Filters








55,675 Hits in 6.3 sec

Designing Environments Conducive to Interpretable Robot Behavior [article]

Anagha Kulkarni, Sarath Sreedharan, Sarah Keren, Tathagata Chakraborti, David Smith, Subbarao Kambhampati
2020 arXiv   pre-print
This means that the robots need to be capable of generating behavior that aligns with human expectations and, when required, provide explanations to the humans in the loop.  ...  In addition, we explore the longitudinal aspect of explicable behavior and the trade-off that arises between the cost of design and the cost of generating explicable behavior over a time horizon.  ...  ACKNOWLEDGEMENTS The research of ASU contributors is supported in part by ONR grants N00014-16-1-2892, N00014-18-1-2442, N00014-18-1-2840, N00014-9-1-2119, AFOSR grant FA9550-18-1-0067, DARPA SAIL-ON grant  ... 
arXiv:2007.00820v2 fatcat:6nlz2ns5e5dmjheyqhdwx663fu

Robot Path Planning by Traveling Salesman Problem with Circle Neighborhood: modeling, algorithm, and applications [article]

Arman Nedjatia, Béla Vizvárib
2020 arXiv   pre-print
Among the various real life applications of the problem, this paper concentrates on robot path planning for the laser welding robot, and data collection in a wireless sensor network by unmanned aerial  ...  This study investigates the problem of traveling salesman problem with circular neighborhood (TSPCN). Instead of cities there are circles and each point on circle can be a potential visiting node.  ...  Moreover, instead of a circle, one can consider the neighbors as a cut of the hemisphere, while the complexity of problem is arisen, the accuracy is increased.  ... 
arXiv:2003.06712v1 fatcat:7w7hbuwvfbg77ioteur2s6a73q

Methods of Allocation of Task Teams to the Planned Works

T. Kasprowicz
2019 Archives of Civil Engineering  
The problem is, how to allocate these teams to individual works? To solve the problem of allocation three methods have been developed.  ...  As a criterion of the optimal allocation can be applied: "the minimization of time" or "the minimization of costs" of works execution.  ...  Each described method consists the formulation of the allocation problem that can be solved by using the similar computer program.  ... 
doi:10.2478/ace-2019-0021 fatcat:6lsgg7b7zvg73fajpfle55atlm

Optimization of Measurement Configurations for Geometrical Calibration of Industrial Robot [chapter]

Alexandr Klimchik, Anatol Pashkevich, Yier Wu, Benoît Furet, Stephane Caro
2012 Lecture Notes in Computer Science  
To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design theory, which is adopted for this particular application.  ...  The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing.  ...  The work presented in this paper was partially funded by the ANR, France (Project ANR-2010-SEGI-003-02-COROUSSO).  ... 
doi:10.1007/978-3-642-33509-9_13 fatcat:5diewyp2e5gurgxonflvp7njee

ROBOTIC MOTION PLANNING USING CONVEX OPTIMIZATION METHODS

Thaker Nayl
2019 Iraqi Journal for Computers and Informatics  
Collision avoidance techniques tend to derive the robot away of the obstacles in minimal total travel distance. Most ofthe collision avoidance algorithms have trouble get stuck in a local minimum.  ...  The idea is by considering the obstacles as a convex set of points which represents the obstacle that encloses inminimum volume ellipsoid, also the addition of the necessary offset distance and the modified  ...  In order to solve the collision avoidance problem, making safe motion planning can be achieved by changing the robotic orientation, where predicting a collision is based on different techniques according  ... 
doi:10.25195/ijci.v45i2.49 fatcat:xcxh4jn4h5hcbkm3ztasrexiem

Mobile Parallel Manipulators, Modelling and Data-Driven Motion Planning

Amar Khoukhi, Mutaz Hamdan
2013 International Journal of Advanced Robotic Systems  
The study is conducted on a composed multi-degree of freedom (DOF) parallel robot carried by a wheeled mobile platform.  ...  Both positional and differential kinematics problems for the hybrid structure are solved, and the redundancy problem is solved using joint limit secondary criterionbased generalized-pseudo-inverse.  ...  One problem with this formula is the lack of accuracy of the Euler's method.  ... 
doi:10.5772/56628 fatcat:3clcfzcvbvgirbl4ngjvpt2fre

Guest Editorial Special Issue on the 2018 Workshop on the Algorithmic Foundations of Robotics (WAFR)

Lydia Tapia, Marco Morales, Seth Hutchinson, Gildardo Sanchez-Ante
2021 IEEE Transactions on Automation Science and Engineering  
Similarly, "On the design of minimal robots that can solve planning problems," by Shell et al. considers the hardness of the problem posed by selecting a robot's actuation and sensing hardware to minimize  ...  the cost of a design that is capable of carrying out a plan to complete a task.  ... 
doi:10.1109/tase.2021.3076247 fatcat:xzrl7oovbnad7pssyazkgkrnuu

Planning of Remote Laser Welding Processes

Gábor Erdős, Zsolt Kemény, András Kovács, József Váncza
2013 Procedia CIRP  
We suggest a workflow for the complete planning process, and propose new models and algorithms for solving the sequencing of welding tasks in conjunction with path planning, as well as for generating the  ...  inverse kinematics of the robot.  ...  Acknowledgement This work has been supported by EU FP7 grant RLW Navigator No. 285051 [16] , and the NKTH grant OMFB-01638/2009.  ... 
doi:10.1016/j.procir.2013.05.038 fatcat:sxj6gjp2cnc6lbsaecemfa54x4

Using Adaptive Model Predictive Technique to Control Underactuated Robot and Minimize Energy Consumption

Ahmad Albalasie, Guenther Seliger, Ahmed Abu Hanieh
2016 Procedia CIRP  
This paper presents an adaptive model predictive control scheme to control the underactuated and redundant robot, the robot has highly nonlinear coupling because of the existence of a passive axis.  ...  Adaptive model predictive control provides a framework to solve optimal discrete control problem for a nonlinear system under input saturation and state constraints.  ...  This new type of robot was designed and path planned minimize the energy consumption with high speed capability and high payload ratio.  ... 
doi:10.1016/j.procir.2016.01.080 fatcat:mongkfh3szct7id6jkk6q2qn34

Forthcoming Papers

2005 Artificial Intelligence  
Chen, Constraint partitioning in penalty formulations for solving temporal planning problems In this paper, we study the partitioning of constraints in temporal planning problems formulated as mixed-integer  ...  The algorithm is incremental, that is, it is capable of generating one model at a time.  2005 Published by Elsevier B.V. B.W. Wah, Y.  ...  Chen, Constraint partitioning in penalty formulations for solving temporal planning problems In this paper, we study the partitioning of constraints in temporal planning problems formulated as mixed-integer  ... 
doi:10.1016/j.artint.2005.09.001 fatcat:nzjy6qiuxzgyrd2s3j4rylkuee

Coverage of a Planar Point Set With Multiple Robots Subject to Geometric Constraints

N. Chakraborty, S. Akella, J.T. Wen
2010 IEEE Transactions on Automation Science and Engineering  
The geometric constraints on the motions of the robots lead to constraints on points that can be processed simultaneously.  ...  The points lie on a planar base plate that translates normal to the axis of motion of the robots.  ...  Note that the distance minimization version of the path planning problem is effectively equivalent to the time minimization problem with appropriately chosen velocity profiles since the robot velocities  ... 
doi:10.1109/tase.2008.2010407 fatcat:4kayc6a7srdd7bfs5wlrjcguli

Dynamic Mission Planning for Multiple Mobile Robots [chapter]

Barry Brumitt, Anthony Stentz
1997 Intelligent Unmanned Ground Vehicles  
A preliminary design for a practical solution to a wider class of problems is also discussed.  ...  As knowledge increases or improves, the planning system should dynamically reassign robots to goals in order to continually minimize the time to complete the mission.  ...  Acknowledgments This research was sponsored by ARPA, under contracts "Perception for Outdoor Navigation" (contract number DACA76-89-C-0014, monitored by the US Army Topographic Engineering Center) and  ... 
doi:10.1007/978-1-4615-6325-9_12 fatcat:2mleoeoidrf33fyqkua2m5pzny

Global Coverage Measurement Planning Strategies for Mobile Robots Equipped with a Remote Gas Sensor

Muhammad Arain, Marco Trincavelli, Marcello Cirillo, Erik Schaffernicht, Achim Lilienthal
2015 Sensors  
We propose an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot.  ...  In this paper, we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor.  ...  Decomposing the Problem Solving the problem so that the overall exploration time is minimized is of no practical applicability.  ... 
doi:10.3390/s150306845 pmid:25803707 pmcid:PMC4435115 fatcat:z5joculvq5e5zeecw3itcncxli

SAFARI: Safe and Active Robot Imitation Learning with Imagination [article]

Norman Di Palo, Edward Johns
2020 arXiv   pre-print
One of the main issues in Imitation Learning is the erroneous behavior of an agent when facing out-of-distribution situations, not covered by the set of demonstrations given by the expert.  ...  We empirically demonstrate how this method increases the performance on a set of manipulation tasks with respect to passive Imitation Learning, by gathering more informative demonstrations and by minimizing  ...  In our work, we designed a method that tackles the same problem, but designed to be efficiently trained and safely deployed on real robots, using only supervised data from the expert's demonstration: instead  ... 
arXiv:2011.09586v1 fatcat:gooj2sbtyvhv5pl2qg363xlh3m

Workstation Configuration and Process Planning for RLW Operations

Gábor Erdős, Csaba Kardos, Zsolt Kemény, András Kovács, József Váncza
2014 Procedia CIRP  
The paper presents a hierarchical workflow for workstation configuration and process planning for RLW operations, and proposes methods for solving the decision problems related to each step of this workflow  ...  A software toolbox is introduced that has been developed to facilitate a semi-automatic, mixed-initiative workstation design and to guide the expert user throughout the configuration, planning, programming  ...  Acknowledgment This work has been supported by EU FP7 grant RLW Navigator No. 285051, and the NFÜ grant ED_13-2-2013-0002.  ... 
doi:10.1016/j.procir.2014.01.123 fatcat:mlmpg2rburejpor56vollcqjty
« Previous Showing results 1 — 15 out of 55,675 results