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A Road-map to Robot Task Execution with the Functional Object-Oriented Network [article]

David Paulius, Alejandro Agostini, Yu Sun, Dongheui Lee
2021 arXiv   pre-print
Following work on joint object-action representations, the functional object-oriented network (FOON) was introduced as a knowledge graph representation for robots.  ...  In this work, we outline a road-map for future development of FOON and its application in robotic systems for task planning as well as knowledge acquisition from demonstration.  ...  ACKNOWLEDGEMENT This research was funded by the Helmholtz Association.  ... 
arXiv:2106.00158v1 fatcat:7xu4oesa2jgnxfs67rumqlw57m

Vision-based urban navigation procedures for verbally instructed robots

Theocharis Kyriacou, Guido Bugmann, Stanislao Lauria
2005 Robotics and Autonomous Systems  
Humans who explain a task to a robot, or to another human, use chunks of actions that are often complex procedures for robots.  ...  This implementation requires the use of a "short-lived" internal map updated as the robot moves along. The recognition and localisation of intersections is done using task-guided template matching.  ...  This facilitates the mapping from the semantic analysis of the spoken input to a sequence of executable robot actions.  ... 
doi:10.1016/j.robot.2004.08.011 fatcat:lsw3qlddwjgcbdtroi3ulhw6aq

A bio-inspired kinematic controller for obstacle avoidance during reaching tasks with real robots

Narayan Srinivasa, Rajan Bhattacharyya, Rashmi Sundareswara, Craig Lee, Stephen Grossberg
2012 Neural Networks  
The DIRECT model was extended based on a novel reactive obstacle avoidance direction (DIRECT-ROAD) model to enable redundant robots to avoid obstacles in environments with simple obstacle configurations  ...  However, certain configurations of obstacles in the environment prevented the robot from reaching the target with purely reactive obstacle avoidance.  ...  Acknowledgments We would like acknowledge the support of a Collaborative Research grant CR07C202 at HRL for this research work.  ... 
doi:10.1016/j.neunet.2012.07.010 pmid:22954479 fatcat:l6wifmshvnbfrmthlxhdlmg65u

Mobile Robot Navigation: The CMU System

Yoshimasa Goto, Anthony Stentz
1987 IEEE Expert  
Using two sensors-a color camera and a laser range finder-our system can drive a robot vehicle continuously on a network of sidewalks, up a bicycle slope, and over a curved road through an area populated  ...  with trees.  ...  We extend special thanks to Steve Shafer, Chuck Thorpe, and Takeo Kanade.  ... 
doi:10.1109/mex.1987.5006533 fatcat:63sopqprtbcudmgtq3njpyauza

Action/perception-oriented robot software design: An application in off-road terrain

H. Schafer, M. Proetzsch, K. Berns
2008 2008 10th International Conference on Control, Automation, Robotics and Vision  
Results documenting the applicability to complex robotic systems are shown in a case study about the off-road platform RAVON.  ...  In this paper a combined action/perception-oriented approach for behavior-based robot software design is proposed.  ...  The fundamental data structure is a scrollable grid map which is orientation-fixed with respect to the absolute working coordinate system (WCS) of the robot.  ... 
doi:10.1109/icarcv.2008.4795522 dblp:conf/icarcv/SchaferPB08 fatcat:ocvyyzn3dbednkwkwktz5i7txi

Generating Road Network Graph with Vision-Based Unmanned Vehicle

Henrique Yano, Francisco Zampirolli
2017 International Journal of Undergraduate Research and Creative Activities  
In this paper we present a simple and effective way to map a road network with the help of a driverless vehicle.  ...  Abstract With the advancement of technology and its cheapness, robotic vehicles have gained a large number of applications.  ...  The Function of Generating Road Network Graph The following code is the algorithm of the function Map: The mapping coordinates recorded by the function LEGO_Movement are used to distinguish crossroads  ... 
doi:10.7710/2168-0620.1083 fatcat:27wkfgn3gneflczwg7ungt74au

Intelligent Robotic Perception Systems [chapter]

Cristiano Premebida, Rares Ambrus, Zoltan-Csaba Marton
2018 Applications of Mobile Robots [Working Title]  
The recent developments in machine learning, namely deep-learning approaches, are evident and, consequently, robotic perception systems are evolving in a way that new applications and tasks are becoming  ...  Robotic perception, in the scope of this chapter, encompasses the ML algorithms and techniques that empower robots to learn from sensory data and, based on learned models, to react and take decisions accordingly  ...  Artificial intelligence and machine learning applied on robotics perception Once a robot is (self) localized, it can proceed with the execution of its task.  ... 
doi:10.5772/intechopen.79742 fatcat:zrvsznb3frcthl3pfy7r54kire

Robotic Maintenance of Road Infrastructures: The HERON Project [article]

Iason Katsamenis, Matthaios Bimpas, Eftychios Protopapadakis, Charalampos Zafeiropoulos, Dimitris Kalogeras, Anastasios Doulamis, Nikolaos Doulamis, Carlos Martín-Portugués Montoliu, Yannis Handanos, Franziska Schmidt, Lionel Ott, Miquel Cantero (+1 others)
2022 arXiv   pre-print
The maintenance, repair, and upgrade of roads are therefore vital to road users' health and safety as well as to a well-functioning and prosperous modern economy.  ...  To coordinate maintenance works, the project will design an autonomous ground robotic vehicle that will be supported by autonomous drones.  ...  The IAMP will be interconnected by a building information modelling (BIM) oriented digital twin to the decision support tool to enable industrialisation and automation of several road management functions  ... 
arXiv:2205.04164v1 fatcat:enifeqadyzbhlp2fh5vqcbukpq

A Multi-task Convolutional Neural Network for Autonomous Robotic Grasping in Object Stacking Scenes [article]

Hanbo Zhang, Xuguang Lan, Site Bai, Lipeng Wan, Chenjie Yang and Nanning Zheng
2019 arXiv   pre-print
However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous robots: (1)it is a comprehensive task to know  ...  In this paper, we propose a multi-task convolutional neural network for autonomous robotic grasping, which can help the robot find the target, make the plan for grasping and finally grasp the target step  ...  By following these steps, objects will be grasped one by one until the target is obtained. E. Training Our networks are trained end-to-end with one multi-task loss function.  ... 
arXiv:1809.07081v2 fatcat:ltmpwdnusbha7nvnphq44m6nzi

ARMO: Adaptive road map optimization for large robot teams

A. Kleiner, Dali Sun, D. Meyer-Delius
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
For detecting dynamic changes, the environment is describe by a grid map augmented with a hidden Markov model (HMM).  ...  Based on linear programming, ARMO computes an optimal road map according to current environmental constraints (including human whereabouts) and the current demand for transportation tasks from loading  ...  A. Computation of the connectivity network Our goal is to compute a road map that is optimal in terms of efficiency and compactness for the simultaneous routing of robots executing delivery tasks.  ... 
doi:10.1109/iros.2011.6094734 dblp:conf/iros/KleinerSM11 fatcat:gmaroujgqfd2jmbddaad5lgeuy

Context in Robotics and Information Fusion [chapter]

Domenico D. Bloisi, Daniele Nardi, Francesco Riccio, Francesco Trapani
2016 Advances in Computer Vision and Pattern Recognition  
Contextual knowledge can be used for achieving greater flexibility and robustness in tackling the main tasks of a robot, namely mission execution, adaptability to environmental conditions and self-assessment  ...  Our aim is to show that several uses of contextual knowledge (at different representational levels) have been proposed in the literature, regarding many tasks that are typically required for mobile robots  ...  The authors deploy a robot in a multi-objective exploration and search scenario. The robot features a strategic level to adapt or modify the task execution according to the mission specifications.  ... 
doi:10.1007/978-3-319-28971-7_25 fatcat:46norwhhobdjndxvlarzyxuepm

ARMO: Adaptive road map optimization for large robot teams

Alexander Kleiner, Dali Sun, Daniel Meyer-Delius
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
For detecting dynamic changes, the environment is describe by a grid map augmented with a hidden Markov model (HMM).  ...  Based on linear programming, ARMO computes an optimal road map according to current environmental constraints (including human whereabouts) and the current demand for transportation tasks from loading  ...  A. Computation of the connectivity network Our goal is to compute a road map that is optimal in terms of efficiency and compactness for the simultaneous routing of robots executing delivery tasks.  ... 
doi:10.1109/iros.2011.6048339 fatcat:7li5gytrkjhqta6vi4xywbcjcy

Vision-based reinforcement learning for lane-tracking control

András Kalapos, Csaba Gór, Róbert Moni, István Harmati
2021 ACTA IMEKO  
The controller policy presented in this paper is able to control a small-scale robot to follow the right-hand lane of a real two-lane road, although its training has only been carried out in a simulation  ...  Further analysis was carried out by visualising salient object maps.</p>  ...  ACKNOWLEDGEMENT We would like to show our gratitude to Professor Bálint Gyires-Tóth (BME, Dept. of Telecommunications and Media Informatics) for his assistance and comments on the progress of our research  ... 
doi:10.21014/acta_imeko.v10i3.1020 fatcat:xt45vwnvibgcfhydvfg5yqowqa

Table Cleaning Task by Human Support Robot Using Deep Learning Technique

Jia Yin, Koppaka Ganesh Sai Apuroop, Yokhesh Krishnasamy Tamilselvam, Rajesh Elara Mohan, Balakrishnan Ramalingam, Anh Vu Le
2020 Sensors  
A lightweight Deep Convolutional Neural Network (DCNN) has been proposed to recognize the food litter on top of the table.  ...  The effectiveness of the food litter detection module is verified with the cleanliness inspection task using Toyota HSR, and its detection results are verified with standard quality metrics.  ...  Acknowledgments: We sincerely thanks to Zeng Zimou, SUTD undergraduate student for collecting the food litter data set. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s20061698 pmid:32197483 fatcat:ua2xu4sjezeqtj4tamgxm2kjta

Network robot systems

Alberto Sanfeliu, Norihiro Hagita, Alessandro Saffiotti
2008 Robotics and Autonomous Systems  
This article introduces the definition of Network Robot Systems (NRS) as is understood in Europe, USA and Japan.  ...  Moreover, it describes some of the NRS projects in Europe and Japan and presents a summary of the papers of this Special Issue.  ...  and the robot-user) to cope with robot service allocation and task execution.  ... 
doi:10.1016/j.robot.2008.06.007 fatcat:yixddfh6rbac3hdcu2jbnxh47q
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