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Recent developments in terrain identification, classification, parameter estimation for the navigation of autonomous robots

M. G. Harinarayanan Nampoothiri, B Vinayakumar, Youhan Sunny, Rahul Antony
2021 SN Applied Sciences  
The paper aims to highlight the recent developments in robot design and advanced computing techniques in terrain identification, classification, parameter estimation, and developing modern control strategies  ...  The paper brings recent works related to terrain strategies under a single platform focusing on the advancements in planetary rovers, rescue robots, military robots, agricultural robots, etc.  ...  The desired position and velocity can be obtained with proper control parameter selection, realized by the fuzzification of wheel terrain models and optimized using Neural Network based adaptive mechanism  ... 
doi:10.1007/s42452-021-04453-3 fatcat:zftqt26h7fgsblkmwduo336u4y

Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor

Artur Saudabayev, Farabi Kungozhin, Damir Nurseitov, Huseyin Atakan Varol
2015 Journal of Sensors  
The accuracy of the terrain classification using Support Vector Machine classifier for the testing database in five-class terrain recognition problem is 97%.  ...  Supervisory control of the robot is accomplished by the terrain recognizer, which classifies depth images obtained from a commercial time of flight depth sensor and selects different locomotion mode subcontrollers  ...  Figure 13 : 13 150-second segment from the real-time locomotion experiment showing the terrain classification results (a), corresponding front right leg joint angles (b), and the wheel angular velocities  ... 
doi:10.1155/2015/425732 fatcat:ojxijxg3ujc43gjh3vor2tela4

Learning-Based Methods of Perception and Navigation for Ground Vehicles in Unstructured Environments: A Review

Dario Calogero Guastella, Giovanni Muscato
2020 Sensors  
We present a review on the recent contributions in the robotics literature adopting learning-based methods to solve the problem of environment perception and interpretation with the final aim of the autonomous  ...  Several well-established communities in robotics research deal with these scenarios such as search and rescue robotics, planetary exploration, and agricultural robotics.  ...  (linear and angular velocity commands).  ... 
doi:10.3390/s21010073 pmid:33375609 fatcat:dp4xortvvvfwxgkoenonxufmoe

Clustering sensor data for autonomous terrain identification using time-dependency

Philippe Giguere, Gregory Dudek
2009 Autonomous Robots  
A key issue is the clustering of time-series data collected by the sensors of a ground-based vehicle moving over several terrain surfaces (e.g. concrete or soil).  ...  In this paper we are interested in autonomous vehicles that can automatically develop terrain classifiers without human interaction or feedback.  ...  The problem was made more challenging by using only the pitch angular velocity vector.  ... 
doi:10.1007/s10514-009-9114-2 fatcat:3zas3s5qhvd3fjw3gfwcso3c2q

Environment Classification for Robotic Leg Prostheses and Exoskeletons using Deep Convolutional Neural Networks [article]

Brokoslaw Laschowski, William McNally, Alexander Wong, John McPhee
2021 bioRxiv   pre-print
, which were annotated using a hierarchical labelling architecture.  ...  Although we designed this environment classification system to support the development of next-generation environment-adaptive locomotor control systems for robotic prostheses and exoskeletons, applications  ...  Environmental features like the terrain height, distance, and slope were used for classification via heuristic rule-based thresholds.  ... 
doi:10.1101/2021.06.24.449600 fatcat:7u3xocuwhzdjnpra645be5t2vm

Visual Navigation for Mobile Robots: A Survey

Francisco Bonin-Font, Alberto Ortiz, Gabriel Oliver
2008 Journal of Intelligent and Robotic Systems  
Mobile robot vision-based navigation has been the source of countless research contributions, from the domains of both vision and control.  ...  Map-based navigation has been in turn subdivided in metric map-based navigation and topological mapbased navigation.  ...  and an object, w is the angular velocity, and θ is the angle between the direction of travel and the aforementioned object.  ... 
doi:10.1007/s10846-008-9235-4 fatcat:rkw4hdawznakjgccx32qt2etku

A Taxonomy of Vision Systems for Ground Mobile Robots

Jesus Martinez-Gomez, Antonio Fernandez-Caballero, Ismael Garcia-Varea, Luis Rodriguez, Cristina Romero-Gonzalez
2014 International Journal of Advanced Robotic Systems  
Moreover, the study of the articles is used to put forward a comprehensive taxonomy based on the most up-to-date research in ground mobile robotics.  ...  Firstly, a thorough review of the papers is proposed to discuss and classify both past and the most current approaches in the field.  ...  Classifier selection Once the classification problem has been identified, an appropriate classification model has to be adopted.  ... 
doi:10.5772/58900 fatcat:ydrtcuwnbrbhdgjxmw3rhfa7oi

Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain

T. Braun
2011 Künstliche Intelligenz  
Abstract This thesis addresses the problem of finding a global robot navigation strategy for rugged off-road terrain which is robust against inaccurate self-localization and scalable to large environments  ...  , but also cost-efficient, e.g. able to generate navigation paths which optimize a cost measure closely related to terrain traversability.  ...  Due to these benefits, the very popular nonparametric, statistical k-nearest neighbor classifier has been selected for terrain classification.  ... 
doi:10.1007/s13218-011-0088-9 fatcat:u4ssainmcvc3jmqdon6gpjg674

Online generation of scene descriptions in urban environments

Ingmar Posner, Derik Schroeter, Paul Newman
2008 Robotics and Autonomous Systems  
The system employs a shallow supervised classification hierarchy to classify scene attributes consisting of a mixture of 2D/3D geometric and visual scene information into a range of different workspace  ...  The union of classifier responses yields a rich, composite description of the local workspace.  ...  The authors gratefully acknowledge the support of the members of the Robotics Research Group who have tirelessly labelled our laser data.  ... 
doi:10.1016/j.robot.2008.08.009 fatcat:m2hh5n2tcjcl3fwfffffrhordu

Relying on more sense for enhancing lower limb prostheses control: a review

Michael Tschiedel, Michael Friedrich Russold, Eugenijus Kaniusas
2020 Journal of NeuroEngineering and Rehabilitation  
There is a clear tendency towards more upcoming object or terrain prediction concepts using all types of distance and depth-based sensors.  ...  Based on the criteria for inclusion and exclusion, 32 papers were selected for the review analysis, 18 of those are related to explicit environmental sensing and 14 to implicit environmental sensing.  ...  Especially for autonomous robots, the capability to detect and classify objects correctly is critical.  ... 
doi:10.1186/s12984-020-00726-x pmid:32680530 fatcat:322obz6j35bb3pbzdtf6tfywka

A Survey of Human Gait-Based Artificial Intelligence Applications

Elsa J. Harris, I-Hung Khoo, Emel Demircan
2022 Frontiers in Robotics and AI  
Our goal is to provide a single broad-based survey of the applications of machine learning technology in gait analysis and identify future areas of potential study and growth.  ...  ., 4) Gait-based biometrics with applications in person identification, authentication, and re-identification as well as gender and age recognition 5) "Smart gait" applications ranging from smart socks  ...  via an indoor positioning algorithm, and to set the alarm off via a fire detection algorithm (Hsu et al., 2017) .  ... 
doi:10.3389/frobt.2021.749274 pmid:35047564 pmcid:PMC8762057 fatcat:mqvy5qpcsjgfhdj4mw3altiroe

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
Li, W., +, LRA Oct. 2021 6228-6234 Image classification A CNN Based Vision-Proprioception Fusion Method for Robust UGV Terrain Classification.  ...  ., +, LRA Oct. 2021 6394-6401 Sequential Motion Primitives Recognition of Robotic Arm Task via Human Demonstration Using Hierarchical BiLSTM Classifier.  ...  Hospitals Forecast-Based Newsvendor Models for Hospital Bed Capacity Management. Xu, X., +,  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

Visual detection of vehicles using a bag-of-features approach

Pedro Pinto, Ana Tome, Vitor Santos
2013 2013 13th International Conference on Autonomous Robot Systems  
It is also based on an all terrain vehicle and combines autonomous drive robot capabilities, such as GPS based navigation, road and terrain classification for motion planning, vision and laser rangefinder  ...  angular and linear velocity motion models.  ...  Especially for low-cost robots with a small reachable workspace of the arms, the selection of base poses for reaching tasks is a challenging problem.  ... 
doi:10.1109/robotica.2013.6623539 fatcat:ialsxj53yzfkfe5f766krtkkrq

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
Adamski, W., +, LRA July 2020 4281-4288 Angular velocity control IMU-Based Inertia Estimation for a Quadrotor Using Newton-Euler Dynam- ics.  ...  Ma, A., +, LRA April 2020 1819-1826 Fast Planning Over Roadmaps via Selective Densification.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification [chapter]

S. D. Somasundaram, K. Althoefer, J. A. S. Smith, L. D. Seneviratne
2006 Climbing and Walking Robots  
The paper presents neural based fault detection and classification system, which was designed and used in a walking robot.  ...  Therefore we get a sort of free gait while walking over rough terrain, that becomes periodic when the robot walks on flat terrain.  ...  Abstract We describe an optimized method for calibrating the walk parameters of a quadruped robot.  ... 
doi:10.1007/3-540-26415-9_100 dblp:conf/clawar/SomasundaramASS05 fatcat:4vu25zlx65dszgbcxkusxozfve
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