Optimal Motion Planning of Robotic Manipulators Removing Mobile Objects Grasped in Motion

The following study deals with motion optimization of robot arms having to transfer mobile objects grasped when moving. This approach is aimed at performing repetitive transfer tasks at a rapid rate without interrupting the dynamics of both the manipulator and the moving object. The junction location of the robot gripper with the object, together with grasp conditions, are partly defined by a set of local constraints. Thus, optimizing the robot motion in the approach phase of the transfer task leads to the statement of an optimal junction problem between the robot and the moving object. This optimal control problem is characterized by constrained final state and unknown traveling time. In such a case, Pontryagin"s maximum principle is a powerful mathematical tool for solving this optimization problem. Three simulated results of removing a mobile object on a conveyor belt are presented; the object is grasped in motion by a planar three-link manipulator.     

Adaptive supervision of moving objects for mobile robotics applications

One of the main tasks of mobile robotics is vision. Lighting independence, adaptivity and automated learning are still the main issues when it comes to applications. In this article, we present an image understanding system and its methods targeting automatic, lighting-independent and reliable color-based object recognition under real time conditions. Its application test bed is global vision robot soccer (i.e. FIRA MiroSot und RoboCup Small Size leagues) but it has many other applications in color-based supervision of moving objects. Under typical conditions, it learns the objects of recognition automatically, has zero setup time and tolerates environmental changes during run-time.     

Detection of robustly collision-free trajectories in unpredictable environments in real-time

One of the ultimate goals in robotics is to make robots of high degrees of freedom (DOF) work autonomously in real world environments. However, real world environments are unpredictable, i.e., how the objects move are usually not known beforehand. Thus, whether a robot trajectory is collision-free or not has to be checked on-line based on sensing as the robot moves. Moreover, in order to guarantee safe motion, the motion uncertainty of the robot has to be taken into account. This paper introduces a general approach to detect if a high-DOF robot trajectory is continuously collision-free even in the presence of robot motion uncertainty in an unpredictable environment in real time. Our method is based on the novel concept of dynamic envelope, which takes advantage of progressive sensing over time without predicting motions of objects in an environment or assuming specific object motion patterns. The introduced approach can be used by general real-time motion planners to check if a candidate robot trajectory is continuously and robustly collision-free (i.e., in spite of uncertainty in the robot motion).     

A non-iterative and effective procedure for simultaneous odometry and camera calibration for a differential drive mobile robot based on the singular value decomposition

Differential-drive mobile robots are usually equipped with video cameras for navigation purposes. In order to ensure proper operational capabilities of such systems, several calibration steps are required to estimate the video-camera intrinsic and extrinsic parameters, the relative pose between the camera and the vehicle frame and the odometric parameters of the vehicle. In this paper, simultaneous estimation of the aforementioned quantities is achieved by a novel and effective calibration procedure. The proposed calibration procedure needs only a proper set of landmarks, on-board measurements given by the wheels encoders, and the camera (i.e., a number of properly taken camera snapshots of the set of landmarks). A major advantage of the proposed technique is that the robot is not required to follow a specific path: the vehicle is asked to roughly move around the landmarks and acquire at least three snapshots at some approximatively known configurations. Moreover, since the whole calibration procedure does not use external measurement devices, it can be used to calibrate, on-site, a team of mobile robots with respect to the same inertial frame, given by the position of the landmarks’ tool. Finally, the proposed algorithm is systematic and does not require any iterative step. Numerical simulations and experimental results, obtained by using a mobile robot Khepera III equipped with a low-cost camera, confirm the effectiveness of the proposed technique.     

Localization of a mobile robot based on an ultrasonic sensor using dynamic obstacles

In this article, we propose a localization scheme for a mobile robot based on the distance between the robot and moving objects. This method combines the distance data obtained from ultrasonic sensors in a mobile robot, and estimates the location of the mobile robot and the moving object. The movement of the object is detected by a combination of data and the object’s estimated position. Then, the mobile robot’s location is derived from the a priori known initial state. We use kinematic modeling that represents the movement of a robot and an object. A Kalman-filtering algorithm is used for addressing estimation error and measurement noise. Throughout the computer simulation experiments, the performance is verified. Finally, the results of experiments are presented and discussed. The proposed approach allows a mobile robot to seek its own position in a weakly structured environment. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

Obstacle avoidance in a dynamic environment: a collision coneapproach

A novel collision cone approach is proposed as an aid to collision detection and avoidance between irregularly shaped moving objects with unknown trajectories. It is shown that the collision cone can be effectively used to determine whether collision between a robot and an obstacle (both moving in a dynamic environment) is imminent. No restrictions are placed on the shapes of either the robot or the obstacle, i.e., they can both be of any arbitrary shape. The collision cone concept is developed in a phased manner starting from existing analytical results that enable prediction of collision between two moving point objects. These results are extended to predict collision between a point and a circular object, between a point and an irregularly shaped object, between two circular objects, and finally between two irregularly shaped objects. Using the collision cone approach, several strategies that the robot can follow in order to avoid collision, are presented. A discussion on how the shapes of the robot and obstacles can be approximated in order to reduce computational burden is also presented. A number of examples are given to illustrate both collision prediction and avoidance strategies of the robot     

Fast grasping of unknown objects through automatic determination of the required number of mobile robots

In this paper, we present a strategy for fast grasping of unknown objects by mobile robots through automatic determination of the number of robots. An object handling system consisting of a Gripper robot and a Lifter robot is designed. The Gripper robot moves around an unknown object to acquire partial shape information for determination of grasping points. The object is transported if it can be lifted by the Gripper robot. Otherwise, if all grasping trials fail, a Lifter robot is used. In order to maximize use of the Gripper robot’s payload, the detected grasping points that apply the largest force to the gripper are selected for the Gripper robot when the object is grasped by two mobile robots. The object is measured using odometry and scanned data acquired while the Gripper robot moves around the object. Then, the contact point for calculating the insert position for the Lifter robot can be acquired quickly. Finally, a strategy for fast grasping of known objects by considering the transition between stable states is used to realize grasping of unknown objects. The proposed approach is tested in experiments, which find that a wide variety of objects can be grasped quickly with one or two mobile robots.     

Tracing Evolving Subspace Clusters in Temporal Climate Data

Analysis of temporal climate data is an active research area. Advanced data mining methods designed especially for these temporal data support the domain expert’s pursuit to understand phenomena as the climate change, which is crucial for a sustainable world. Important solutions for mining temporal data are cluster tracing approaches, which are used to mine temporal evolutions of clusters. Generally, clusters represent groups of objects with similar values. In a temporal context like tracing, similar values correspond to similar behavior in one snapshot in time. Each cluster can be interpreted as a behavior type and cluster tracing corresponds to tracking similar behaviors over time. Existing tracing approaches are for datasets satisfying two specific conditions: The clusters appear in all attributes, i.e., fullspace clusters, and the data objects have unique identifiers. These identifiers are used for tracking clusters by measuring the number of objects two clusters have in common, i.e. clusters are traced based on similar object sets. These conditions, however, are strict: First, in complex data, clusters are often hidden in individual subsets of the dimensions. Second, mapping clusters based on similar objects sets does not reflect the idea of tracing similar behavior types over time, because similar behavior can even be represented by clusters having no objects in common. A tracing method based on similar object values is needed. In this paper, we introduce a novel approach that traces subspace clusters based on object value similarity. Neither subspace tracing nor tracing by object value similarity has been done before.     

Nearest neighbor queries with peer-to-peer data sharing in mobile environments

Nearest neighbor queries, such as determining the proximity of stationary objects (e.g., restaurants and gas stations) are an important class of inquiries for supporting location-based services. We present a novel approach to support nearest neighbor queries from mobile hosts by leveraging the sharing capabilities of wireless ad-hoc networks. We illustrate how previous query results cached in the local storage of neighboring mobile users can be leveraged to either fully or partially compute and verify nearest neighbor queries at a local host. The feasibility and appeal of our technique is illustrated through extensive simulation results that indicate a considerable reduction of the query load on the remote database. Furthermore, the scalability of our approach is excellent because a higher density of mobile hosts increases its effectiveness.     

Vision-based three-finger grasp synthesis constrained by hand geometry

This paper addresses the problem of designing a practical system able to grasp real objects with a three-fingered robot hand. A general approach for synthesizing two- and three-finger grasps on planar unknown objects is presented. Visual perception is used to reduce the uncertainty and to obtain relevant information about the objects.We focus on non-modeled planar extruded objects, which can represent many real-world objects. In addition, particular mechanical constraints of the robot hand are considered.First, a vision processing module that extracts from object images the relevant information for the grasp synthesis is developed. This is completed with a set of algorithms for synthesizing two- and three-finger grasps taking into account force-closure and contact stability conditions, with a low computational effort. Finally, a procedure for constraining these results to the kinematics of the particular hand, is also developed. In addition, a set of heuristic metrics for assessing the quality of the computed grasps is described.All these components are integrated in a complete system. Experimental results using the Barrett hand are shown and discussed.     

基于ROS与Kinect的移动机器人同时定位与地图构建

同时定位与地图构建(SLAM)技术一直以来都是移动机器人实现自主导航和避障的核心问题,移动机器人需要借助传感器来探测周围的物体同时构建出相应区域的地图。由于传统的1D和2D传感器,如超声波传感器、声呐和激光测距仪等在建图过程中无法检测出Z轴(垂直方向)上的信息,易增加机器人发生碰撞的概率,同时影响建图结果的精确度。本文利用Kinect作为机器人SLAM的传感器,将其采集到的三维信息转化成二维的激光数据进行地图构建,同时借助机器人操作系统(robot operating system,ROS)进行仿真分析和实际测试。结果表明Kinect可以弥补1D和2D传感器采集信息的不足,同时能够较好的保持建图的完整性和可靠性,适用于室内的移动机器人SLAM实现。     

Orthogonal variant moments features in image analysis

Moments are statistical measures used to obtain relevant information about a certain object under study (e.g., signals, images or waveforms), e.g., to describe the shape of an object to be recognized by a pattern recognition system. Invariant moments (e.g., the Hu invariant set) are a special kind of these statistical measures designed to remain constant after some transformations, such as object rotation, scaling, translation, or image illumination changes, in order to, e.g., improve the reliability of a pattern recognition system. The classical moment invariants methodology is based on the determination of a set of transformations (or perturbations) for which the system must remain unaltered. Although very well established, the classical moment invariants theory has been mainly used for processing single static images (i.e. snapshots) and the use of image moments to analyze images sequences or video, from a dynamic point of view, has not been sufficiently explored and is a subject of much interest nowadays. In this paper, we propose the use of variant moments as an alternative to the classical approach. This approach presents clear differences compared to the classical moment invariants approach, that in specific domains have important advantages. The difference between the classical invariant and the proposed variant approach is mainly (but not solely) conceptual: invariants are sensitive to any image change or perturbation for which they are not invariant, so any unexpected perturbation will affect the measurements (i.e. is subject to uncertainty); on the contrary, a variant moment is designed to be sensitive to a specific perturbation, i.e., to measure a transformation, not to be invariant to it, and thus if the specific perturbation occurs it will be measured; hence any unexpected disturbance will not affect the objective of the measurement confronting thus uncertainty. Furthermore, given the fact that the proposed variant moments are orthogonal (i.e. uncorrelated) it is possible to considerably reduce the total inherent uncertainty. The presented approach has been applied to interesting open problems in computer vision such as shape analysis, image segmentation, tracking object deformations and object motion tracking, obtaining encouraging results and proving the effectiveness of the proposed approach.     

The living in a lattice rule language

This paper presents a rule-based query language for an object-oriented database model. The database model supports complex objects, object identity, classes and types, and a class/type hierarchy. The instances are described by ‘object relations’ which are functions from a set of objects to value sets and other object sets. The rule language is based on object-terms which provide access to objects via the class hierarchy. Rules are divided into two classes: object-preserving rules manipulating existing objects (yielding a new ‘view’ on objects available in the object base) and object-generating rules creating new objects with properties derived from existing objects. The derived object sets are included in a class lattice. We give conditions for whether the instances of the ‘rules’ heads are ‘consistent’, i.e. represent object relations where the properties of the derived objects are functionally determined by the objects.     

Learning of grasp selection based on shape-templates

The ability to grasp unknown objects still remains an unsolved problem in the robotics community. One of the challenges is to choose an appropriate grasp configuration, i.e., the 6D pose of the hand relative to the object and its finger configuration. In this paper, we introduce an algorithm that is based on the assumption that similarly shaped objects can be grasped in a similar way. It is able to synthesize good grasp poses for unknown objects by finding the best matching object shape templates associated with previously demonstrated grasps. The grasp selection algorithm is able to improve over time by using the information of previous grasp attempts to adapt the ranking of the templates to new situations. We tested our approach on two different platforms, the Willow Garage PR2 and the Barrett WAM robot, which have very different hand kinematics. Furthermore, we compared our algorithm with other grasp planners and demonstrated its superior performance. The results presented in this paper show that the algorithm is able to find good grasp configurations for a large set of unknown objects from a relatively small set of demonstrations, and does improve its performance over time.     

Fusing multiple image transformations and a thermal sensor with kinect to improve person detection ability

This paper proposes a novel approach to combine data from multiple low-cost sensors to detect people in a mobile robot. Robust detection of people is a key capability required for robots working in environments with people. Several works have shown the benefits of fusing data from complementary sensors. The Kinect sensor provides a rich data set at a significantly low cost, however, it has some limitations for its use on a mobile platform, mainly that people detection algorithms rely on images captured by a static camera. To cope with these limitations, this work is based on the fusion of Kinect and a thermical sensor (thermopile) mounted on top of a mobile platform. We propose the implementation of an evolutionary selection of sequences of image transformation to detect people through supervised classifiers. Experimental results carried out with a mobile platform in a manufacturing shop floor show that the percentage of wrong classified using only Kinect is drastically reduced with the classification algorithms and with the combination of the three information sources. Extra experiments are presented as well to show the benefits of the image transformation sequence idea here presented.     

Discovering and restoring changes in object positions using an autonomous robot with laser rangefinders

This paper describes an object rearrangement system for an autonomous mobile robot. The objective of the robot is to autonomously explore and learn about an environment, to detect changes in the environment on a later visit after object disturbances and finally, to move objects back to their original positions. In the implementation, it is assumed that the robot does not have any prior knowledge of the environment and the positions of the objects. The system exploits Simultaneous Localisation and Mapping (SLAM) and autonomous exploration techniques to achieve the task. These techniques allow the robot to perform localisation and mapping which is required to perform the object rearrangement task autonomously. The system includes an arrangement change detector, object tracking and map update that work with a Polar Scan Match (PSM) Extended Kalman Filter (EKF) SLAM system. In addition, a path planning technique for dragging and pushing an object is also presented in this paper. Experimental results of the integrated approach are shown to demonstrate that the proposed approach provides real-time autonomous object rearrangements by a mobile robot in an initially unknown real environment. Experiments also show the limits of the system by investigating failure modes.     

A strategy for fast grasping of unknown objects using partial shape information from range sensors

In this paper, we present a strategy for fast grasping of unknown objects based on the partial shape information from range sensors for a mobile robot with a parallel-jaw gripper. The proposed method can realize fast grasping of an unknown object without needing complete information of the object or learning from grasping experience. Information regarding the shape of the object is acquired by a 2D range sensor installed on the robot at an inclined angle to the ground. Features for determining the maximal contact area are extracted directly from the partial shape information of the unknown object to determine the candidate grasping points. Note that since the shape and mass are unknown before grasping, a successful and stable grasp cannot be in fact guaranteed. Thus, after performing a grasping trial, the mobile robot uses the 2D range sensor to judge whether the object can be lifted. If a grasping trial fails, the mobile robot will quickly find other candidate grasping points for another trial until a successful and stable grasp is realized. The proposed approach has been tested in experiments, which found that a mobile robot with a parallel-jaw gripper can successfully grasp a wide variety of objects using the proposed algorithm. The results illustrate the validity of the proposed algorithm in term of the grasping time.     

Evaluation of annual forest disturbance monitoring using a static decision tree approach and 250 m MODIS data

Research on change detected has largely focused on method development and evaluation in a temporally dependent manner where training and validation data are from the same temporal period. Monitoring over several change periods needs to account for increased variability resulting from possible combinations of atmosphere, sensor, and surface conditions. Training a change method for each monitoring period (i.e. a dynamic approach) is an option, but can be costly to develop the needed training datasets and may not be warranted if sufficient accuracy can be obtained without retraining (i.e. a static approach). In this research the potential of change detection using a static approach suitable for near-real time annual monitoring was evaluated. The research assessed the influence of feature set size, radiometric normalization, incorporation of temporal information, and change object size and sub-pixel fraction on accuracy. The static approach was based on a decision tree developed using 250 m MODIS data from 2005 to 2006 and applied annually for the period 2001-2005. Change results between years were combined and compared to reference data representing change from 2001 to 2005 to evaluate monitoring performance. Results revealed high accuracy for the decision tree change model development from 2005 to 2006 (bootstrap cross-validation KAPPA = 0.91), with lower accuracy (KAPPA = 0.80) when applied for monitoring from 2001 to 2005. Radiometric normalization increased monitoring accuracy (KAPPA = 0.86). Further improvement was achieved with the incorporation of temporal contextual tests to combine the 2001-2005 inter-annual change maps (KAPPA = 0.90), but required a time lag of 1 year. An alternative temporal test that was not restricted by the 1 year time lag produced slightly lower accuracy (KAPPA = 0.88). Evaluation of the effect of object size on detection accuracy showed that accuracy for objects less than 7 pixels was strongly related to object size, with objects less than 3 pixels having low detection rates. The effect of sub-pixel change fraction was found to be dependent on object size with larger objects reducing detection error across the range of fractions evaluated.     

激光—相机系统语义栅格建图和路径规划

目的 SLAM（simultaneous localization and mapping）是移动机器人在未知环境进行探索、感知和导航的关键技术。激光SLAM测量精确，便于机器人导航和路径规划，但缺乏语义信息。而视觉SLAM的图像能提供丰富的语义信息，特征区分度更高，但其构建的地图不能直接用于路径规划和导航。为了实现移动机器人构建语义地图并在地图上进行路径规划，本文提出一种语义栅格建图方法。方法 建立可同步获取激光和语义数据的激光-相机系统，将采集的激光分割数据与目标检测算法获得的物体包围盒进行匹配，得到各物体对应的语义激光分割数据。将连续多帧语义激光分割数据同步融入占据栅格地图。对具有不同语义类别的栅格进行聚类，得到标注物体类别和轮廓的语义栅格地图。此外，针对语义栅格地图发布导航任务，利用路径搜索算法进行路径规划，并对其进行改进。结果 在实验室走廊和办公室分别进行了语义栅格建图的实验，并与原始栅格地图进行了比较。在语义栅格地图的基础上进行了路径规划，并采用了语义赋权算法对易移动物体的路径进行对比。结论 多种环境下的实验表明本文方法能获得与真实环境一致性较高、标注环境中物体类别和轮廓的语义栅格地图，且实验硬件结构简单、成本低、性能良好，适用于智能化机器人的导航和路径规划。     

Contour-based next-best view planning from point cloud segmentation of unknown objects

A novel strategy is presented to determine the next-best view for a robot arm, equipped with a depth camera in eye-in-hand configuration, which is oriented to autonomous exploration of unknown objects. Instead of maximizing the total size of the expected unknown volume that becomes visible, the next-best view is chosen to observe the border of incomplete objects. Salient regions of space that belong to the objects are detected, without any prior knowledge, by applying a point cloud segmentation algorithm. The system uses a Kinect V2 sensor, which has not been considered in previous works on next-best view planning, and it exploits KinectFusion to maintain a volumetric representation of the environment. A low-level procedure to reduce Kinect V2 invalid points is also presented. The viability of the approach has been demonstrated in a real setup where the robot is fully autonomous. Experiments indicate that the proposed method enables the robot to actively explore the objects faster than a standard next-best view algorithm.