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ROBOT 2019 : Fourth Iberian Robotics Conference : Advances in Robotics, Porto, Portugal, November 20th-22nd, 2019. Volume 2 / / editors, Manuel F. Silva [et al.]
| ROBOT 2019 : Fourth Iberian Robotics Conference : Advances in Robotics, Porto, Portugal, November 20th-22nd, 2019. Volume 2 / / editors, Manuel F. Silva [et al.] |
| Edizione | [1st edition 2020.] |
| Pubbl/distr/stampa | Cham : , : Springer International Publishing : , : Imprint : Springer, , 2020 |
| Descrizione fisica | 1 online resource (XXII, 695 pages 407 illustrations, 303 illustrations in color.) |
| Disciplina | 629.892 |
| Collana | Advances in Intelligent Systems and Computing |
| Soggetto topico |
Robotics
Automation Computational intelligence |
| ISBN | 3-030-36150-0 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Generalized Camera Array Model for Standard Plenoptic Cameras -- Evaluation of SLAM Algorithms for Highly Dynamic Environments -- An Aerial Robot Path Follower based on the 'Carrot chasing' Algorithm -- Low Cost Binaural System Based on the Echolocation -- Mind Perception of a Sociable Humanoid Robot: A Comparison Between Elderly and Young Adults -- A Manipulation Control Strategy for Granular Materials based on a Gaussian Mixture Model -- Object Classification for Robotic Platforms -- A Novel Model for Emotion Detection from Facial Muscles Activity -- A bio-Inspired Approach for Robot Swarm in Smart Factories -- Machine Learning Methods for Radar-based People Detection and Tracking by Mobile Robots -- Estimation of Human Forearm with Underactuated Grippers using Proprioceptive Feedback -- Integration of the Alexa Assistant as a Voice Interface for Robotics Platforms -- Design of a Robotic as a Service Platform to Perform Rehabilitation Therapies. |
| Record Nr. | UNINA-9910484462003321 |
| Cham : , : Springer International Publishing : , : Imprint : Springer, , 2020 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Robot 2019 : Fourth Iberian Robotics Conference, Porto, Portugal, November 20-22, 2019 : Advances in Robotics. Volume 1 / / editors, Manuel F. Silva [et al.]
| Robot 2019 : Fourth Iberian Robotics Conference, Porto, Portugal, November 20-22, 2019 : Advances in Robotics. Volume 1 / / editors, Manuel F. Silva [et al.] |
| Edizione | [1st edition 2020.] |
| Pubbl/distr/stampa | Cham : , : Springer International Publishing : , : Imprint : Springer, , 2020 |
| Descrizione fisica | 1 online resource (695 pages) |
| Disciplina | 629.892 |
| Collana | Advances in Intelligent Systems and Computing |
| Soggetto topico | Robotics |
| ISBN | 3-030-35990-5 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto | Design Optimization of a Ducted-Drone to Perform Inspection Operations -- Positioning System for Pipe Inspection with Aerial Robots Using Time of Flight Sensors -- Online Detection and Tracking of Pipes during UAV Flight in Industrial Environments -- Autonomous Drone-Based Powerline Insulator Inspection Via Deep Learning -- Development of A Semi-Autonomous Aerial Vehicle for Sewarage Inspection -- Cleaning Robot for Free Stall Dairy Barns: Sequential Control for Cleaning And Littering of Cubicles -- An Autonomous Guided Field Inspection Vehicle for 3D Woody Crops Monitoring -- Joint Instance Segmentation of Obstacles and Lanes Using Convolutional Neural Networks -- Acoustic Detection of Tagged Angelsharks from an Autonomous Sailboat -- Spherical Fully Covered UAV with Autonomous Indoor Localization -- Knowledge and Capabilities Representation for Visually Guided Robotic Bin Picking -- Web Based Robotic Simulator for Tactode Tangible Block Programming System -- Development of an Autonomous Mobile Towing Vehicle for Logistic Tasks. |
| Record Nr. | UNINA-9910483413003321 |
| Cham : , : Springer International Publishing : , : Imprint : Springer, , 2020 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
ROBOT2022: fifth Iberian robotics conference . Volume 2, : advances in robotics / / editors : Danilo Tardioli [and four others]
| ROBOT2022: fifth Iberian robotics conference . Volume 2, : advances in robotics / / editors : Danilo Tardioli [and four others] |
| Pubbl/distr/stampa | Cham, Switzerland : , : Springer, , [2023] |
| Descrizione fisica | 1 online resource (634 pages) |
| Collana | Lecture notes in networks and systems |
| Soggetto topico | Robotics |
| ISBN | 3-031-21062-X |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Intro -- Preface -- Organization -- Local Organizing Committee -- Program Committee Manager -- Publicity Chairs -- Program Committee -- Additional Reviewers -- Contents -- Intelligent Robotics -- Deep Learning for Victims Detection from Virtual and Real Search and Rescue Environments -- 1 Introduction -- 2 Materials and Methods -- 2.1 Materials -- 2.2 Reconstructed Environments -- 2.3 Convolutional Neural Network -- 3 Experiments and Results -- 3.1 Trained CNN Metrics -- 3.2 Cross Evaluation of Models for Victim Detection -- 4 Conclusions -- References -- Full-stack S-DOVS: Autonomous Navigation in Complete Real-World Dynamic Scenarios -- 1 Introduction -- 2 Background -- 2.1 Related Work -- 2.2 Dynamic Object Velocity Space (DOVS) -- 2.3 Contribution -- 3 Approach -- 3.1 Decentralization and ROS -- 3.2 Localization -- 3.3 Global Planner -- 3.4 Obstacle Tracker -- 3.5 Modifications in S-DOVS -- 4 Experimental Results -- 4.1 Simulation Experiments -- 4.2 Real-world Experiments -- 5 Conclusion -- References -- Artificial Stupidity in Robotics: Something Unwanted or Somehow Useful? -- 1 Introduction -- 2 Artificial Stupidity in Robotics -- 2.1 AS by Accident -- 2.2 AS by Design -- 3 Definition of the Problem -- 4 Analysis of Methods -- 5 Conclusions -- References -- Machine Learning in Robotics -- Hand Gestures Recognition for an Intelligent Wheelchair Steering Command -- 1 Introduction -- 2 State of the Art -- 2.1 Hand Gestures -- 2.2 Leap Motion -- 3 Methodology -- 3.1 Data Set Description -- 3.2 Data Division -- 3.3 Feature Extraction -- 3.4 Feature Selection and Dimensionality Reduction -- 3.5 Classification -- 3.6 Application -- 4 Results and Discussion -- 4.1 Data Set -- 4.2 Real Time Application -- 5 Conclusion -- References -- Object Segmentation for Bin Picking Using Deep Learning -- 1 Introduction -- 2 Related Work.
3 Deep Learning Training -- 3.1 Dataset Generation -- 4 Proposed Bin Picking System -- 4.1 2D Object Detection -- 4.2 3D Point Cloud Segmentation -- 4.3 Pose Estimation and Grasping -- 5 System Tests and Evaluation -- 5.1 Object Detection and Segmentation Efficiency and Performance -- 6 Discussion and Future Work -- References -- Robot Navigation Anticipative Strategies in Deep Reinforcement Motion Planning -- 1 Introduction -- 2 Related Work -- 2.1 AutoRL for Robot Navigation -- 2.2 Hybrid Policy with SFM -- 2.3 Anticipative Planning -- 3 Anticipative Models -- 3.1 Problem Formulation -- 3.2 Anticipative Turn (AT) -- 3.3 Anticipative Robot and Pedestrian's Propagation (ARP) -- 3.4 Anticipative Pedestrian's Propagation (APP) -- 4 Simulations and Experiments -- 4.1 Metrics -- 4.2 Simulation Results -- 4.3 Real-Life Experiments -- 4.4 Implementation Details -- 5 Conclusions -- References -- An Inductive Logic Programming Approach for Entangled Tube Modeling in Bin Picking -- 1 Introduction -- 2 Literature Review -- 2.1 Pose and Shape Estimation in Bin Picking -- 2.2 Inductive Logic Programming with 3D Data -- 3 Dataset Generation -- 4 Learning Theories Using Inductive Logic Programming -- 5 Results -- 6 Conclusions -- References -- Mobile Robot Olfaction -- Aerial Robot with Electronic Nose for Air Quality Monitoring -- 1 Introduction -- 2 Material and Methods -- 2.1 UAV and E-Nose Integration -- 2.2 Data Processing -- 2.3 Experimental Setup -- 3 Results and Discussion -- 3.1 Calibration -- 3.2 Field Test -- 4 Conclusions -- References -- Simulating a Gas Source Localization Algorithm with Gas Dispersion Produced by Recorded Outdoor Wind -- 1 Introduction -- 2 Gas Dispersion Simulator Using Outdoor Wind -- 3 Simulated GSL Algorithm -- 4 Tested Modification and Simulation Setup -- 5 Simulation Result and Discussion -- 6 Conclusion -- References. Potential Field Based Swarm Exploration of Processes Governed by Partial Differential Equations -- 1 Introduction -- 2 Fundamentals -- 2.1 Process Model -- 2.2 Probabilistic Framework -- 2.3 Artificial Potential Fields for Multi-robot Control -- 3 Process Mapping via Potential Field Navigation -- 4 Simulation Trials -- 5 Experimental Evaluation -- 6 Conclusion -- References -- Consensus-Based Distributed Source Term Estimation with Particle Filter and Gaussian Mixture Model -- 1 Introduction -- 2 Problem Formulation -- 3 Main Results -- 3.1 Local Particle Filtering -- 3.2 Kullback-Leibler Average -- 3.3 GMM-Based Approximation of PDF -- 4 Case Study -- 5 Conclusion -- References -- Evolving Swarm Formations for Odour Source Localisation -- 1 Introduction -- 2 Evolution of Swarm Formations -- 3 Experimental Setup -- 3.1 Baseline Formations -- 3.2 Formation Leader Controller -- 3.3 Genetic Algorithm -- 3.4 Evaluation Environment -- 4 Experimental Results -- 5 Conclusions and Future Work -- References -- Evaluating Cognitive Odour Source Localisation Strategies in Natural Water Streams -- 1 Introduction -- 2 Information-Theoretic Framework for Odour Source Localisation -- 2.1 Dispersion Model -- 2.2 Inference -- 2.3 Decision Making -- 3 Testing Environment -- 3.1 Evaluation Metrics -- 4 Experimental Results -- 5 Conclusions -- References -- GadenTools: A Toolkit for Testing and Simulating Robotic Olfaction Tasks with Jupyter Notebook Support -- 1 Introduction -- 2 On the Importance of Gas Dispersion Simulators and Datasets -- 3 Technologies Employed -- 3.1 Python -- 3.2 Jupyter Notebooks -- 4 GadenTools -- 4.1 The Python Module -- 4.2 The Notebook Tutorial -- 5 Conclusions -- References -- Learning from the Past: Sequential Deep Learning for Gas Distribution Mapping -- 1 Introduction -- 2 Related Work -- 3 Methodology -- 3.1 Data Generation. 3.2 Preparation of Data Sets -- 3.3 Neural Network Architectures -- 3.4 Model Implementation and Training -- 4 Results -- 5 Discussion -- 6 Conclusion and Outlook -- References -- A Novel Odor Source Localization Method via a Deep Neural Network-Based Odor Compass -- 1 Introduction -- 2 Related Works -- 3 System Design -- 3.1 Overall Structure -- 3.2 Hardware Platform -- 4 DNN-Based Odor Compass Model -- 4.1 Model Design -- 4.2 Data Collection -- 4.3 Training and Validation Test -- 5 OSL Strategy and Experiment -- 5.1 OSL Strategy -- 5.2 OSL Experiment -- 6 Conclusion -- References -- Multi-robot for Industrial Applications -- Modeling and Simulation of a Crossdocking System with an Integrated AS/RS -- 1 Introduction -- 2 Policies and Concepts -- 2.1 Crossdocking -- 2.2 Automated Storage and Retrieval Systems -- 3 Crossdocking System and Model Architecture -- 3.1 Crossdocking System Architecture -- 3.2 Automated Warehouse (AS/RS) Architecture -- 4 Modelling Software and Model Development -- 4.1 Implementation of the CS System -- 4.2 Implementation of the AS/RS -- 5 Activity Scenarios and Results Obtained -- 5.1 Simulated Scenarios -- 5.2 Analysis of the Results -- 6 Conclusions and Future Developments -- References -- A Novel Algorithm for Maximization of the Secondary-Task Function for Redundant Serial Manipulators -- 1 Introduction -- 2 Problem Overview -- 2.1 Proposed Algorithm -- 3 Experimental Scenario -- 4 Results and Analysis -- 5 Conclusions -- References -- Multi-robot Coordination for a Heterogeneous Fleet of Robots -- 1 Introduction -- 2 Related Works -- 3 Path Planning -- 3.1 Time Enhanced A* (TEA*) -- 3.2 Robot Priority Swapping -- 3.3 Moving Idle Robots -- 4 System Implementation -- 4.1 Graph -- 4.2 Graph Decomposition -- 4.3 Supervision -- 5 Results and Discussion -- 6 Conclusions and Future Work -- References. Rehabilitation and Assistive Robotics -- A Neuromechanical Model of Knee Flexion-Extension Based on Linear Regressors for Neuro-Controlled Exoskeletons -- 1 Introduction -- 2 Methods -- 2.1 Experimental Setup -- 2.2 EMG and Kinematic Recordings -- 2.3 Neuromechanical Model -- 3 Results and Validation -- 4 Discussion -- 5 Conclusion and Future Work -- References -- A Preliminary Approach to a Wheelchair with Embedded Exoskeleton Capabilities -- 1 Introduction -- 2 State of the Art -- 3 Design Trade-Off -- 4 Proposed Architecture -- 4.1 Identification of Modules and Determination of the Degrees of Freedom (DoF) to Implement in the Wheelchair -- 4.2 Definition of the Kinematic Pairs and Actuators for the Modular Chain -- 5 Simulation Features -- 5.1 Working Environment -- 5.2 Model Characterization -- 6 Conclusions and Future Work -- References -- Machine Learning and Inertial Sensors to Estimate Vertical Ground Reaction Force During Gait -- 1 Introduction -- 2 Materials and Methods -- 2.1 Lower Limb Joint Measurement -- 2.2 Experimental Setup and Acquired Data -- 2.3 Experimental Protocol -- 2.4 Machine Learning Models Training -- 2.5 Evaluation of Model Performance -- 3 Results -- 4 Discussion -- 5 Conclusion and Future Work -- References -- Intelligent Wheelchairs Rolling in Pairs Using Reinforcement Learning -- 1 Introduction -- 2 Related Work -- 3 Methods and Materials -- 3.1 Simulated Environment -- 3.2 Training the Intelligent Wheelchairs -- 3.3 Space and Actions -- 3.4 Reward System -- 4 Results -- 4.1 Metrics Using only the Leader Chair -- 4.2 Metrics Using Two Chairs -- 5 Discussion -- 6 Conclusions and Future Work -- References -- Influence of Session Duration in Robot-Assisted Neurorehabilitation Therapies: A Pilot Study with Patients -- 1 Introduction -- 2 Materials and Methods -- 2.1 Subjects -- 2.2 Experimental Setup. 2.3 Arm Rehabilitation Robot. |
| Record Nr. | UNINA-9910631084703321 |
| Cham, Switzerland : , : Springer, , [2023] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
ROBOT2022: fifth Iberian robotics conference . Volume 1, : advances in robotics / / Danilo Tardioli [and four others], editors
| ROBOT2022: fifth Iberian robotics conference . Volume 1, : advances in robotics / / Danilo Tardioli [and four others], editors |
| Pubbl/distr/stampa | Cham, Switzerland : , : Springer, , [2023] |
| Descrizione fisica | 1 online resource (616 pages) |
| Disciplina | 629.892 |
| Collana | Lecture notes in networks and systems |
| Soggetto topico | Robotics |
| ISBN | 3-031-21065-4 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
Intro -- Preface -- Organization -- Local Organizing Committee -- Program Committee Manager -- Publicity Chairs -- Program Committee -- Additional Reviewers -- Contents -- ROBOT2022 General Track -- Obtaining 3D Dense Thermal Models of Interiors of Buildings Using Mobile Robots -- 1 Introduction: Thermal Point Clouds of Buildings -- 2 General Methodology -- 3 Planning and Data Acquisition -- 3.1 Thermal Point Clouds -- 3.2 Data Acquisition Routine -- 4 Data Processing -- 5 Experimentation -- 5.1 MoPAD2 Platform -- 5.2 Navigation and Data Acquisition Planning -- 5.3 Case Study -- 6 Conclusions -- References -- Data Association Tools for Target Identification in Distributed Multi-target Tracking Systems -- 1 Introduction -- 2 Related Work -- 2.1 Event-Triggered Systems -- 2.2 Data Association in Multi-target Tracking Systems -- 3 Data Association Tools -- 3.1 Event-Triggered Communication Mechanism -- 3.2 Gallery Construction -- 4 Integration in a Multi-camera Distributed Tracking System -- 4.1 Target Model -- 4.2 Measurements -- 4.3 Metrics -- 5 Experiments -- 5.1 Experimental Setup -- 5.2 Ablation Study -- 5.3 Tracking in the Wild -- 6 Conclusions -- References -- Classification of Humans Social Relations Within Urban Areas -- 1 Introduction -- 2 Related Work -- 3 Classification of Humans' Relationship -- 3.1 Database Description -- 3.2 Neural Networks (NN) -- 3.3 Recurrent Neural Network (RNN) -- 4 Results -- 4.1 Results of NNs Models -- 4.2 Results of RNNs Models -- 4.3 Results Analysis -- 4.4 Sighting Extracted From the Implementation of the Methods -- 4.5 Classification into Two Categories -- 4.6 Comparison With State-of-Art-method -- 5 Discussion of Contributions for HRI and Its Applicability -- 6 Conclusions -- References -- Tree Trunks Cross-Platform Detection Using Deep Learning Strategies for Forestry Operations -- 1 Introduction.
2 Deep Learning-Based Object Detection Methods -- 3 Materials and Methods -- 3.1 Footage Forests and Image Acquisition Methodologies -- 3.2 Dataset Annotation and Augmentation -- 3.3 Object Detection Models Configuration, Training and Conversion -- 3.4 Trunk Detection Evaluation -- 4 Results and Discussion -- 5 Conclusions and Future Work -- References -- Design and Evaluation of a Passive Gripper for Remote Manipulation Tasks -- 1 Introduction -- 2 Modelling of the Passive Gripper -- 2.1 Design Considerations -- 2.2 Degrees of Freedom Analysis -- 2.3 Kinematic Model -- 2.4 Dynamic Analysis -- 3 Simulations and Performance of the Designed Gripper -- 3.1 Modelling -- 3.2 Simulation of the Gripper -- 4 Experimental Trials -- 4.1 Mock-Up for Experiments -- 4.2 Experimental Results -- 5 Conclusion -- References -- Limit Characterization for Visual Place Recognition in Underwater Scenes -- 1 Introduction -- 2 Related Works -- 3 Visual Place Recognition -- 4 Experimental Results -- 4.1 Stonefish Simulator -- 4.2 Loop Closure Detection -- 5 Conclusions -- References -- Design, Development and Validation of a Ground Control Station for Aerial Manipulators -- 1 Introduction -- 2 Features of the Ground Control Station -- 3 Implementation of the Ground Control Station -- 3.1 Threads -- 3.2 Communications -- 4 System for the Experimental Validation -- 4.1 Aerial Manipulator -- 4.2 Manipulator for the Slave Mode -- 5 Experiments -- 5.1 Mission Using Waypoints -- 5.2 Predefined Movement of the Aerial Manipulator -- 5.3 Aerial Manipulation Mission with the Slave Mode -- 6 Conclusion -- References -- Control and Stability of an Aerial Manipulator Depending on the Inertial Parameters -- 1 Introduction -- 2 System Description -- 2.1 Specifications -- 2.2 Aerial Platform -- 2.3 Arm Design -- 2.4 Integration of the Aerial Manipulator -- 3 Modeling -- 4 Control. 4.1 Aerial Platform Controller -- 4.2 Robotic Arm Controller -- 5 Results -- 5.1 Simulations -- 5.2 Experimental Validation -- 6 Conclusion -- References -- Context Attention: Human Motion Prediction Using Context Information and Deep Learning Attention Models -- 1 Introduction -- 2 Related Work -- 3 Model Architecture -- 3.1 Multi-headed Attention -- 3.2 Information Channels Fusion -- 3.3 Predictor Module -- 3.4 Loss -- 4 Dataset -- 5 Experimental Results -- 5.1 Experimental Details -- 5.2 Experiments -- 6 Conclusions -- References -- From Augmented Reality to Deep Learning-Based Cognitive Assistance: An Overview for Industrial Wire Harnesses Assemblies -- 1 Introduction -- 2 Wire Harness Assembly in Modern Industries -- 2.1 Industries Related to the Wire Harnessing Process -- 3 Augmented Reality Tools -- 3.1 Projection-Based Displays -- 3.2 Screen-Based Displays -- 3.3 Discussion -- 4 Cognitive Assistance Systems in Manual Assembly -- 4.1 Deep Learning-Based Wire Segmentation -- 4.2 Datasets for Training -- 5 Robots Handling Cables -- 6 Summary and Outlook -- References -- Safety Standards for Collision Avoidance Systems in Agricultural Robots - A Review -- 1 Introduction -- 2 Human-Robot Interaction in Agriculture Environments -- 2.1 Interaction -- 2.2 Obstacle Avoidance -- 3 ISO's Standards -- 3.1 Industrial Robotics Standards -- 3.2 Migration to Agricultural Environment -- 4 Comparison Between Collision Avoidance Methods and Standards -- 5 Discussion and Analysis - Lack of Specifications -- 5.1 Collision Avoidance -- 5.2 Collision Avoidance System Evaluation (CASE) Form -- 6 Conclusion -- References -- Enhanced RGB Image Processing Method for Automatic 2D and 3D Defect Inspection on Shiny Surfaces -- 1 Introduction -- 2 Methodology -- 2.1 Image Acquisition Set-Up -- 2.2 Image Merging -- 3 3D Defect Inspection System -- 4 2D Inspection System. 5 Test Results -- 6 Conclusion and Future Work -- References -- On the Innovative Management of Remote Robotic Experimentation*-10pt -- 1 Introduction -- 2 Related Work -- 3 The RAWFIE Architecture -- 4 RAWFIE Management -- 4.1 UxV Resources Management -- 4.2 Experiments Management -- 5 A Practical Use Case Within RAWFIE Infrastructure -- 5.1 RAWFIE Testbeds -- 5.2 RT-ART Testbed -- 5.3 RT-ART Experimentation -- 6 Conclusions -- References -- In-Hand Manipulation of Unseen Objects Through 3D Vision -- 1 Introduction -- 2 Related Work -- 3 Methodology -- 3.1 Object Pose Estimation from a Point Cloud -- 3.2 Demo Augmented Policy Gradient -- 4 Experiments -- 4.1 Demonstration Data Collection -- 4.2 Results and Discussion -- 5 Conclusions and Future Work -- References -- Event-Based Visual Tracking in Dynamic Environments*-10pt -- 1 Introduction -- 2 Framework -- 2.1 Problem Statement and Summary of the Proposal -- 2.2 Image Reconstruction -- 2.3 Object Detection -- 2.4 Tracker -- 2.5 Evaluation Metrics -- 3 Experiments -- 3.1 Image Reconstruction -- 3.2 Detection -- 3.3 Tracking -- 3.4 Timing Performance -- 4 Conclusions -- References -- Efficient Semantic Segmentation with Hyperspectral Images -- 1 Introduction -- 2 Related Work -- 3 Method -- 4 Evaluation Methodology -- 4.1 Metrics -- 4.2 Proposed Benchmark -- 5 Experimental Evaluation -- 5.1 Experimental Setup -- 5.2 Accuracy -- 5.3 Efficiency -- 5.4 Comparison with Previous Work -- 6 Conclusions and Future Work -- References -- ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topology -- 1 Introduction -- 1.1 Contributions -- 1.2 Paper Structure -- 2 Background -- 2.1 Visual Graph-SLAM -- 2.2 On the Optimality of SLAM Pose-graphs -- 3 Proposed Method -- 3.1 SLAM -- 3.2 Frontier Detection -- 3.3 Weighted Graph Hallucination -- 3.4 Frontier Selection And Navigation -- 3.5 Recovery Behavior. 4 Experimental Validation -- 5 Conclusions -- References -- Distributed Dynamic Assignment of Multiple Mobile Targets Based on Person Re-Identification -- 1 Introduction -- 2 Distributed Assignment Algorithm -- 3 Transmission Policies -- 4 Person Re-Identification -- 4.1 The Detection Node -- 4.2 The Re-Identification Node -- 4.3 The Filtering Node -- 5 Experiments -- 5.1 Testing Conditions -- 5.2 Evaluation Metrics -- 5.3 Results -- 6 Conclusions -- References -- Robotizing the Sterility Testing Process: Scientific Challenges for Bringing Agile Robots into the Laboratory*-10pt -- 1 Introduction -- 2 Sterility Use Case -- 3 Technical Challenges -- 4 Data Available -- 5 Conclusion -- References -- Mobile Robot Navigation in Dynamic Environments Taking into Account Obstacle Motion in Costmap Construction -- 1 Introduction -- 2 Related Work -- 3 Method -- 3.1 Determining Possible Collision Time -- 3.2 Cost Assignments in the Costmap -- 4 Simulations and Discussion -- 4.1 Simulation Setup -- 4.2 Simulation Results -- 5 Conclusion -- References -- Robust Monte Carlo Localisation Using a Ground Penetrating Radar -- 1 Introduction -- 1.1 Motivation -- 1.2 Research Question -- 1.3 Test Robot and Test Ground -- 2 Ground Penetrating Radar (GPR) -- 2.1 Stepped Frequency Radar with Antenna Array -- 2.2 Signal Processing of the Radar Data -- 3 Localisation -- 3.1 Mapping -- 3.2 Yaw Angle Calculation -- 4 Experimental Results -- 4.1 Parameter Optimisation -- 4.2 Localisation Example -- 5 Conclusion and Outlook -- References -- Dual Arm Aerial Manipulation While Flying, Holding and Perching: Comparative Case Study -- 1 Introduction -- 2 Modeling, Control and Characterization -- 2.1 System Modeling -- 2.2 Control Scheme -- 2.3 Effect of Manipulator Configuration on Flight Controller -- 3 Aerial Manipulation While Flying -- 4 Aerial Manipulation While Holding. 5 Aerial Manipulation While Perching. |
| Record Nr. | UNINA-9910631101403321 |
| Cham, Switzerland : , : Springer, , [2023] | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||