show significantly better precision in the estimation of translational
motion parameters comparing with state of the art method LOAM, while achieving
real-time performance. Together with IMU support, high quality odometry
estimation and LiDAR data registration is realized. Moreover, we propose
alternative CNNs trained for the prediction of rotational motion parameters
while achieving results also comparable with state of the art. The proposed
method can replace wheel encoders in odometry estimation or supplement missing
GPS data, when the GNSS signal absents (e.g. during the indoor mapping). Our
solution brings real-time performance and precision which are useful to provide
online preview of the mapping results and verification of the map completeness
in real time
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Towards Identifying and closing Gaps in Assurance of autonomous Road vehicleS - a collection of Technical Notes Part 2
This report provides an introduction and overview of the Technical Topic Notes (TTNs) produced in the Towards Identifying and closing Gaps in Assurance of autonomous Road vehicleS (Tigars) project. These notes aim to support the development and evaluation of autonomous vehicles. Part 1 addresses: Assurance-overview and issues, Resilience and Safety Requirements, Open Systems Perspective and Formal Verification and Static Analysis of ML Systems. This report is Part 2 and discusses: Simulation and Dynamic Testing, Defence in Depth and Diversity, Security-Informed Safety Analysis, Standards and Guidelines
Cost-effective Simulation-based Test Selection in Self-driving Cars Software
Simulation environments are essential for the continuous development of
complex cyber-physical systems such as self-driving cars (SDCs). Previous
results on simulation-based testing for SDCs have shown that many automatically
generated tests do not strongly contribute to identification of SDC faults,
hence do not contribute towards increasing the quality of SDCs. Because running
such "uninformative" tests generally leads to a waste of computational
resources and a drastic increase in the testing cost of SDCs, testers should
avoid them. However, identifying "uninformative" tests before running them
remains an open challenge. Hence, this paper proposes SDCScissor, a framework
that leverages Machine Learning (ML) to identify SDC tests that are unlikely to
detect faults in the SDC software under test, thus enabling testers to skip
their execution and drastically increase the cost-effectiveness of
simulation-based testing of SDCs software. Our evaluation concerning the usage
of six ML models on two large datasets characterized by 22'652 tests showed
that SDC-Scissor achieved a classification F1-score up to 96%. Moreover, our
results show that SDC-Scissor outperformed a randomized baseline in identifying
more failing tests per time unit.
Webpage & Video: https://github.com/ChristianBirchler/sdc-scisso
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
Nonlinear modeling of FES-supported standing-up in paraplegia for selection of feedback sensors
This paper presents analysis of the standing-up manoeuvre in paraplegia considering the body supportive forces as a potential feedback source in functional electrical stimulation (FES)-assisted standing-up. The analysis investigates the significance of arm, feet, and seat reaction signals to the human body center-of-mass (COM) trajectory reconstruction. The standing-up behavior of eight paraplegic subjects was analyzed, measuring the motion kinematics and reaction forces to provide the data for modeling. Two nonlinear empirical modeling methods are implemented-Gaussian process (GP) priors and multilayer perceptron artificial neural networks (ANN)-and their performance in vertical and horizontal COM component reconstruction is compared. As the input, ten sensory configurations that incorporated different number of sensors were evaluated trading off the modeling performance for variables chosen and ease-of-use in everyday application. For the purpose of evaluation, the root-mean-square difference was calculated between the model output and the kinematics-based COM trajectory. Results show that the force feedback in COM assessment in FES assisted standing-up is comparable alternative to the kinematics measurement systems. It was demonstrated that the GP provided better modeling performance, at higher computational cost. Moreover, on the basis of averaged results, the use of a sensory system incorporating a six-dimensional handle force sensor and an instrumented foot insole is recommended. The configuration is practical for realization and with the GP model achieves an average accuracy of COM estimation 16 /spl plusmn/ 1.8 mm in horizontal and 39 /spl plusmn/ 3.7 mm in vertical direction. Some other configurations analyzed in the study exhibit better modeling accuracy, but are less practical for everyday usage
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