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Object SLAM-Based Active Mapping and Robotic Grasping [article]

Yanmin Wu, Yunzhou Zhang, Delong Zhu, Xin Chen, Sonya Coleman, Wenkai Sun, Xinggang Hu, Zhiqiang Deng
2021 arXiv   pre-print
This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks.  ...  Combining the mapping module and the exploration strategy, an accurate object map that is compatible with robotic grasping can be generated.  ...  Figure 7 . 7 Figure 7. 3D IoU and 2D IoU estimated by different strategies. Figure 8 . 8 Figure 8. Comparison of mapping results.  ... 
arXiv:2012.01788v3 fatcat:nx7w5e6mwnhylfibu4hh4kiax4

Multi-Robot Hybrid Coverage Path Planning for 3D Reconstruction of Large Structures

Randa Almadhoun, Tarek Taha, Lakmal Seneviratne, Yahya Zweiri
2021 IEEE Access  
In the decentralized multi-robot system, the proposed HCPP is embedded in each robot where each one of them shares its global 3D map ensuring robustness.  ...  simultaneously achieve high coverage.  ...  ACKNOWLEDGEMENTS This publication is based upon work supported by the Khalifa University of Science and Technology under Award No. RC1-2018-KUCARS  ... 
doi:10.1109/access.2021.3139080 fatcat:qe2zog4zkbhxneclquufzpkiju

Autonomous Mobile Scanning Systems for the Digitization of Buildings: A Review

Antonio Adán, Blanca Quintana, Samuel Prieto
2019 Remote Sensing  
Some important issues, such as data redundancy, occlusion, initial assumptions, the complexity of the scanned scene, and autonomy, are analysed in the first part of the document, while the second part  ...  A set of representative autonomous systems is then chosen for comparison, and the aforementioned characteristics are shown together in several illustrative tables.  ...  Another work in the MAV context is that of Heng et al. [18] . The system performs simultaneous exploration and coverage in unknown environments.  ... 
doi:10.3390/rs11030306 fatcat:yucrt6aaincnvj6nxxfloenxk4

Intelligent Exploration Approaches Based on Utility Functions Optimization for Multi-Agent Environment Applications

José Oñate-López, Loraine Navarro, Christian G. Quintero M., Mauricio Pardo
2021 Applied Sciences  
In this work, the problem of exploring an unknown environment with a team of agents and search different targets on it is considered.  ...  The key problem to be solved in multiple agents is choosing appropriate target points for the individual agents to simultaneously explore different regions of the environment.  ...  Conflicts of Interest: The authors declare that there are no conflicts of interest regarding the publication of this paper.  ... 
doi:10.3390/app11052408 fatcat:s2sxt4mbbng7tiedqencrlhvgq

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception and Active Vision

Jorge Pena Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 IEEE Access  
ACKNOWLEDGMENT This research work is supported by the Academy of Finland's AutoSOS project (Grant No. 328755).  ...  multi-robot simultaneous localization and mapping (SLAM) algorithm.  ...  Simultaneous localization and mapping (SLAM) aims at constructing or updating a map of the environment of an agent, while simultaneously keeping track of the agent's position.  ... 
doi:10.1109/access.2020.3030190 fatcat:exigopjplzgfzlghxvr7s3l3di

Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception [article]

Jorge Peña Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 arXiv   pre-print
In particular, multi-robot systems have the potential to significantly improve the efficiency of SAR personnel with faster search of victims, initial assessment and mapping of the environment, real-time  ...  Furthermore, we put these algorithms in the context of the different challenges and constraints that various types of robots (ground, aerial, surface or underwater) encounter in different SAR environments  ...  ACKNOWLEDGMENT This research work is supported by the Academy of Finland's AutoSOS project (Grant No. 328755).  ... 
arXiv:2008.12610v1 fatcat:hq5lqtnsoreapjm4dpgg4z5xki

Object-aware guidance for autonomous scene reconstruction

Ligang Liu, Xi Xia, Han Sun, Qi Shen, Juzhan Xu, Bin Chen, Hui Huang, Kai Xu
2018 ACM Transactions on Graphics  
Then, an object of interest (OOI) is identified as the NBO which the robot aims to visit and scan. The robot then conducts fine scanning on the OOI with views determined by the NBV strategy.  ...  The algorithm iterates until all of the objects are recognized and reconstructed in the scene. Various experiments and comparisons have shown the feasibility of our proposed approach.  ...  Science and Technology Program (2015A03031201 5) and Shenzhen Science and Technology Program (KQJSCX20170727 101233642, JCYJ20151015151249564).  ... 
doi:10.1145/3197517.3201295 fatcat:kfo5dywxibhfpldqsyck6qq6v4

Data Correlation and Comparison from Multiple Sensors Over a Coral Reef with a Team of Heterogeneous Aquatic Robots [chapter]

Alberto Quattrini Li, Ioannis Rekleitis, Sandeep Manjanna, Nikhil Kakodkar, Johanna Hansen, Gregory Dudek, Leonardo Bobadilla, Jacob Anderson, Ryan N. Smith
2017 Springer Proceedings in Advanced Robotics  
Coverage strategies are discussed with a focus on the use of informed decisions to maximize the information collected during a fixed period of time.  ...  Visual, inertial, GPS, and ultrasonic data collected are compared and correlated to produce a comprehensive view of the health of the coral reef.  ...  Data Comparison and Fusion Comparison of the collected heterogeneous data, potentially taken at different times, requires alignment and/or registration between the datasets.  ... 
doi:10.1007/978-3-319-50115-4_62 dblp:conf/iser/LiRMKHDBAS16 fatcat:4d6otuaj65fzpfnd4rj22vvlyu

A high-efficiency, information-based exploration path planning method for active simultaneous localization and mapping

Peng Li, Cai-yun Yang, Rui Wang, Shuo Wang
2020 International Journal of Advanced Robotic Systems  
The efficiency of exploration in an unknown scene and full coverage of the scene are essential for a robot to complete simultaneous localization and mapping actively.  ...  However, it is challenging for a robot to explore an unknown environment with high efficiency and full coverage autonomously.  ...  Figure 10 . 10 The figure shows the exploration trajectory and the generated 3-D point cloud map after the robot actively explores the three different real scenes.  ... 
doi:10.1177/1729881420903207 fatcat:ltuxt6fgxvehhltkxxu6yzkd7a

Towards the Robotic "Avatar": An Extensive Survey of the Cooperation between and within Networked Mobile Sensors

Sebahattin Topal, İsmet Erkmen, Aydan M. Erkmen
2010 Future Internet  
In this paper, we survey and comparatively discuss the current state of networked robotics via their critical application areas and their design characteristics.  ...  This paper extensively surveys the networked robotic foundations of this robotic biological "Avatar" that awaits us in the future.  ...  networks in Simultaneous Localization and Mapping (SLAM) of a region.  ... 
doi:10.3390/fi2030363 fatcat:5gxwfqeh25ahhiz7s3fxfrgrda

Event Coverage Hole Repair Algorithm Based on Multi-AUVs in Multi-Constrained Three-Dimensional Underwater Wireless Sensor Networks

Yaoming Zhuang, Chengdong Wu, Hao Wu, Zuyuan Zhang, Hongli Xu, Qingyong Jia, Li Li
2020 Symmetry  
The MECHR algorithm can adapt to a wide range of harsh scenes and multi-constrained three-dimensional underwater environments.  ...  Next, a multi-agent event coverage hole repair algorithm (MECHR), which combines multi-agent strategy with diversity archive strategy, is proposed to repair UECHs in UWSNs.  ...  In [24] , an inexact Multi-Objective Genetic Algorithm (iMOGA) is proposed to settle Constrained Multi-Objective Solid Travelling Salesman Problems (CMOSTSPs) in fragile, stochastic, and fuzzy scenes.  ... 
doi:10.3390/sym12111884 fatcat:zr4hv4vbzbbrhmh3ccefvkmdva

Active vision in robotic systems: A survey of recent developments

Shengyong Chen, Youfu Li, Ngai Ming Kwok
2011 The international journal of robotics research  
and assembly, localization and mapping, navigation and exploration.  ...  Planning for robot vision is a complex problem for an active system due to its sensing uncertainty and environmental uncertainty.  ...  In an environment of large scenes having large depth ranges with depth discontinuities, it is necessary to aim cameras in different directions and to fixate at different objects.  ... 
doi:10.1177/0278364911410755 fatcat:pdpxmt4a5nhdvdojcsassxox6i

Learning Efficient Multi-Agent Cooperative Visual Exploration [article]

Chao Yu, Xinyi Yang, Jiaxuan Gao, Huazhong Yang, Yu Wang, Yi Wu
2022 arXiv   pre-print
Classical planning-based methods often suffer from expensive computation overhead at each step and a limited expressiveness of complex cooperation strategy.  ...  By contrast, reinforcement learning (RL) has recently become a popular paradigm for tackling this challenge due to its modeling capability of arbitrarily complex strategies and minimal inference overhead  ...  In this paper, we consider a multi-agent exploration problem, where multiple homogeneous robots simultaneously explore an unknown spatial region via visual and sensory signals in a cooperative fashion.  ... 
arXiv:2110.05734v2 fatcat:fuuq2az32rgv5gopwxybd2b2dm

Immunized Token-Based Approach for Autonomous Deployment of Multiple Mobile Robots in Burnt Area

Sulemana Nantogma, Weizhi Ran, Pengfei Liu, Zhang Yu, Yang Xu
2021 Remote Sensing  
sensing coverage to support rescue efforts or access the severity of damage.  ...  However, a fundamental problem is how to rapidly deploy these mobile agents in such complex and dynamic environments.  ...  State-of-the-art approaches of deployment of mobile agents for communication support or area exploration and mapping often employ one of three different management strategies to manage and control such  ... 
doi:10.3390/rs13204135 fatcat:mjfrojk2kzer3iz3ltxid5pezi

ROI-based Robotic Grasp Detection for Object Overlapping Scenes [article]

Hanbo Zhang, Xuguang Lan, Site Bai, Xinwen Zhou, Zhiqiang Tian and Nanning Zheng
2019 arXiv   pre-print
Robotic experiments demonstrate that ROI-GD can help robots grasp the target in single-object and multi-object scenes with the overall success rates of 92.5% and 83.8% respectively.  ...  Grasp detection with consideration of the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical use of the robotic grasping approach  ...  INTRODUCTION In pursuit of a broader coverage on synergic functions in our daily life, it is essential for service robot and industrial robot to be competent in grasping a specified object in complex scenes  ... 
arXiv:1808.10313v6 fatcat:wxpsnez3bngsfpzbarmha6fjnm
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