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Precision grasp planning on three-dimensional (3-D) objects has received a lot of attention in the past few years. However, traditional contact-level methods are not applicable for real grasp tasks since they don't consider hand configuration, and heuristic approaches require a large amount of computing time. In this paper, the grasp planning problem is interpreted geometrically and the workspaces...
In order to control the interaction of industrial robots with soft materials many computationally-intensive sub-tasks have to be performed in parallel, such as material simulations, control policy optimization or path planning among many others. Since the robot control cannot process the amount of information needed for those tasks, the whole system needs to be split up in two parts: the physical...
Narrow passages in the configuration space pose challenge for sampling-based planners. In this paper, the conventional wisdom of ”divide and conquer” is adopted to design a hierarchical strategy to address this challenging problem. Rapidly-exploring random tree (RRT) is taken as an example to illustrate the proposed strategy. A hybrid map which consists of a topological map and a set of metric maps...
This paper presents an adaptive robotic swarm of Unmanned Aerial Vehicles (UAVs) enabling communications between separated non-swarm devices. The swarm nodes utilise machine learning and hyper-heuristic policy evolution to provide agility within the swarm, enabling each swarm member to select the most appropriate mobility policy for the environment given the swarm's abilities. The swarm evolution...
In this article, a new method is presented in order to increase node dispersion on RRTs. This approach allows for a better environment representation, reducing the amount of nodes in the tree. The proposed RRT differs from Classic RRT by an insertion of a new node-tree connection method. The proposed affixing rule uses a tree whose edges are of variable length, which more rapidly explores the environment's...
The generation of robot task planning is a challenging issue in uncertain and dynamic real world. Semantic knowledge can be used to support the task planning of robots as a source of implied knowledge. At present, many literatures elaborate semantic networks, which integrate spatial information and semantic information, and use semantic knowledge to carry out robot task planning. Aiming at the demand...
In interactive human-robot path-planning, a capability for expressing the path topology provides a natural mechanism for describing task requirements. We propose a topology-aware RRT∗ algorithm that can explore in parallel any given set of topologies. The topological information used by the algorithm can either be assigned by the human prior to the planning or be selected from the human in posterior...
Path planning among polygonal obstacles is a well-known problem in robotics. In this paper, we consider the problem of planning a collision-free path for a robot in a polygonal domain from a given source point to a given target point. The robot has two basic limitations: an upper bound on the angle of rotation and a lower bound on the distance between two consecutive turns. We describe an algorithm...
This paper is devoted to a quantitative study of the sensitivity of cell decomposition path planning to various key criteria dealing with optimality and computational complexity. More specifically, the work analyzes the influence of various types of cell decomposition approaches (e.g. trapezoidal, rectangular) and cost functions used during the trajectory search phase (e.g. L1, L2 norms) in the performance...
In manned/unmanned-aerial-vehicles team, the workload of manned-aerial-vehicle (MAV) pilot is an important indicator to measure pilot's cognitive state. Evaluating the pilot workload is significant to analyze human-robotics system cognition and intelligent interaction questions. This paper proposed a mathematical model that can measure pilot workload. The model evaluates the workload through three...
With the rapid development of e-commerce, warehousing and logistics industry has entered a period of rapid development. New logistics demand is not different from traditional commodity transport, with the features of small batches, variety, high speed and low cost. Flexible warehousing technology based on small mobile handing robots is rising rapidly. The article proposes a flexible warehouse space...
In this work we address the problem of autonomous robotic exploration and map building supported by high level information provided by online topological segmentation that incrementally generates an undirected connected graph of the environment. We formulate the exploration problem as the traversal of all the edges of the online graph, being the optimal solution an Eulerian path, if it exist. We propose...
Planning for object search requires the generation and sequencing of views in a continuous space. These plans need to consider the effect of overlapping views and a limit imposed on the time taken to compute and execute the plans. We formulate the problem of view planning in the presence of overlapping views and time constraints as an Orienteering Problem with history-dependent rewards. We consider...
In this paper we address the problem of online trajectory optimization and cooperative collision avoidance when multiple mobile service robots are operating in close proximity to each other. Using cooperative trajectory optimization to obtain smooth transitions in multi-agent path crossing scenarios applies to the demand for more flexibility and efficiency in industrial autonomous guided vehicle (AGV)...
In several applications, a robot moving from a start to a goal location is required to gather data along its path (e.g., a video feed in a monitoring scenario). The robot can have at its disposal only a limited amount of memory to store the collected data, in order to contain costs or to avoid that sensible data fall into the hands of an attacker. This poses the need of periodically delivering the...
Map retrieval, the problem of similarity search over a large collection of 2D pointset maps previously built by mobile robots, is crucial for autonomous navigation in indoor and outdoor environments. Bag-of-words (BoW) methods constitute a popular approach to map retrieval; however, these methods have extremely limited descriptive ability because they ignore the spatial layout information of the local...
For the operation of Mars rovers the ground team has a set of utilities to generate safe mission planning. A relevant aspect of such planning are the paths that the rover has to to follow to reach the scientific objectives. For path planning, operators use a combination of orbital and surface imagery to analyze the terrain topography to generate a cost map. Applying path planning algorithms over the...
Humans are error-prone in the presence of multiple similar tasks. While Human-Robot Collaboration (HRC) brings the advantage of combining the superiority of both humans and robots in their respective talents, it also requires the robot to communicate the task goal clearly to the human collaborator. We formalize such problems in interactive assembly tasks with hidden goal Markov decision processes...
Assistive devices and technologies are getting common and some commercial products are starting to be available. However, the deployment of robots able to physically interact with a person in an assistive manner is still a challenging problem. Apart from the design and control, the robot must be able to adapt to the user it is attending in order to become a useful tool for caregivers. This robot behavior...
This paper focuses on requirements for effective human robot collaboration in interactive navigation scenarios. We designed several use-cases where humans and robot had to move in the same environment that resemble canonical path-crossing situations. These use-cases include open as well as constrained spaces. Three different state-of-the-art humanaware navigation planners were used for planning the...
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