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Добірка наукової літератури з теми "Ground robots"

Автор: Grafiati
Опубліковано: 21 грудня 2024

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Статті в журналах з теми "Ground robots"

1

Trujillo, Juan-Carlos, Rodrigo Munguia, and Antoni Grau. "Aerial Cooperative SLAM for Ground Mobile Robot Path Planning." Engineering Proceedings 6, no. 1 (May 20, 2021): 65. http://dx.doi.org/10.3390/i3s2021dresden-10164.

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Анотація:
The trajectory planning for ground mobile robots operating in unknown environments can be a difficult task. In many cases, the sensors used for detecting obstacles only provide information about the immediate surroundings, making it difficult to generate an efficient long-term path. For instance, a robot can easily choose to move along a free path that, eventually, will have a dead end. This research is intended to develop a cooperative scheme of visual-based aerial simultaneous localization and mapping (SLAM) that will be used for generating a safe long-term trajectory for a ground mobile robot. The general idea is to take advantage of the high-altitude point of view of aerial robots to obtain spatial information of a wide area of the surroundings of the robot. In this case, it could be seen as having a zenithal picture of the labyrinth to solve the robot’s path. More specifically, the system will generate a wide area spatial map of the ground robot’s obstacles from the images taken by a team of aerial robots equipped with onboard cameras, by means of a cooperative visual-based SLAM method. At the same time, the map will be used to generate a safe path for the ground mobile robot. While the ground robot moves, its onboard sensors will be used to refinine the map and, thus, to avoid obstacles that were not detected from the aerial images.
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2

Krestovnikov, K. D. "Control Algorithms for a Bidirectional Wireless Power Transmission System at the Redistribution of Energy Resources in a Group of Ground Robots." Mekhatronika, Avtomatizatsiya, Upravlenie 24, no. 9 (September 4, 2023): 481–88. http://dx.doi.org/10.17587/mau.24.481-488.

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Анотація:
Redistributing energy resources within a group of ground robots allows for an increase in the reachable workspace area and expands its functional capabilities. The use of wireless energy transfer systems for exchanging energy resources between ground robots reduces the requirements for positioning accuracy and enhances the reliability of the robotic system. This study examines control and management algorithms for a bidirectional wireless energy transfer system when operating as part of a ground robot. A structural diagram of the bidirectional wireless energy transfer module is proposed for integration into the robot’s control system, built on distributed principles. The developed algorithms take into account the specific features of the circuitry solutions of the bidirectional wireless energy transfer system, implemented using an uncontrolled resonant generator. The proposed solutions are tested on a robotics platform. The experiments focus on the process of replenishing the energy resources of one robot with another robot. Energy is transmitted between robots equipped with the same Li-ion battery, which has a nominal voltage of 7.4 V and a capacity of 5 A•h. The battery is charged from 50 % to 90 % capacity with different positioning accuracies of the robots. When there is a displacement of 4 mm and a distance of 4 mm between the receiving and transmitting coils, the charging time was 48 minutes, which is 5 % longer than the wired charging method. The maximum charging time reached 57 minutes with a distance of 15 mm between the robots. The use of bidirectional wireless power transfer for energy exchange between ground robots or for charging robots at a charging station enhances the autonomy of the group’s operation, as energy transfer can be successfully achieved even with low positioning accuracy. The proposed solutions can be used for battery charging and resource redistribution processes in groups of ground and underwater robots.
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3

Zhang, Ziang, Yixu Wan, You Wang, Xiaoqing Guan, Wei Ren, and Guang Li. "Improved hybrid A* path planning method for spherical mobile robot based on pendulum." International Journal of Advanced Robotic Systems 18, no. 1 (January 1, 2021): 172988142199295. http://dx.doi.org/10.1177/1729881421992958.

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Анотація:
This article proposes a modification of hybrid A* method used for navigation of spherical mobile robots with the ability of limited partial lateral movement driven by pendulum. For pendulum-driven spherical robots with nonzero minimal turning radius, our modification helps to find a feasible and achievable path, which can be followed in line with the low time cost. Because of spherical shell shape, the robot is point contact with the ground, showing different kinematic model compared with common ground mobile robots such as differential robot and wheeled car-like robot. Therefore, this article analyzes the kinematic model of spherical robot and proposes a novel method to generate feasible and achievable paths conforming to kinematic constraints, which can be the initial value of future trajectory tracking control and further optimization. A concept of optimal robot’s minimum area for rotation is also proposed to improve search efficiency and ensure the ability of turning to any orientation by moving forward and backward in a finite number of times within limited areas.
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4

Mamiya, Shotaro, Shigenori Sano, and Naoki Uchiyama. "Foot Structure with Divided Flat Soles and Springs for Legged Robots and Experimental Verification." Journal of Robotics and Mechatronics 28, no. 6 (December 20, 2016): 799–807. http://dx.doi.org/10.20965/jrm.2016.p0799.

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Анотація:
[abstFig src='/00280006/03.jpg' width='300' text='Robotic foot adaptable to rough terrain' ] Practical ambulation must be realized by walking robots to enable social and industrial support by walking robots in human living environments. A four-legged robot that walks through rough terrain effectively does not erase the fact that most legged robots – particularly biped robots – have difficulty negotiating rough terrain. We focus below on a foot structure and landing control for enabling any type of legged robot to walk through rough terrain. When a walking robot lands on the ground, it is difficult to detect the detailed geometry and dynamic properties of the ground surface. The new foot structure we propose adapts to ground surfaces that have different geometries and hardness. The foot has four-part flat soles. The landing controller we apply to a robot with our proposed foot structure increases the stability of contact with the ground. We verify the effectiveness of our proposed foot structure in experiments.
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5

Liu, Yi, Junyao Gao, Jingchao Zhao, and Xuanyang Shi. "A New Disaster Information Sensing Mode: Using Multi-Robot System with Air Dispersal Mode." Sensors 18, no. 10 (October 22, 2018): 3589. http://dx.doi.org/10.3390/s18103589.

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Анотація:
This paper presents a novel sensing mode for using mobile robots to collect disaster ground information when the ground traffic from the rescue center to disaster site is disrupted. Traditional sensing modes which use aerial robots or ground robots independently either have limited ability to access disaster site or are only able to provide a bird’s eye view of the disaster site. To illustrate the proposed sensing mode, the authors have developed a Multi-robot System with Air Dispersal Mode (MSADM) by combining the unimpeded path of aerial robots with the detailed view of ground robots. In the MSADM, an airplane carries some minimal reconnaissance ground robots to overcome the paralyzed traffic problem and deploys them on the ground to collect detailed scene information using parachutes and separation device modules. In addition, the airplane cruises in the sky and relays the control and reported information between the ground robots and the human operator. This means that the proposed sensing mode is able to provide more reliable communication performance when there are obstacles between the human operators and the ground robots. Additionally, the proposed sensing mode can easily make use of different kinds of ground robots, as long as they have a compatible interface with the separation device. Finally, an experimental demonstration of the MSADM is presented to show the effectiveness of the proposed sensing mode.
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6

Wang, Yankai, Qiaoling Du, Tianhe Zhang, and Chengze Xue. "The WL_PCR: A Planning for Ground-to-Pole Transition of Wheeled-Legged Pole-Climbing Robots." Robotics 10, no. 3 (July 27, 2021): 96. http://dx.doi.org/10.3390/robotics10030096.

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Анотація:
Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on the transition of the robot from the ground to the pole. In this study, a locomotion strategy of wheeled-legged pole-climbing robots (the WL_PCR) is proposed to solve the problem of ground-to-pole transition. By analyzing the force of static and dynamic process in the ground-to-pole transition, the condition of torque provided by the gripper and moving joint is proposed. The mathematical expression of Centre of Mass (CoM) of the wheeled-legged pole-climbing robots is utilized, and the conditions for the robot to smoothly transition from the ground to the vertical pole are proposed. Finally, the feasibility of this method is proved by the simulation and experimentation of a locomotion strategy on wheeled-legged pole-climbing robots.
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7

Mitsch, Stefan, Khalil Ghorbal, David Vogelbacher, and André Platzer. "Formal verification of obstacle avoidance and navigation of ground robots." International Journal of Robotics Research 36, no. 12 (October 2017): 1312–40. http://dx.doi.org/10.1177/0278364917733549.

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Анотація:
This article answers fundamental safety questions for ground robot navigation: under which circumstances does which control decision make a ground robot safely avoid obstacles? Unsurprisingly, the answer depends on the exact formulation of the safety objective, as well as the physical capabilities and limitations of the robot and the obstacles. Because uncertainties about the exact future behavior of a robot’s environment make this a challenging problem, we formally verify corresponding controllers and provide rigorous safety proofs justifying why the robots can never collide with the obstacle in the respective physical model. To account for ground robots in which different physical phenomena are important, we analyze a series of increasingly strong properties of controllers for increasingly rich dynamics and identify the impact that the additional model parameters have on the required safety margins. We analyze and formally verify: (i) static safety, which ensures that no collisions can happen with stationary obstacles; (ii) passive safety, which ensures that no collisions can happen with stationary or moving obstacles while the robot moves; (iii) the stronger passive-friendly safety, in which the robot further maintains sufficient maneuvering distance for obstacles to avoid collision as well; and (iv) passive orientation safety, which allows for imperfect sensor coverage of the robot, i.e., the robot is aware that not everything in its environment will be visible. We formally prove that safety can be guaranteed despite sensor uncertainty and actuator perturbation. We complement these provably correct safety properties with liveness properties: we prove that provably safe motion is flexible enough to let the robot navigate waypoints and pass intersections. To account for the mixed influence of discrete control decisions and the continuous physical motion of the ground robot, we develop corresponding hybrid system models and use differential dynamic logic theorem-proving techniques to formally verify their correctness. Since these models identify a broad range of conditions under which control decisions are provably safe, our results apply to any control algorithm for ground robots with the same dynamics. As a demonstration, we also synthesize provably correct runtime monitor conditions that check the compliance of any control algorithm with the verified control decisions.
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8

Tellex, Stefanie, Nakul Gopalan, Hadas Kress-Gazit, and Cynthia Matuszek. "Robots That Use Language." Annual Review of Control, Robotics, and Autonomous Systems 3, no. 1 (May 3, 2020): 25–55. http://dx.doi.org/10.1146/annurev-control-101119-071628.

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Анотація:
This article surveys the use of natural language in robotics from a robotics point of view. To use human language, robots must map words to aspects of the physical world, mediated by the robot's sensors and actuators. This problem differs from other natural language processing domains due to the need to ground the language to noisy percepts and physical actions. Here, we describe central aspects of language use by robots, including understanding natural language requests, using language to drive learning about the physical world, and engaging in collaborative dialogue with a human partner. We describe common approaches, roughly divided into learning methods, logic-based methods, and methods that focus on questions of human–robot interaction. Finally, we describe several application domains for language-using robots.
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Yan, Hui, Xue Bo Zhang, Yu Wang, and Wei Jie Han. "Research on the Vision Processing of Space Robot's Tracking Camera." Advanced Materials Research 748 (August 2013): 713–17. http://dx.doi.org/10.4028/www.scientific.net/amr.748.713.

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Анотація:
The tracking camera is very important to the whole test tasks of space robot. Aiming at the vision processing problems of space robots tracking camera, a new method of vision processing LabVIEW+DLL is present in this article. Based on the method, a set of vision processing system of space robots tracking camera is researched and developed. This system can better meet the index requirements of space robots vision processing and precisely measure the position and posture data from the target star relative to space robots body coordinate system in the process of the ground air-float test for the space robot, guaranteeing the smooth completion of the ground test mission.
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Hijikata, Masaaki, Renato Miyagusuku, and Koichi Ozaki. "Omni Wheel Arrangement Evaluation Method Using Velocity Moments." Applied Sciences 13, no. 3 (January 26, 2023): 1584. http://dx.doi.org/10.3390/app13031584.

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Анотація:
Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consider the moment of propulsive force generated by the wheels. Since it is difficult to measure the propulsive force accurately, in this work we model propulsive forces as being proportional to the ground speed of the wheels. Under this assumption, we estimated the robot’s behavior in an asymmetric wheel configuration by considering the balance of the velocity moment, which is the moment of the wheel’s ground speed. By verifying the robot’s behavior with various wheel configurations, we confirmed experimentally that the sum of the velocity moments affects the straightness of the robot and allows us to improve the design of asymmetric wheel arrangements and control during wheel failures.
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Більше джерел

Дисертації з теми "Ground robots"

1

Kalyadin, Dmitry. "Robot data and control server for Internet-based training on ground robots." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002111.

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2

Serdel, Quentin. "Semantic-assisted Autonomous Ground Robot Navigation in Unstructured Environments." Electronic Thesis or Diss., université Paris-Saclay, 2024. http://www.theses.fr/2024UPAST139.

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Анотація:
Cette thèse porte sur la navigation autonome de robots terrestres dans des environnements non structurés et dépourvus de télécommunications. Afin d'employer des robots mobiles pour effectuer des tâches complexes telles que l'exploration planétaire ou des opérations de sauvetage, ils doivent bénéficier d'une autonomie complète, notamment pour leur navigation sans carte préalable. Les dernières avancées dans le domaine de l'apprentissage profond permettent l'extraction d'informations sémantiques à partir des données capteurs d'un robot. L'exploitation de ces informations, relatives à la nature des éléments de l'environnement du robot, est une piste prometteuse pour l'amélioration de la sécurité et de l'autonomie des systèmes de navigation. Leur intégration dans un processus de cartographie en ligne et l'exploitation de la représentation produite pour la planification de chemins sont abordées via la notion de traversabilité du terrain. La complexité de calcul et la robustesse aux données bruitées sont des aspects cruciaux à prendre en compte. De nouvelles méthodes sont proposées pour la construction de telles représentations et leur exploitation pour la planification de trajectoires. Elles ont été intégrées dans un système complet de navigation robotique et utilisées avec succès dans un scénario réel
The content of this PhD thesis deals with the autonomous navigation of ground robots in telecommunication-denied unstructured environments. In order to employ mobile robots to perform complex tasks such as planetary exploration or search-and-rescue operations, they must be trusted with complete autonomy, notably for their map-less navigation. Thanks to recent advances in the domain of deep-learning, the efficient extraction of semantic information from a robot sensor data is now possible. The exploitation of this information, relating to the nature of the robot surroundings elements, is a promising lead toward the improvement of the safety and autonomy of navigation systems. The integration of semantic labelling into an online mapping process and the exploitation of the resulting environment representation for informative path planning are tackled via the notion of terrain traversability. Computational complexity and robustness to noisy inputs are crucial aspects to be considered. New methods are therefore proposed for the online construction of such representations and their exploitation for path planning. They have been integrated in a complete robot navigation system and successfully employed in a real-world scenario
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3

Shah, Syed Irtiza Ali. "Single camera based vision systems for ground and; aerial robots." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/37143.

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Анотація:
Efficient and effective vision systems are proposed in this work for object detection for ground&aerial robots venturing into unknown environments with minimum vision aids, i.e. a single camera. The first problem attempted is that of object search and identification in a situation similar to a disaster site. Based on image analysis, typical pixel-based characteristics of a visual marker have been established to search for, using a block based search algorithm, along with a noise and interference filter. The proposed algorithm has been successfully utilized for the International Aerial Robotics competition 2009. The second problem deals with object detection for collision avoidance in 3D environments. It has been shown that a 3D model of the scene can be generated from 2D image information from a single camera flying through a very small arc of lateral flight around the object, without the need of capturing images from all sides. The forward flight simulations show that the depth extracted from forward motion is usable for large part of the image. After analyzing various constraints associated with this and other existing approaches, Motion Estimation has been proposed. Implementation of motion estimation on videos from onboard cameras resulted in various undesirable and noisy vectors. An in depth analysis of such vectors is presented and solutions are proposed and implemented, demonstrating desirable motion estimation for collision avoidance task.
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4

Baleia, José Rodrigo Ferreira. "Haptic robot-environment interaction for self-supervised learning in ground mobility." Master's thesis, Faculdade de Ciências e Tecnologia, 2014. http://hdl.handle.net/10362/12475.

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Анотація:
Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores
This dissertation presents a system for haptic interaction and self-supervised learning mechanisms to ascertain navigation affordances from depth cues. A simple pan-tilt telescopic arm and a structured light sensor, both fitted to the robot’s body frame, provide the required haptic and depth sensory feedback. The system aims at incrementally develop the ability to assess the cost of navigating in natural environments. For this purpose the robot learns a mapping between the appearance of objects, given sensory data provided by the sensor, and their bendability, perceived by the pan-tilt telescopic arm. The object descriptor, representing the object in memory and used for comparisons with other objects, is rich for a robust comparison and simple enough to allow for fast computations. The output of the memory learning mechanism allied with the haptic interaction point evaluation prioritize interaction points to increase the confidence on the interaction and correctly identifying obstacles, reducing the risk of the robot getting stuck or damaged. If the system concludes that the object is traversable, the environment change detection system allows the robot to overcome it. A set of field trials show the ability of the robot to progressively learn which elements of environment are traversable.
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5

Sharma, Rajnikant. "Bearing-Only Cooperative-Localization and Path-Planning of Ground and Aerial Robots." BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2884.

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Анотація:
In this dissertation, we focus on two fundamental problems related to the navigation of ground robots and small Unmanned Aerial Vehicle (UAVs): cooperative localization and path planning. The theme running through in all of the work is the use of bearing only sensors, with a focus on monocular video cameras mounted on ground robots and UAVs. To begin with, we derive the conditions for the complete observability of the bearing-only cooperative localization problem. The key element of this analysis is the Relative Position Measurement Graph (RPMG). The nodes of an RPMG represent vehicle states and the edges represent bearing measurements between nodes. We show that graph theoretic properties like the connectivity and the existence of a path between two nodes can be used to explain the observability of the system. We obtain the maximum rank of the observability matrix without global information and derive conditions under which the maximum rank can be achieved. Furthermore, we show that for the complete observability, all of the nodes in the graph must have a path to at least two different landmarks of known location. The complete observability can also be obtained without landmarks if the RPMG is connected and at least one of the robots has a sensor which can measure its global pose, for example a GPS receiver. We validate these conditions by simulation and experimental results. The theoretical conditions to attain complete observability in a localization system is an important step towards reliable and efficient design of localization and path planning algorithms. With such conditions, a designer does not need to resort to exhaustive simulations and/or experimentation to verify whether a given selection of a control strategy, topology of the sensor network, and sensor measurements meets the observability requirements of the system. In turn, this leads to decreased requirements of time, cost, and effort for designing a localization algorithms. We use these observability conditions to develop a technique, for camera equipped UAVs, to cooperatively geo-localize a ground target in an urban terrain. We show that the bearing-only cooperative geo-localization technique overcomes the limitation of requiring a low-flying UAV to maintain line-of-sight while flying high enough to maintain GPS lock. We design a distributed path planning algorithm using receding horizon control that improves the localization accuracy of the target and of all of the UAVs while satisfying the observability conditions. Next, we use the observability analysis to explicitly design an active local path planning algorithm for UAVs. The algorithm minimizes the uncertainties in the time-to-collision (TTC) and bearing estimates while simultaneously avoiding obstacles. Using observability analysis we show that maximizing the observability and collision avoidance are complementary tasks. We provide sufficient conditions of the environment which maximizes the chances obstacle avoidance and UAV reaching the goal. Finally, we develop a reactive path planner for UAVs using sliding mode control such that it does not require range from the obstacle, and uses bearing to obstacle to avoid cylindrical obstacles and follow straight and curved walls. The reactive guidance strategy is fast, computationally inexpensive, and guarantees collision avoidance.
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6

Staub, Nicolas. "Models, algorithms and architectures for cooperative manipulation with aerial and ground robots." Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30169/document.

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Анотація:
Les dernières années ont vu le développement de recherches portant sur l'interaction physique entre les robots aériens et leur environnement, accompagné de l'apparition de nombreux nouveaux systèmes mécaniques et approches de régulation. La communauté centrée autour de la robotique aérienne observe actuellement un déplacement de paradigmes des approches classiques de guidage, de navigation et de régulation vers des tâches moins triviales, telle le développement de l'interaction physique entre robots aériens et leur environnement. Ceci correspond à une extension des tâches dites de manipulation, du sol vers les airs. Cette thèse contribue au domaine de la manipulation aérienne en proposant un nouveau concept appelé MAGMaS, pour " Multiple Aerial Ground Manipulator System ". Les motivations qui ont conduites à l'association de manipulateurs terrestres et aériens pour effectuer des tâches de manipulation coopérative, résident dans une volonté d'exploiter leurs particularités respectives. Les manipulateurs terrestres apportant leur importante force et les manipulateurs aériens apportant leur vaste espace de travail. La première contribution de cette thèse présente une modélisation rigoureuse des MAGMaS. Les propriétés du système ainsi que ses possibles extensions sont discutées. Les méthodes de planning, d'estimation et de régulation nécessaire à l'exploitation des MAGMaS pour des tâches de manipulation collaborative sont dérivées. Ce travail propose d'exploiter les redondances des MAGMaS grâce à un algorithme optimal d'allocation de forces entre les manipulateurs. De plus, une méthode générale d'estimation de forces pour robots aériens est introduite. Toutes les techniques et les algorithmes présentés dans cette thèse sont intégrés dans une architecture globale, utilisée à la fois pour la simulation et la validation expérimentale. Cette architecture est en outre augmentée par l'addition d'une structure de télé-présence, afin de permettre l'opération à distances des MAGMaS. L'architecture générale est validée par une démonstration de levage de barre, qui est une application représentative des potentiels usages des MAGMaS. Une autre contribution relative au développement des MAGMaS consiste en une étude exploratoire de la flexibilité dans les objets manipulés par un MAGMaS. Un modèle du phénomène vibratoire est dérivé afin de mettre en exergue ses propriétés en termes de contrôle. La dernière contribution de cette thèse consiste en une étude exploratoire sur l'usage des actionneurs à raideur variable dans les robots aériens, dotant ces systèmes d'une compliance mécanique intrinsèque et de capacité de stockage d'énergie. Les fondements théoriques sont associés à la synthèse d'un contrôleur non-linéaire. L'approche proposée est validée par le biais d'expériences reposant sur l'intégration d'un actionneur à raideur variable léger sur un robot aérien
In recent years, the subject of physical interaction for aerial robots has been a popular research area with many new mechanical designs and control approaches being proposed. The aerial robotics community is currently observing a paradigm shift from classic guidance, navigation, and control tasks towards more unusual tasks, for example requesting aerial robots to physically interact with the environment, thus extending the manipulation task from the ground into the air. This thesis contributes to the field of aerial manipulation by proposing a novel concept known has Multiple Aerial-Ground Manipulator System or MAGMaS, including what appears to be the first experimental demonstration of a MAGMaS and opening a new route of research. The motivation behind associating ground and aerial robots for cooperative manipulation is to leverage their respective particularities, ground robots bring strength while aerial robots widen the workspace of the system. The first contribution of this work introduces a meticulous system model for MAGMaS. The system model's properties and potential extensions are discussed in this work. The planning, estimation and control methods which are necessary to exploit MAGMaS in a cooperative manipulation tasks are derived. This works proposes an optimal control allocation scheme to exploit the MAGMaS redundancies and a general model-based force estimation method is presented. All of the proposed techniques reported in this thesis are integrated in a global architecture used for simulations and experimental validation. This architecture is extended by the addition of a tele-presence framework to allow remote operations of MAGMaS. The global architecture is validated by robust demonstrations of bar lifting, an application that gives an outlook of the prospective use of the proposed concept of MAGMaS. Another contribution in the development of MAGMaS consists of an exploratory study on the flexibility of manipulated loads. A vibration model is derived and exploited to showcase vibration properties in terms of control. The last contribution of this thesis consists of an exploratory study on the use of elastic joints in aerial robots, endowing these systems with mechanical compliance and energy storage capabilities. Theoretical groundings are associated with a nonlinear controller synthesis. The proposed approach is validated by experimental work which relies on the integration of a lightweight variable stiffness actuator on an aerial robot
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7

Yang, Jian. "Real-time trajectory planning for ground and aerial vehicles in a dynamic environment." Orlando, Fla. : University of Central Florida, 2008. http://purl.fcla.edu/fcla/etd/CFE0002031.

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8

Birchmore, Frederick Christopher. "A holistic approach to human presence detection on man-portable military ground robots." Diss., [La Jolla] : University of California, San Diego, 2009. http://wwwlib.umi.com/cr/ucsd/fullcit?p1464660.

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Анотація:
Thesis (M.S.)--University of California, San Diego, 2009.
Title from first page of PDF file (viewed July 2, 2009). Available via ProQuest Digital Dissertations. Includes bibliographical references (p. 85-90).
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9

Klamt, Tobias [Verfasser]. "Planning Hybrid Driving-Stepping Locomotion for Ground Robots in Challenging Environments / Tobias Klamt." Bonn : Universitäts- und Landesbibliothek Bonn, 2020. http://d-nb.info/1218301465/34.

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Archontakis, Andreas. "Assessing the flight quality of a large UAV for sensors/ground robots aerial delivery." Thesis, Monterey, California. Naval Postgraduate School, 2010. http://hdl.handle.net/10945/5116.

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The new goal for unmanned aerial systems will be to find creative methods of keeping the cost low and still maintain effectiveness. This thesis discusses the importance of UAVs over the last few years, suggests the development of a low-cost, large UAV, and evaluates the results. We also examine the idea of a platform for deploying multiple aerial-delivery, parafoil-based systems and discuss scenarios for the improvement of the collaboration of the large UAV with the Snowflake project.
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Книги з теми "Ground robots"

1

Sarcinelli-Filho, Mario, and Ricardo Carelli. Control of Ground and Aerial Robots. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-23088-2.

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Tal, Oron-Gilad, ed. Interfaces for ground and air military robots: Workshop summary. Washington, D.C: National Academies Press, 2005.

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National Research Council (U.S.). Committee on Army Unmanned Ground Vehicle Technology. and National Research Council (U.S.). Board on Army Science and Technology., eds. Technology development for Army unmanned ground vehicles. Washington, D.C: National Academies Press, 2002.

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4

R, Gerhart Grant, Shoemaker Chuck M, Gage Douglas W. 1945-, and Society of Photo-optical Instrumentation Engineers., eds. Unmanned ground vehicle technology IV: 2-3 April, 2002, Orlando, [Florida] USA. Bellingham, Wash: SPIE, 2002.

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5

Kwak, Se-Hung. Rule-based motion coordination for the Adaptive Suspension Vehicle on ternary-type terrain. Monterey, Calif: Naval Postgraduate School, 1990.

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6

John, Aloimonos, ed. Visual navigation: From biological systems to unmanned ground vehicles. Mahwah, NJ: Lawrence Erlbaum Associates, 1997.

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7

Flür, Wolfgang. Kraftwerk: I was a robot. London: Sanctuary, 2000.

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8

Hannan, Peter. Battle of the brain-sucking robots. New York: HarperTrophy, 2008.

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C, Crane, and United States. National Aeronautics and Space Administration., eds. Development of a prototype kinestatic platform for application to space and ground servicing tasks: Phase I, concept modeling : final report. [Washington, DC: National Aeronautics and Space Administration, 1993.

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Koeppl, James W. Robust statistics for spatial analysis: The bivariate normal home range model applied to syntopic populations of two species of ground squirrels. Lawrence, Kan: Museum of Natural History, the University of Kansas, 1985.

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Частини книг з теми "Ground robots"

1

Brumitt, Barry, and Anthony Stentz. "Dynamic Mission Planning for Multiple Mobile Robots." In Intelligent Unmanned Ground Vehicles, 221–34. Boston, MA: Springer US, 1997. http://dx.doi.org/10.1007/978-1-4615-6325-9_12.

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Lantos, Béla, and Lőrinc Márton. "Dynamic Models of Ground, Aerial and Marine Robots." In Nonlinear Control of Vehicles and Robots, 81–133. London: Springer London, 2011. http://dx.doi.org/10.1007/978-1-84996-122-6_3.

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Medeiros, Vivian S., Felix M. Escalante, Marcelo Becker, and Thiago Boaventura. "Impedance Control Analysis for Legged Locomotion in Oscillating Ground." In Synergetic Cooperation between Robots and Humans, 197–208. Cham: Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-47272-5_17.

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Hu, Cheng, Qinbing Fu, Tian Liu, and Shigang Yue. "A Hybrid Visual-Model Based Robot Control Strategy for Micro Ground Robots." In From Animals to Animats 15, 162–74. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-97628-0_14.

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Emmi, Luis, Mariano Gonzalez-de-Soto, and Pablo Gonzalez-de-Santos. "Configuring a Fleet of Ground Robots for Agricultural Tasks." In ROBOT2013: First Iberian Robotics Conference, 505–17. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-03413-3_37.

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Ronzhin, Andrey, Tien Ngo, Quyen Vu, and Vinh Nguyen. "Models and Algorithms of Interaction Between Heterogeneous Agricultural Robots." In Ground and Air Robotic Manipulation Systems in Agriculture, 25–43. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-86826-0_2.

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Cuesta, Francisco, Miguel Cordero, Luis Díaz, Antidio Viguria, and Aníbal Ollero. "A Particle Filter-Based Method for Ground-Based WSN Localization Using an Aerial Robot." In Cooperative Robots and Sensor Networks 2015, 143–58. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-18299-5_7.

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Bocharov, Nikita, Vasiliy Vorobushkov, Nikolay Paramonov, and Oleg Slavin. "Disaster Tolerance of On-Board Control Systems for Ground Robots." In Convergent Cognitive Information Technologies, 211–22. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-37436-5_19.

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Ronzhin, Andrey, Tien Ngo, Quyen Vu, and Vinh Nguyen. "Experimental Estimation of Means Developed for Interaction Between Heterogeneous Agricultural Robots." In Ground and Air Robotic Manipulation Systems in Agriculture, 65–85. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-86826-0_4.

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Ronzhin, Andrey, Tien Ngo, Quyen Vu, and Vinh Nguyen. "Recommendation System to Select the Composition of the Heterogeneous Agricultural Robots." In Ground and Air Robotic Manipulation Systems in Agriculture, 45–63. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-86826-0_3.

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Тези доповідей конференцій з теми "Ground robots"

1

Sharipov, Ulan, Sultan Kasenov, Muslim Alaran, Almira Askhatova, Yessimkhan Orynbay, and Prashant Jamwal. "Cloud-Integrated Navigation System for Scalable Autonomous Ground Robots." In 2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 1–6. IEEE, 2024. http://dx.doi.org/10.1109/m2vip62491.2024.10746213.

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Bartoli, Eric, Jean Michel Munoz, Gregoire Audouin, and Gildas Collin. "Implementation of Autonomous Ground Robots on Operational Sites." In ADIPEC. SPE, 2022. http://dx.doi.org/10.2118/211242-ms.

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Abstract One of the missions of the TotalEnergies’ R&D is to pave the way for tomorrow's simpler, streamlined and less expensive facilities. The vision is focused on unmanned installations in which autonomous ground robots are key components. In 2017, the ARGOS (Autonomous Robots for Gas and Oil Sites) Challenge delivered the first prototype of a new generation of autonomous, ATEX-compliant ground robots capable of detecting anomalies. Based on this success, TotalEnergies started a few projects with the aim to introduce and standardize robotics on O&G sites. The first project is the development of a series of autonomous robots, designed to withstand the rough O&G environment for long durations: an inspection robot and an operator robot. The second project is the adaptation of the standard methods of engineering operations for green-field developments as well as preparing the implementation of robots on brownfields. The third one is the development of a specific environment to remotely supervise a fleet of robots operating simultaneously on a same site. A major take away for the success of robotics implementation is increasing the technological readiness as well as usability and acceptance of the whole robotics operation system. This can be verified only through exposure to users in a realistic environment. After each major development, their proper achievement is measured following a robust process of observation in different contexts. An incremental approach for trials was implemented from testing in specific laboratory conditions up to long duration pilots on major installations under the custody of the future users. Those complex tests are a tremendous source of deep insight in understanding robotic operations and allowing the research to be pushed further towards a more practical solution for the petroleum industry. The presentation will highlight the first tangible results from the operational implementation and prototypes testing of robots and the readiness of robotics for Oil and Gas. The experience gained by TotalEnergies in developing Robotics Operations through testing it extensively in various industrial contexts, represents a unique case with this large scale of usages. It was already shared with some of our peers and this paper is a great opportunity to expose to the Oil and Gas industry to our vision of how to prepare the future of unmanned, safe and environmentally friendly operations.
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Munoz, Jean-Michel, Eric Bartoli, Grégoire Audouin, Gildas Collin, and Khalid Mateen. "Generating Value from Inspection Ground Robots on Operational Sites." In Offshore Technology Conference. OTC, 2022. http://dx.doi.org/10.4043/32112-ms.

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Abstract Over the past few years, many communications were made by robot manufacturers showing inspection robot prototypes on production sites. As the first autonomous and explosion proof inspection robots become commercial, and even if oil & gas operators are more and more interested, many have difficulty seeing how value can be generated with this new tool. This paper will describe TotalEnergies' journey towards robot implementation on site. TotalEnergies' use of robotics on site comes from a vision of a new operating philosophy where sites will be unattended for very long periods. Based on the activities that need to be done between human interventions, TotalEnergies engaged in the development of different types of robots. Even though robots are new tools, they must comply with existing operating procedures as much as possible to be adopted by field operations teams. Among the points that require special attention for efficient operations, are robot capabilities, mission planning, data post-processing and full integration of the robots into the company's IT systems. The best way to get robots fit for purpose for an oil & gas operator is to be able to weigh in on the robots' specifications by providing the manufacturer challenging use cases. Doing so, features like explosion proof design, autonomy, long arm and more become obvious. Expectations from field operators are quite high when a robot is on site. They imagine that the robot will "start doing things", not realizing that the robot is an empty shell even if it is autonomous. To prepare operations with robots, a digital model of the installation must be available, and a maintenance/operation engineering exercise must be done to highlight the step-by-step instructions that will be given to the robots. The difficulty with the data collected by the robot is that it can rarely be used directly as we do for numerical values coming from transmitters. In most cases, the interesting information like a value, a status open/close or on/off, needs to be extracted from an image, a video or another support by artificial intelligence. Finally, the robot cannot be an independent piece of equipment on site and must be treated like any other package by the site control system. Starting with TotalEnergies' roadmap on robotics, the paper will give feedback on various field trials from different sites, combining altogether nearly one thousand missions. Then, a focus will be made on how to prepare and integrate robotics operations on site to be able to scale up and open this new frontier for improved safety, reduced environmental footprint and costs and increased production efficiency.
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Peng, Huei, and A. Galip Ulsoy. "IMPROVED SAFETY AND MOBILITY OF GROUND ROBOTS." In 2024 NDIA Michigan Chapter Ground Vehicle Systems Engineering and Technology Symposium. 2101 Wilson Blvd, Suite 700, Arlington, VA 22201, United States: National Defense Industrial Association, 2024. http://dx.doi.org/10.4271/2024-01-3308.

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<title>ABSTRACT</title> <p>The main goal of this paper is to report recent progress on two example projects supported within the Ground Robotics Reliability Center (GRRC), a TARDEC supported research center headquartered at the University of Michigan. In the first project, the concept of Velocity Occupancy Space (VOS), a new navigation algorithm that allows a robot to operate using only a range finding sensor in an unknown environment was developed. This method helps a mobile robot to avoid stationary and moving obstacles while navigating towards a target. The second project highlighted is related to energy and power requirement of mobile robots. Hazardous terrains pose challenges to the operation of mobile robots. To enable their safe and efficient operations, it is necessary to detect the terrain type and to modify operation and control strategies in real-time. A research project supported by GRRC has developed a closed-form wheel-soil model. Computational efficiency of this model is improved by avoiding traditional recursive solution of the model under binary search. Results from these two projects are expected to improve the safety and mobility of mobile robots.</p>
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da Silva, G. L. L., M. M. Cordeiro, M. Galassi, F. M. Coelho, E. Hwang, E. C. J. Silva, E. C. C. Bassoli, B. C. Porto, and C. C. D. Henriques. "Evaluation of the Potential Impact of Ground Robots on FPSO Operations." In Offshore Technology Conference Brasil. OTC, 2023. http://dx.doi.org/10.4043/32872-ms.

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Abstract The objective of this paper is to present Petrobras’ learnings when evaluating the routine of a FPSO (Floating Production, Storage and Offloading) asset crew to identify scenarios for the application of robotics in day-to-day offshore activities. The method used for the studies presented in this paper consists of surveying archived data recordings in objective metric criteria, to evaluate the leverage of robotic assistance. A larger perspective analysis to one pre-salt typical FPSO reveals three main groups of key activities in terms of people on board: operator inspection/surveillance rounds, work at height, especially when scaffolding is required, and painting campaigns (surface preparation and application of the coating). Each of these three activity groups (operator round, work at height, painting) opened a set of robotics initiatives within Petrobras. For this paper, we delved into the analysis of recurrent operational tasks performed during a year of operations for five pre-salt FPSOs and which could be impacted and benefited by the application of ground robots. In order to illustrate the potential of the applications presented here in terms of values, the first attempt of analysis was carried out through the SAP™ input logs for one of these five FPSOs. The logs have shown checklists performed by the operators over a year, comprising 6,663 pieces of equipment, 16,148 checklist items, 497 different types of tasks, and 18,305 equivalent man-hours/year. This is equivalent to 5 seats on board, which can increase to 10 to 15 people, depending on the work shift adopted. It is worth mentioning that this number refers to one FPSO only and was just a preliminary analysis, from which the inspiration for more detailed studies was extracted, since the Company currently manages a fleet of 42 FPSOs. These numbers reveal a glimpse of the addressable market size of ground robots for routine offshore verification tasks. However, while consistency of inspection and uninterrupted availability are a premium associated with the use of robots, a qualitative analysis with continuous updates must be performed to confirm the feasibility of robotization given current and future capabilities of the robot. An initial analysis suggests that 30% to 50% of the theoretical equivalent hours per year could be freed up.
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Lee, Sam, Nathan P. Lucas, Alex Cao, Abhilash Pandya, and R. Darin Ellis. "AN AUGMENTED REALITY UAV-GUIDED GROUND NAVIGATION INTERFACE IMPROVE HUMAN PERFORMANCE IN MULTI-ROBOT TELE-OPERATION." In 2024 NDIA Michigan Chapter Ground Vehicle Systems Engineering and Technology Symposium. 2101 Wilson Blvd, Suite 700, Arlington, VA 22201, United States: National Defense Industrial Association, 2024. http://dx.doi.org/10.4271/2024-01-3323.

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<title>ABSTRACT</title> <p>This research proposes a human-multirobot system with semi-autonomous ground robots and UAV view for contaminant localization tasks. A novel Augmented Reality based operator interface has been developed. The interface uses an over-watch camera view of the robotic environment and allows the operator to direct each robot individually or in groups. It uses an A* path planning algorithm to ensure obstacles are avoided and frees the operator for higher-level tasks. It also displays sensor information from each individual robot directly on the robot in the video view. In addition, a combined sensor view can also be displayed which helps the user pin point source information. The sensors on each robot monitor the contaminant levels and a virtual display of the levels is given to the user and allows him to direct the multiple ground robots towards the hidden target. This paper reviews the user interface and describes several initial usability tests that were performed. This research demonstrates the development of a humanmultirobot interface that has the potential to improve cooperative robots for practical applications.</p>
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Pietrzyk, Timothy, and Ty Valascho. "Implementation of a Robotic Rocker-Bogie Prototype." In 2024 NDIA Michigan Chapter Ground Vehicle Systems Engineering and Technology Symposium. 2101 Wilson Blvd, Suite 700, Arlington, VA 22201, United States: National Defense Industrial Association, 2024. http://dx.doi.org/10.4271/2024-01-3871.

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<title>ABSTRACT</title> <p>Currently, many small Army ground robots have mobility configurations containing tracks with sets of dual or quad flipper configurations. Many of these robots include the iRobot PackBot, Talon, and Dragon Runner. While the preceding robotic designs have allowed these robots to navigate over obstacles and across low traction environments, an increasing need for agile robotic platforms in complex environments involving subterranean and urban structure missions will be critical in the future. Therefore, a new mobility system for dismounted ground robots is being researched to aid in the exploration, mapping, and identification by targets of interest for dense urban environments. This paper discusses one possibility for a new small CRS-I sized ground robot mobility system that is inspired by the rocker-bogie designs of the Mars rover systems.</p> <p><bold>Citation:</bold> Timothy Pietrzyk, Ty Valascho “Robotic Rocker-Bogie Mechanism Prototype”, In <italic>Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium</italic> (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2019.</p>
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Lee, Sam, Shawn Hunt, Alex Cao, and Abhilash Pandya. "VIRTUAL INTERFACE WITH GUARDED TELEOPERATION CONTROL OF MULTIPLE HETEROGENEOUS ROBOTS." In 2024 NDIA Michigan Chapter Ground Vehicle Systems Engineering and Technology Symposium. 2101 Wilson Blvd, Suite 700, Arlington, VA 22201, United States: National Defense Industrial Association, 2024. http://dx.doi.org/10.4271/2024-01-3191.

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<title>ABSTRACT</title> <p>The objective is to develop a human-multiple robot system that is optimized for teams of heterogeneous robots control. A new human-robot system permits to ease the execution of remote tasks. An operator can efficiently control the physical multi-robots using the high level command, Drag-to-Move method, on the virtual interface. The innovative virtual interface has been integrated with Augmented Reality that is able to track the location and sensory information from the video feed of ground and aerial robots in the virtual and real environment. The advanced feature of the virtual interface is guarded teleoperation that can be used to prevent operators from accidently driving multiple robots into walls and other objects.</p>
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Zhang, Mingming, Yiming Chen, and Mingyang Li. "Vision-Aided Localization For Ground Robots." In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019. http://dx.doi.org/10.1109/iros40897.2019.8968521.

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Michael, Nathan, Jonathan Fink, and Vijay Kumar. "Controlling a team of ground robots via an aerial robot." In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2007. http://dx.doi.org/10.1109/iros.2007.4399589.

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Звіти організацій з теми "Ground robots"

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Theisen, Bernard L. The 15th Annual Intelligent Ground Vehicle Competition: Intelligent Ground Robots Created by Intelligent Students. Fort Belvoir, VA: Defense Technical Information Center, September 2007. http://dx.doi.org/10.21236/ada473227.

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Grand-Clément, Sarah, and Theò Bajon. Uncrewed Ground Systems: A Primer. UNIDIR, October 2022. http://dx.doi.org/10.37559/caap/22/erc/11.

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The development of uncrewed ground systems (UGSs) – which include vehicles that can be piloted either remotely or semi-autonomously – is increasing. This primer introduces the different types of UGS (or "ground robots"), describes their key components and functions, and outlines the main challenges that these systems can pose to international security. The focus of the primer is on describing the main areas of technological innovation and development related to the key components that comprise UGSs, outlining the anticipated areas of progress and potential concern.
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EICKER, PATRICK J. The Embudito Mission: A Case Study of the Systematics of Autonomous Ground Mobile Robots. Office of Scientific and Technical Information (OSTI), February 2001. http://dx.doi.org/10.2172/786622.

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4

Zarrieß, Benjamin, and Jens Claßen. On the Decidability of Verifying LTL Properties of Golog Programs. Technische Universität Dresden, 2013. http://dx.doi.org/10.25368/2022.200.

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Golog is a high-level action programming language for controlling autonomous agents such as mobile robots. It is defined on top of a logic-based action theory expressed in the Situation Calculus. Before a program is deployed onto an actual robot and executed in the physical world, it is desirable, if not crucial, to verify that it meets certain requirements (typically expressed through temporal formulas) and thus indeed exhibits the desired behaviour. However, due to the high (first-order) expressiveness of the language, the corresponding verification problem is in general undecidable. In this paper, we extend earlier results to identify a large, non-trivial fragment of the formalism where verification is decidable. In particular, we consider properties expressed in a first-order variant of the branching-time temporal logic CTL*. Decidability is obtained by (1) resorting to the decidable first-order fragment C² as underlying base logic, (2) using a fragment of Golog with ground actions only, and (3) requiring the action theory to only admit local effects.
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5

Bedell, Brian P. Small Ground Robot's Effectiveness and Acquisition Strategy. Fort Belvoir, VA: Defense Technical Information Center, June 2010. http://dx.doi.org/10.21236/ada561210.

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6

Bak, A. Spicer, Patrick Durkin, Brittany Bruder, Matthew Saenz, Michael Forte, and Katherine Brodie. Amphibious uncrewed ground vehicle for coastal surfzone survey. Engineer Research and Development Center (U.S.), January 2024. http://dx.doi.org/10.21079/11681/48130.

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The capability of a commercial off-the-shelf amphibious bottom crawling robot is explored for surveying seamless topography and bathymetry across the beachface, surfzone, and very nearshore. A real-time-kinematic (RTK) antenna on a mast was added to the robotic platform, a Bayonet-350 (previously the C2i SeaOx). Data collected from the robot were compared with those collected by the Coastal Research Amphibious Buggy (CRAB) and the Lighter Amphibious Resupply Cargo (LARC), unique amphibious vessels capable of collecting seamless topography and bathymetry in use for decades at the US Army Engineer Research and Development Center’s Field Research Facility (FRF). Data were compared on five different days in a range of wave conditions (Hs < 1 m in 8-m depth) resulting in a root-mean square difference of 8.7 cm and bias of 2 cm for 24 different cross-shore profile comparisons. Additionally, a repeatability test was performed to assess measurement uncertainty. The repeatability test indicated a total vertical uncertainty (TVU) of 5.8 cm, with the highest spatial error at the shoreline.
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Christie, Benjamin, Osama Ennasr, and Garry Glaspell. ROS integrated object detection for SLAM in unknown, low-visibility environments. Engineer Research and Development Center (U.S.), November 2021. http://dx.doi.org/10.21079/11681/42385.

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Integrating thermal (or infrared) imagery on a robotics platform allows Unmanned Ground Vehicles (UGV) to function in low-visibility environments, such as pure darkness or low-density smoke. To maximize the effectiveness of this approach we discuss the modifications required to integrate our low-visibility object detection model on a Robot Operating System (ROS). Furthermore, we introduce a method for reporting detected objects while performing Simultaneous Localization and Mapping (SLAM) by generating bounding boxes and their respective transforms in visually challenging environments.
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Frederick, Robert A., Filz Jr., Janetka Laura M., Smith Melanie G., and Nathan W. Integrated Unmanned Air-Ground Robotics System, Volume 1. Fort Belvoir, VA: Defense Technical Information Center, August 2001. http://dx.doi.org/10.21236/ada397955.

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Frederick, Robert A., Filz Jr., Janetka Laura M., Smith Melanie G., and Nathan W. Integrated Unmanned Air-Ground Robotics System, Volume 2. Fort Belvoir, VA: Defense Technical Information Center, August 2001. http://dx.doi.org/10.21236/ada397956.

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Frederick, Robert A., Filz Jr., Janetka Laura M., Smith Melanie G., and Nathan W. Integrated Unmanned Air-Ground Robotics System, Volume 3. Fort Belvoir, VA: Defense Technical Information Center, August 2001. http://dx.doi.org/10.21236/ada397957.

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