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Synthetical Benchmarking of Service Robots: A First Effort on Domestic Mobile Platforms [chapter]

Min Cheng, Xiaoping Chen, Keke Tang, Feng Wu, Andras Kupcsik, Luca Iocchi, Yingfeng Chen, David Hsu
2015 Lecture Notes in Computer Science  
In the effort reported in this paper, we tried to implement a synthetical benchmarking system on domestic mobile platforms.  ...  Synthetical benchmarking consists of both qualitative and quantitative aspects, such as task completion, accuracy of task completions and efficiency of task completions, about performance of a robot.  ...  A special thank is given to Intel China for its sponsorship of the BSR challenge and workshop.  ... 
doi:10.1007/978-3-319-29339-4_32 fatcat:qw72fpty55e6jlqy6rftzl4fia

A New Approach to the Histogram-Based Segmentation of Synthetic Aperture Radar Images

Barbara Siemiątkowska, Krzysztof Gromada
2021 Journal of Automation, Mobile Robotics & Intelligent Systems  
Radar machine vision is an emerging research field in the mobile robotics.  ...  Because Synthetic ApertureRadars (SAR) are robust against weather and light condition, they provide more useful and reliable in formation than optical images.  ...  Fig. 6 . 6 The result of segmentation Journal of Automation, Mobile Robotics and Intelligent Systems VOLUME 15, N° 1 Journal of Automation, Mobile Robotics and Intelligent Systems VOLUME 15,  ... 
doi:10.14313/jamris/1-2021/5 fatcat:e7mgtqi4yngatdsahacoh7bwne

Mobile Mechatronic/Robotic Orthotic Devices to Assist–Rehabilitate Neuromotor Impairments in the Upper Limb: A Systematic and Synthetic Review

Gelu Onose, Nirvana Popescu, Constantin Munteanu, Vlad Ciobanu, Corina Sporea, Marian-Daniel Mirea, Cristina Daia, Ioana Andone, Aura Spînu, Andrada Mirea
2018 Frontiers in Neuroscience  
It includes also, in tabular form, the main characteristics of the most relevant mobile (wearable and/or portable) mechatronic/robotic orthoses/exoskeletons prototype devices used to assist-rehabilitate  ...  Then we have applied a new innovative PEDro-inspired technique to classify the relevant articles.  ...  Within the first stage, using the following combinations of keywords: upper limb exoskeleton, upper limb mobile robot, upper limb wearable robot, upper limb portable robot, upper limb robotic exoskeleton  ... 
doi:10.3389/fnins.2018.00577 pmid:30233289 pmcid:PMC6134072 fatcat:eical6dqp5cydjsyen3nb5pmly

Deep Learning Traversability Estimator for Mobile Robots in Unstructured Environments [article]

Marco Visca, Sampo Kuutti, Roger Powell, Yang Gao, Saber Fallah
2021 arXiv   pre-print
Terrain traversability analysis plays a major role in ensuring safe robotic navigation in unstructured environments.  ...  The network is first trained and tested in simulation over synthetic maps generated by the OpenSimplex algorithm.  ...  Maps Generation To reduce the data scarcity problem of mobile robot applications, synthetic maps are generated using the OpenSimplex noise algorithm, a popular approach to generate realistic unstructured  ... 
arXiv:2105.10937v2 fatcat:4cummicairewtnb4wpoctuaojm

DeepNet-Based 3D Visual Servoing Robotic Manipulation

Abdulrahman Al-Shanoon, Yanjun Wang, Haoxiang Lang, Min Xia
2022 Journal of Sensors  
Then, it is integrated into a 3D visual servoing to achieve a long-range mobile manipulation task using a single camera setup.  ...  Experimental findings from simulations and real-world settings showed the efficiency of using synthetic datasets in mobile manipulation task.  ...  The next step is the implementation of a synthetically trained mobile manipulator system. Visual Servoing for Long-Range Mobile Manipulator System.  ... 
doi:10.1155/2022/3511265 fatcat:hznxfkuhzfhxlps5nlm4tddbtq

Thermal Modulation of a High-Bandwidth Gas Sensor Array in Real-Time for Application on a Mobile Robot

Timothy A. Vincent, Yuxin Xing, Marina Cole, Julian W. Gardner
2018 Proceedings (MDPI)  
Bench-top experimental results are presented for 50 to 200 ppm of ethanol and CO, which demonstrate our sensor system can be used within a mobile robot.  ...  ., SnO2, WO3, NiO) to be extracted using a fast Fourier transform. Signal processing is performed in real-time using a low-cost microcontroller integrated into a sensor module.  ...  mobile robot).  ... 
doi:10.3390/proceedings2130858 fatcat:dcsvgqumhnaipn4sdilrgrcp7e

A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering [article]

Ajay Kumar Tanwani, Nitesh Mor, John Kubiatowicz, Joseph E. Gonzalez, Ken Goldberg
2019 arXiv   pre-print
We apply this approach to surface decluttering, where a mobile robot picks and sorts objects from a cluttered floor by learning a deep object recognition and a grasp planning model.  ...  Deep models are trained on non-private (public) synthetic images in the Cloud; the models are adapted to the private real images of the environment at the Edge within a trusted network and subsequently  ...  to real transfer, and evaluates benchmarks for learning and inference with a mobile robot over a wireless network. 4) Surface decluttering experiments with a mobile Toyota HSR robot to grasp 185 household  ... 
arXiv:1903.09589v1 fatcat:xqfzy5zmbnemhh6qjl32g35lxi

Semi-Automatic Generation of Training Data for Neural Networks for 6D Pose Estimation and Robotic Grasping

Johannes Rauer, Mohamed Aburaia, Wilfried Wöber
2020 Zenodo  
In this work an approach to semiautomatically generate 6D pose-annotated data, using a movable marker and an articulated robot, is presented.  ...  The results demonstrate that a mobile manipulator using the proposed pose-estimation system could be deployed in real-life logistics applications to increase the level of automation.  ...  Deploying mobile manipulators, a combination of mobile and articulated robots, for intra-logistical transport tasks, promises this desired modularity [6] .  ... 
doi:10.5281/zenodo.4084908 fatcat:7fscsh6qwbah5iyvfj3a5tsqty

Mobile Robot Self-Localization Using Omnidirectional Vision with Feature Matching from Real and Virtual Spaces

Huei-Yung Lin, Chien-Hsing He
2021 Applied Sciences  
The proposed method first constructs a virtual space with synthetic omnidirectional imaging to simulate a mobile robot equipped with an omnidirectional vision system in the real world.  ...  This paper presents a novel self-localization technique for mobile robots based on image feature matching from omnidirectional vision.  ...  A mobile robot lacking localization information will have a restricted capability for navigation and exploration.  ... 
doi:10.3390/app11083360 fatcat:aezsfhzqnvgbroyuygtsuh5pda

Model Predictive Control of a Differential-Drive Mobile Robot

Samir Bouzoualegh, El-Hadi Guechi, Ridha Kelaiaia
2018 Acta Universitatis Sapientiae Electrical and Mechanical Engineering  
This paper presents a model predictive control (MPC) for a differential-drive mobile robot (DDMR) based on the dynamic model.  ...  The predictive control law gains were acquired by minimizing a quadratic criterion.  ...  Differential drive mobile robot models A differential drive mobile robot can be presented as depicted in Fig. 1 . A.  ... 
doi:10.2478/auseme-2018-0002 fatcat:vo55dvpifjesxjy63galo7pbpa

Organismal engineering: Toward a robotic taxonomic key for devices using organic materials

Victoria A. Webster-Wood, Ozan Akkus, Umut A. Gurkan, Hillel J. Chiel, Roger D. Quinn
2017 Science Robotics  
Based on this analysis, we propose a Robotic Taxonomic Key to guide the field towards a unified lexicon for device description.  ...  By integrating organic and synthetic components, researchers are moving towards the development of engineered organisms whose structural framework, actuation, sensing, and control are partially or completely  ...  More recently, Martinez et al. (66) have developed a mobile platform using a synthetic base and controller with organic sensors. As with Myrick et al.'  ... 
doi:10.1126/scirobotics.aap9281 pmid:31360812 pmcid:PMC6663099 fatcat:imw5tugk7vctvaesko6o3ue2xe

Path Generation and Map Construction for Mobile Robot Navigation

2020 International journal of recent technology and engineering  
A difficult problem is to make a vision-based robot navigate properly to the target by avoiding the obstacles. Path information is very essential for successful navigation of the robot.  ...  Vision based mobile robot navigation is one of the important because the robots can resolve lots of problems in which human life is dangerous, difficult and costly.  ...  In the proposed work, mobile robot has fixed with a single 2-D camera for 3-D depth estimation.  ... 
doi:10.35940/ijrte.f9910.059120 fatcat:fbhq6xksibd47gc3uvunzilbzu

AN ALGORITHM FOR PEDESTRIAN DETECTION IN MULTISPECTRAL IMAGE SEQUENCES

V. V. Kniaz, V. V. Fedorenko
2017 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
To evaluate the BipedDetect algorithm a multispectral dataset was collected using a mobile robot.  ...  To detect a pedestrian a synthetic optical flow of the scene without pedestrians is generated using slanted-plane model.  ...  CONCLUSION The BipedDetect algorithm for pedestrian detection on mobile robots was developed. The algorithm is based on estimation of a multispectral optical flow and a synthetic optical flow.  ... 
doi:10.5194/isprs-archives-xlii-2-w4-73-2017 fatcat:hysnpsfc3fcodb65sjmk5nriie

A Physarum-Inspired Decision-Making Strategy for Multisource Task Searching of Mobile Robots

Laihao Jiang, Hongwei Mo, Lifang Xu
2020 Complexity  
The PS is simple and effective to let a mobile robot traverse all sources. Then, an extension algorithm named Physarum-inspired Decision-making Strategy (PDS) is proposed based on PS.  ...  For multisource task searching, a single robot has a high travel cost and is easy to trap a source which has been located before.  ...  the multi-source search using a mobile robot, considering two aspects: First, robot avoids getting trapped around a source and traverses all the sources.  ... 
doi:10.1155/2020/3158156 doaj:8918eb43b4a447468b894ac99706adb6 fatcat:ttpgje3nxbd3zdej7rvqb2tela

Urban Exploration through Chemical Signalling Algorithms

Rubén Martín García, Francisco Prieto-Castrillo, Gabriel Villarrubia González, Javier Bajo
2017 Zenodo  
We show how exploration times can be significantly reduced by a simple anti-pheromone ant foraging based algorithm. This is implemented in a distributed multi agent architecture.  ...  We validate our approach through numerical tests with both synthetic random generated maps and real bicycle routes in four cities.  ...   Mobility: Includes mobile agents for environment exploration. o Robots: mobile entities that move around the environment and eventually find targets. o MQTT: is the technology used for receiving and  ... 
doi:10.5281/zenodo.2677582 fatcat:ov27m2iaafbgfpimqxps2ujwpu
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