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Energy-recoverable landing strategy for small-scale jumping robots Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-04-09 Chong Hong, Dewei Tang, Qiquan Quan, Zhuoqun Cao, Zongquan Deng
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Semi-autonomous mobile robot coupled to a drone for debris removal from high-voltage power lines Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-04-02 Rogério S. Gonçalves, Frederico C. Souza, Claudio C. Souza, Daniel E.T. Sudbrack, Paulo Victor Trautmann, Bruno C. Clasen, Rafael Z. Homma
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Distributed multi-UAV shield formation based on virtual surface constraints Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-30 María Guinaldo, José Sánchez-Moreno, Salvador Zaragoza, Francisco José Mañas-Álvarez
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A new discrete-time repetitive motion planning scheme based on pseudoinverse formulation for redundant robot manipulators with joint constrains Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-26 Naimeng Cang, Dongsheng Guo, Weidong Zhang, Limin Shen, Weibing Li
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Human–robot pair-bonding from a neuroendocrine perspective: Modeling the effect of oxytocin, arginine vasopressin, and dopamine on the social behavior of an autonomous robot Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-26 Marcos Maroto-Gómez, Martín Bueno-Adrada, María Malfaz, Álvaro Castro-González, Miguel Ángel Salichs
Robots and humans coexist in various social environments. In these contexts, robots predominantly serve as assistants, necessitating communication and understanding capabilities. This paper introduces a biologically inspired model grounded on neuroendocrine substances that facilitate the development of social bonds between robots and individuals. The model simulates the effects of oxytocin, arginine
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Multimodal zero-shot learning for tactile texture recognition Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-24 Guanqun Cao, Jiaqi Jiang, Danushka Bollegala, Min Li, Shan Luo
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Implementation and observability analysis of visual-inertial-wheel odometry with robust initialization and online extrinsic calibration Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-22 Jinxu Liu, Wei Gao, Chuyun Xie, Zhanyi Hu
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Platform and simulator with three degrees of freedom for testing quadcopters Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-21 Júnio Santos Bulhões, Cristiane Lopes Martins, Cristian Hansen, Márcio Rodrigues da Cunha Reis, Alana da Silva Magalhães, Antonio Paulo Coimbra, Wesley Pacheco Calixto
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BiCR-SLAM: A multi-source fusion SLAM system for biped climbing robots in truss environments Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-16 Haifei Zhu, Jianhong Xu, Jingheng Chen, Shilang Chen, Yisheng Guan, Weinan Chen
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An improved adaptive cruise control law Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-15 Marcus P.S. de Abreu, Fúlvia S.S. de Oliveira, Fernando O. Souza
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Adaptive fuzzy-genetic algorithm operators for solving mobile robot scheduling problem in job-shop FMS environment Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-14 Erlianasha Samsuria, Mohd Saiful Azimi Mahmud, Norhaliza Abdul Wahab, Muhammad Zakiyullah Romdlony, Mohamad Shukri Zainal Abidin, Salinda Buyamin
Flexible Manufacturing Systems (FMS) is known as one of the recurring themes that possess these promising characteristics with a synergistic combination of productivity-efficiency transport and flexibility through a number of machine tools alongside other material handling devices. In FMS, mobile robots are commonly deployed in material handling system for the purpose of increasing the efficiency and
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Sequential control barrier functions for mobile robots with dynamic temporal logic specifications Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-11 Ali Tevfik Buyukkocak, Derya Aksaray, Yasin Yazıcıoğlu
We address a motion planning and control problem for mobile robots to satisfy rich, time-varying tasks expressed as Signal Temporal Logic (STL) specifications. The specifications may include tasks with nested temporal operators or time-conflicting requirements (e.g., achieving periodic tasks or tasks defined within the same time interval). Moreover, the tasks can be defined in locations changing with
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Towards field deployment of MAVs in adaptive exploration of GPS-denied subterranean environments Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-06 Akash Patel, Samuel Karlsson, Björn Lindqvist, Jakub Haluska, Christoforos Kanellakis, Ali Agha-mohammadi, George Nikolakopoulos
Exploration and safe navigation in previously unknown GPS-denied obstructed areas are major challenges for autonomous robots when deployed in subterranean environments. In response, this work establishes an Exploration-Planning framework developed for the real-world deployment of Micro Aerial Vehicles (MAVs) in subterranean exploration missions. The fundamental task, for an autonomous MAV to navigate
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Enhancing lane detection with a lightweight collaborative late fusion model Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-05 Lennart Lorenz Freimuth Jahn, Seongjeong Park, Yongseob Lim, Jinung An, Gyeungho Choi
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Wiring connector-terminated cables based on manipulation planning with collision-free EMD net Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-02 Kimitoshi Yamazaki, Kyoto Nozaki, Yuichiro Matsuura, Solvi Arnold
In this paper, we propose a manipulation planning method for cable wiring in the assembly of electric appliances etc. We address a scenario where a robot grasps a connector attached to the end of a cable and has to bring the connector to a socket. To accomplish this automatically, we propose a novel manipulation planning method. The method extends the Encode-Manipulate-Decode network (EMD net), which
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3D human pose estimation based on 2D–3D consistency with synchronized adversarial training Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-02 Yicheng Deng, Cheng Sun, Yongqi Sun, Jiahui Zhu
3D human pose estimation from a single image is still a challenging problem despite the large amount of work that has been performed in this field. Generally, most methods directly use neural networks and ignore certain constraints (, reprojection constraints, joint angle, and bone length constraints). While a few methods consider these constraints but train the network separately, they cannot effectively
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A novel hybrid swarm intelligence algorithm for solving TSP and desired-path-based online obstacle avoidance strategy for AUV Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-01 Yixiao Zhang, Yue Shen, Qi Wang, Chao Song, Ning Dai, Bo He
Aiming at the problem that Ant Colony Optimization (ACO) is subject primarily to the parameters, we propose a hybrid algorithm SOA-ACO-2Opt to optimize the ACO parameter combination through Seagull Optimization Algorithm (SOA) to strengthen ACO’s search capability. To obtain a uniform initial distribution of the ACO parameter combination, we incorporated the Kent Chaos Map (KCM) to randomly initialize
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Object-aware interactive perception for tabletop scene exploration Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-03-01 Cagatay Koc, Sanem Sariel
Recent advancements in sensors and deep learning techniques have improved reliability of robotic perceptual systems, but current systems are not robust enough for real-world challenges such as occlusions and sensing uncertainties in cluttered scenes. To overcome these issues, active or interactive perception actions are often necessary, such as sensor repositioning or object manipulation to reveal
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Direct trajectory optimization of macro-micro robotic system using a Gauss pseudospectral framework Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-29 Yaohua Zhou, Chin-Yin Chen, Guilin Yang, Chi Zhang
Trajectory planning is a crucial aspect of macro-micro robotic systems (MMRSs), especially when the system has high degrees of freedom (DOFs). In the field of robotic polishing, the MMRS is usually composed of an industrial robot and an end-effector, which is responsible for polishing force control. Therefore, the compliance of the macro-robot can be minimized by trajectory planning to reduce its impact
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A fast and stable GNSS-LiDAR-inertial state estimator from coarse to fine by iterated error-state Kalman filter Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-28 Jixin Gao, Jianjun Sha, Yanheng Wang, Xiangwei Wang, Cong Tan
Simultaneous localization and mapping (SLAM) aims to solve the problems of robot localization and mapping in unknown environments. Recent related research usually uses closed-loop correction or integrate GNSS (Global Navigation Satellite System) into the optimization framework to ensure the long-term system accuracy and stability at the cost of huge computational resources. To balance efficiency and
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Lie-group modeling and simulation of a spherical robot, actuated by a yoke–pendulum system, rolling over a flat surface without slipping Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-23 Simone Fiori
The present paper aims at introducing a mathematical model of a spherical robot expressed in the language of Lie-group theory. Since the main component of motion is rotational, the space of three-dimensional rotations plays a prominent role in its formulation. Because of friction to the ground, rotation of the external shell results in translational motion. Rolling without slipping implies a constraint
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Feature Aware Re-weighting (FAR) in Bird’s Eye View for LiDAR-based 3D object detection in autonomous driving applications Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-21 Georgios Zamanakos, Lazaros Tsochatzidis, Angelos Amanatiadis, Ioannis Pratikakis
3D object detection is a key element for the perception of autonomous vehicles. LiDAR sensors are commonly used to perceive the surrounding area, producing a sparse representation of the scene in the form of a point cloud. The current trend is to use deep learning neural network architectures that predict 3D bounding boxes. The vast majority of architectures process the LiDAR point cloud directly but
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Design and stabilization of a Coandă effect-based UAV: Comparative study between fuzzy logic and PID control approaches Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-18 Tomás de J. Mateo Sanguino, José M. Lozano Domínguez
Recent years have experienced a notable surge in unmanned aerial vehicles (UAV) research, prompting exploration into innovative concepts. This paper introduces a compact UAV harnessing the Coandă effect, an underexplored phenomenon in fluid mechanics. Featuring a single lift motor and two types of flaps, this UAV offers exceptional maneuverability, presenting significant challenges compared to conventional
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Modeling, design and control of a 4-arm delta parallel manipulator employing type-1 and interval type-2 fuzzy logic-based techniques for precision applications Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-15 Claudio Urrea, Carlos Domínguez, John Kern
This paper presents the virtual design of a four-arm Delta parallel robot for potential applications in the food industry, specifically for the automated preparation of fast foods. Kinematic and dynamic models were developed based on the morphology of this type of robot. Cutting-edge and previously unexplored control strategies for these types of manipulators are then designed and implemented based
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Soft robot fast simulation via reduced order extended position based dynamics Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-14 Haijun Peng, Na Li, Dianheng Jiang, Fei Li
Simulating a soft robot model is challenging because of large deformations and lots of degrees of freedom. In this study, a novel fast simulation framework for soft robots is created using reduced order extended position-based dynamics technique. This framework is helpful for configuration design and motion verification. The soft robot model is built using strain constraints, and the reduced order
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A new approach to smooth path planning of Ackerman mobile robot based on improved ACO algorithm and B-spline curve Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-14 Fengcai Huo, Shuai Zhu, Hongli Dong, Weijian Ren
In this paper, a new approach is proposed for the smooth path planning of Ackermann mobile robots based on an improved ant colony algorithm and B-spline curves. Firstly, by incorporating path length constraints and path smoothing constraints into the objective function, the smooth path planning problem for Ackermann mobile robots is transformed into a multi-objective optimization problem. Secondly
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DynaTM-SLAM: Fast filtering of dynamic feature points and object-based localization in dynamic indoor environments Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-09 Meiling Zhong, Chuyuan Hong, Zhaoqian Jia, Chunyu Wang, Zhiguo Wang
Numerous advanced simultaneous localization and mapping (SLAM) algorithms have been developed due to the scientific and technological advancements. However, their practical applicability in complex real-world scenarios is severely limited by the assumption that objects are stationary. Improving the accuracy and robustness of SLAM algorithms in dynamic environments is therefore of paramount importance
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A Reinforcement Learning Approach to Find Optimal Propulsion Strategy for Microrobots Swimming at Low Reynolds Number Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-08 Iman Jebellat, Ehsan Jebellat, Alireza Amiri-Margavi, Amin Vahidi-Moghaddam, Hossein Nejat Pishkenari
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Special issue on the 17th International Conference on Intelligent Autonomous Systems (IAS-17) Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-08 Ivan Marković, Ivan Petrović, Stefano Ghidoni
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MARLIN: A cloud integrated robotic solution to support intralogistics in retail Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-07 Dennis Mronga, Andreas Bresser, Fabias Maas genannt Bermpohl, Adrian Danzglock, Simon Stelter, Alina Hawkin, Hoang Giang Nguyen, Michael Beetz, Frank Kirchner
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An overview of transfer nursing robot: Classification, key technology, and trend Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-07 Gong Cheng, Yanjiang Huang, Xianmin Zhang, Haoyang Chen, Jun Ota
The transfer nursing robot plays a vital role in facilitating the movement of elderly individuals or patients who are unable to walk, aiding in transfers between beds, wheelchairs, and operating tables, among others. Given the current societal challenges posed by an aging population and a shortage of caregivers, transfer nursing robots have gained significant attention. This paper provides a comprehensive
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Spherical rolling robots—Design, modeling, and control: A systematic literature review Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-07 Aminata Diouf, Bruno Belzile, Maarouf Saad, David St-Onge
Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc. In addition, a wide spectrum of control strategies has been proposed, ranging from traditional PID approaches to cutting-edge neural networks. Our systematic review
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Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-07 Giancarlo D’Ago, Mario Selvaggio, Alejandro Suarez, Francisco Javier Gañán, Luca Rosario Buonocore, Mario Di Castro, Vincenzo Lippiello, Anibal Ollero, Fabio Ruggiero
This paper proposes rigid-body modelling and identification procedures for long-reach dual-arm manipulators in a cable-suspended pendulum configuration. The proposed model relies on a virtually constrained open kinematic chain and lends itself to be simulated through the most commonly used robotic simulators without explicitly account for the cables constraints and flexibility. Moreover, a dynamic
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Robotic co-manipulation of deformable linear objects for large deformation tasks Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-05 Karam Almaghout, Andrea Cherubini, Alexandr Klimchik
This research addresses the challenge of large/complex deformation in the shape control tasks of Deformable Linear Objects (DLO). We propose a collaborative approach using two manipulators to achieve shape control of a DLO in 2D workspace. The proposed methodology introduces an innovative Intermediary Shapes Generation (ISG) algorithm which outputs a series of intermediary shapes to guide the DLO towards
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A survey on Velocity Obstacle paradigm Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-05 Federico Vesentini, Riccardo Muradore, Paolo Fiorini
Collision avoidance for multi-agent systems in dynamic and possibly crowded environment is a field of research whose popularity has increased during the last three decades. The approaches to solve the problem belong to two categories according to where the computation is done: centralized and decentralized (i.e. at the agent level). The principal decentralized collision avoidance methods currently
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Informed sampling space driven robot informative path planning Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-03 Pradeep Chintam, Tingjun Lei, Batuhan Osmanoglu, Ying Wang, Chaomin Luo
Path planning is an important primitive in robotics. In this paper, a new Informed Sampling Space (ISS) driven Informative Path Planning (IPP) approach is developed to facilitate autonomous robots to navigate and explore unknown and hazardous environments for in-situ resource utilization efficiently. The developed ISS-driven IPP approach is targeted on multi-objective optimization enabling the robot
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Reactive navigation of nonholonomic robots for search and tight circumnavigation of group objects through singular inter-object gaps Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-03 V.A. Chernov, A.S. Matveev
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. In its local frame, the robot has sensorial access only to the part of the scene that is within a finite zone of visibility and in direct line of sight. It is required to approach and then circumnavigate the objects, with maintaining
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Software engineering for robotics Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-02 Ana Cavalcanti, Alvaro Miyazawa, Jon Timmis
Abstract not available
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Optimizing the performance of a wheeled mobile robots for use in agriculture using a linear-quadratic regulator Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-02 Sairoel Amertet, Girma Gebresenbet, Hassan Mohammed Alwan
Use of wheeled mobile robot systems could be crucial in addressing some of the future issues facing agriculture. However, robot systems on wheels are currently unstable and require a control mechanism to increase stability, resulting in much research requirement to develop an appropriate controller algorithm for wheeled mobile robot systems. Proportional, integral, derivative (PID) controllers are
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A hybrid technique linked FOPID for a nonlinear system based on closed-loop settling time of plant Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-02 Athira Sivanandhan, Aneesh V
Wind and hydroelectric systems are more cost-effective and environmentally beneficial. A hybrid technique is proposed for the fractional-order proportional-integral-derivative (FOPID) controller to regulate the wind and hydro system. The proposed hybrid technique combines the feedback-artificial-tree (FAT), and atomic-orbital-search (AOS); together known as FAT-AOS approach. The proposed technique
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Planning and control of multi-robot-object systems under temporal logic tasks and uncertain dynamics Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-02 Christos K. Verginis, Yiannis Kantaros, Dimos V. Dimarogonas
We develop an algorithm for the motion and task planning of a system composed of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain dynamics in an obstacle-cluttered environment. The key part of the proposed solution is the intelligent construction of a coupled transition system that encodes the
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Enhancing recycling efficiency: A rapid glass bottle sorting gripper Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-02 HyoJae Kang, SeongTaek Im, JeongYong Jo, Min-Sung Kang
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JPMDP: Joint base placement and multi-configuration path planning for 3D surface disinfection with a UV-C robotic system Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-02-02 Chenyu Zhang, Haohao Qin, Shiying Sun, Yi Pan, Kuan Liu, Tao Li, Xiaoguang Zhao
To effectively mitigate the spread of epidemics, disinfection robots are increasingly utilized for automatic disinfection. However, tradition robots and disinfection methods cannot ensure controllable disinfection coverage, potentially causing damage to sensitive surfaces and humans. In this paper, we introduce a novel Ultraviolet-C disinfection robot system built on the mobile manipulator structure
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Object and relation centric representations for push effect prediction Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-17 Ahmet E. Tekden, Aykut Erdem, Erkut Erdem, Tamim Asfour, Emre Ugur
Pushing is an essential non-prehensile manipulation skill used for tasks ranging from pre-grasp manipulation to scene rearrangement, reasoning about object relations in the scene, and thus pushing actions have been widely studied in robotics. The effective use of pushing actions often requires an understanding of the dynamics of the manipulated objects and adaptation to the discrepancies between prediction
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A Collision-free path planning approach based on rule guided lazy-PRM with repulsion field for gantry welding robots Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-17 Xin Zhou, Xuewu Wang, Zuhong Xie, Jin Gao, Fang Li, Xingsheng Gu
In shipbuilding, various complex welding workpieces and large flexible workspaces bring great challenges to the automated intelligent welding system. In order to maintain the efficiency of primary assembling under a dual-manipulator welding gantry system, a rule-based lazy Probabilistic Roadmap Method (PRM) with a repulsion field is proposed to realize the collision-free online path planning system
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Lifelong ensemble learning based on multiple representations for few-shot object recognition Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-15 Hamidreza Kasaei, Songsong Xiong
Service robots are increasingly integrating into our daily lives to help us with various tasks. In such environments, robots frequently face new objects while working in the environment and need to learn them in an open-ended fashion. Furthermore, such robots must be able to recognize a wide range of object categories. In this paper, we present a lifelong ensemble learning approach based on multiple
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Path planning algorithms in the autonomous driving system: A comprehensive review Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-12 Mohamed Reda, Ahmed Onsy, Ali Ghanbari, Amira Y. Haikal
This comprehensive review focuses on the Autonomous Driving System (ADS), which aims to reduce human errors that are the reason for about 95% of car accidents. The ADS consists of six stages: sensors, perception, localization, assessment, path planning, and control. We explain the main state-of-the-art techniques used in each stage, analyzing 275 papers, with 162 specifically on path planning due to
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RevAP: A bankruptcy-based algorithm to solve the multi-agent credit assignment problem in task start threshold-based multi-agent systems Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-12 Hossein Yarahmadi, Mohammad Ebrahim Shiri, Hamidreza Navidi, Arash Sharifi, Moharram Challenger
Multi-Agent Systems (MASs) are the prominent symbol of Distributed Artificial Intelligence (DAI). Learning in MAS, which is commonly based on Reinforcement Learning (RL), is one of the problems that play an essential role in unknown environments. In this study aimed at solving the Multi-agent Credit Assignment (MCA) problem, we introduce the Task Start Threshold (TST) of agents as a new constraint
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Modelling of Modular Soft Robots: From a Single to Multiple Building Blocks Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-11 Mohamed G.B. Atia, Abdelkhalick Mohammad, Andres Gameros, Dragos Axinte, Iain Wright
Despite the advances in soft robots, their modelling is still one of the research challenges due to the complexity and non-linearity of their soft nature. A novel design of reconfigurable soft robots was recently introduced to bring more maturity to the field of soft robots. Here, a modelling study of the building blocks and the assembled soft robot is developed for a deeper understanding of the system
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iCORPP: Interleaved commonsense reasoning and probabilistic planning on robots Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-10 Shiqi Zhang, Piyush Khandelwal, Peter Stone
Robot sequential decision-making in the real world is a challenge because it requires the robots to simultaneously reason about the current world state and dynamics, while planning actions to accomplish complex tasks. On the one hand, declarative languages and reasoning algorithms support representing and reasoning with commonsense knowledge. But these algorithms are not good at planning actions toward
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Comparing metrics for evaluating 3D map quality in natural environments Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-04 Stéphanie Aravecchia, Marianne Clausel, Cédric Pradalier
In this study, we focus on addressing the challenge of measuring the 3D-map quality in natural environments. Specifically, we consider scenarios where the map is built using a robot’s 3D-Lidar point cloud observations, with potential uncertainty in the robot localization. When considering a natural environment, such as a park or a forest, unstructured by nature, another difficulty arises: the data
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Extremum seeking control for the trajectory tracking of a skid steering vehicle via averaged sub-gradient integral sliding-mode theory Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-05 A. Hernandez Sanchez, A. Poznyak, I. Chairez
This study introduces the development of a novel extremum-seeking controller designed to stabilize the tracking trajectory of a fully actuated four-wheeled skid steering vehicle. The controller design employs a class of averaged sub-gradient optimization strategies for a suitable convex function that depends on the enforced tracking trajectory achieved through an integral sliding mode implementation
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Defense against smart invaders with swarms of sweeping agents Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-05 Roee M. Francos, Alfred M. Bruckstein
The goal of this research is to devise guaranteed defense policies that allow to protect a given region from the entrance of smart mobile invaders by detecting them using a team of defending agents equipped with identical line sensors. By designing cooperative defense strategies that ensure all invaders are detected, conditions on the defenders’ speed are derived. Successful accomplishment of the defense
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Multitask control of aerial manipulator robots with dynamic compensation based on numerical methods Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-05 Christian P. Carvajal, Gabriela M. Andaluz, Víctor H. Andaluz, Flavio Roberti, Guillermo Palacios-Navarro, Ricardo Carelli
This paper presents a control scheme for aerial manipulators which allows to solve different motion problems: end-effector position control, end-effector trajectory tracking control and path-following control. The scheme has two cascaded controllers: i) the first controller is a minimum norm controller based on numerical methods, it solves the three motion control problems just by modifying the controller
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Path tracking of varying-velocity 4WS autonomous vehicles under tire force friction ellipse constraints Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-05 Mingxing Li, Yingmin Jia, Tongtong Lei
In this paper, a control scheme is presented to solve the problem of path tracking for varying-velocity autonomous vehicles with higher robust performance while friction force constraints of vehicle tires and ground are considered to avoid appearing the steering lost situation actively in the limit of the tire friction forces by using four wheel steering. To achieve these goals, a new expression of
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A heterogeneous attention fusion mechanism for the cross-environment scene classification of the home service robot Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-04 Bo Zhu, Ximing Fan, Xiang Gao, Guozheng Xu, Junzhe Xie
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Adaptation of Hand Exoskeletons for Occupational Augmentation: A Literature Review Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-02 Nicholas Wu, Sheng Quan Xie
Limited research has been conducted on hand exoskeletons for an augmentative role. Hand and wrist exoskeletons for therapeutic purposes, however, are widely researched featuring existing technologies which can be adapted for occupational augmentation. This paper presents a literature review of upper-body exoskeleton systems researched within the past five years with a focus on the systematic comparison
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A review of perception sensors, techniques, and hardware architectures for autonomous low-altitude UAVs in non-cooperative local obstacle avoidance Rob. Auton. Syst. (IF 4.3) Pub Date : 2024-01-03 Muhammad Zohaib Butt, Nazri Nasir, Rozeha Bt A. Rashid
Unmanned Aerial Vehicles (UAVs) can detect and communicate with cooperative obstacles through established protocols. However, non-cooperative obstacles pose a significant threat to UAVs during low-flight operations. These obstacles include static obstacles like buildings, trees, or communication towers and dynamic objects like other UAVs. The application of autonomous UAVs in low-altitude surveillance