New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy for Fast Digitalization of Difficult-to-Access Interiors of Historical Monuments
IEEE Robotics & Automation Magazine
by Pavel Petracek, Vit Kratky, Tomas Baca, Matej Petrlik, Martin Saska
3w ago
Digital documentation of large interiors of historical buildings is an exhausting task as most of the areas of interest are beyond typical human reach. We advocate the use of fully autonomous teams of cooperating multirotor UAVs to speed up the documentation process by several orders of magnitude while allowing for a repeatable, accurate, and condition-independent solution capable of precise, collision-free operation at great heights. In particular, we present a universal autonomy for unmanned aerial vehicles (UAVs) cooperating aerially within a team while documenting the interiors of histor ..read more
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Reinforcement Learning for Outdoor Balloon Navigation: A Successful Controller for an Autonomous Balloon
IEEE Robotics & Automation Magazine
by Simon L. Jeger, Nicholas Lawrance, Florian Achermann, Oscar Pang, Mirko Kovac, Roland Y. Siegwart
3w ago
Autonomous ballooning allows for energy-efficient long-range missions but introduces significant challenges for planning and control algorithms, due to their single degree of actuation: vertical rate control through either buoyancy or vertical thrust. Lateral motion is typically due to the wind; thus, balloon flight is both nonholonomic and often stochastic. Finally, wind is very challenging to sense remotely, and estimates are often available only via low-temporal-and-spatial-frequency predictions from large-scale weather models and direct in situ measurements. In this work, reinforcement l ..read more
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Fully Autonomous Brick Pick and Place in Fields by Articulated Aerial Robot: Results in Various Outdoor Environments
IEEE Robotics & Automation Magazine
by Tomoki Anzai, Moju Zhao, Takuzumi Nishio, Fan Shi, Kei Okada, Masayuki Inaba
3w ago
Picking and placing of objects by aerial robots in fields is an important and challenging task for a range of outdoor activities, including industry and rescue operations. General strategies depend on the magnetic force to the pick object; however, this approach lacks both generality and robustness. Therefore, we focus on an articulated structure to grasp bricking. Another issue in performing pick-and-place tasks in fields is autonomous recognition using onboard sensors. In this article, we present a fully autonomous pick-and-place scheme in outdoor environments using articulated aerial robo ..read more
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An Aerial Manipulator for Robot-to-Robot Torch-Relay Task: System Design and Control Scheme
IEEE Robotics & Automation Magazine
by Guangyu Zhang, Yuqing He, Liying Yang, Chaoxiong Huang, Yanchun Chang, Siliang Li
3w ago
Torch relay is an important tradition of the Olympics and heralds the start of the games. Robots applied in the torch-relay activity can not only demonstrate the technological capability of humans to the world but also provide a sight of human lives with robots in the future. This article presents an aerial manipulator designed for the robot-to-robot torch-relay task of the Beijing 2022 Winter Olympics. This aerial manipulator system is composed of a quadrotor, a 3 degree of freedom (DoF) manipulator, and a monocular camera. This article primarily describes the system design and system contr ..read more
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Fully Autonomous Trustworthy Unmanned Aerial Vehicle Teamwork: A Research Guideline Using Level 2 Blockchain
IEEE Robotics & Automation Magazine
by Berk Buzcu, Mert Özgün, Önder Gürcan, Reyhan Aydogan
3w ago
The vast range of possible fully autonomous multiunmanned aerial vehicle (multi-UAV) operations is creating a new and expanding market where technological advances are happening at a breakneck pace. The integration of UAVs in airspaces (not just for military purposes but also for civil, commercial, and leisure use) is essential in realizing the potential of this growing industry. Furthermore, with the advent of 6G, such integration will be cost-effective and more flexible. However, to reach widespread adoption, new models focusing on the safety, efficiency, reliability, and privacy of fully ..read more
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Uncertainty-Aware Trajectory Planning: Using Uncertainty Quantification and Propagation in Traversability Prediction of Planetary Rovers
IEEE Robotics & Automation Magazine
by Reiya Takemura, Genya Ishigami
3w ago
In an extreme environment, such as Mars or a volcanic area, mobile robots have been used in scientific missions, or as precursors for a future manned mission. The robot called a planetary exploration rover is managed by a space-qualified, radiation-hardened, and low-clock onboard computer, and autonomously travels over challenging terrain. For more about this article see link below. https://ieeexplore.ieee.org/document/10378974 For the open access PDF link of this article please click here. The post Uncertainty-Aware Trajectory Planning: Using Uncertainty Quantification and Propagation in ..read more
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Superresolution of Lunar Satellite Images for Enhanced Robotic Traverse Planning: Maximizing the Value of Existing Data Products for Space Robotics
IEEE Robotics & Automation Magazine
by J. I. Delgado-Centeno, P. Harder, V. Bickel, B. Moseley, F. Kalaitzis, S. Ganju, M. A. Olivares-Mendez, M. A. Olivares-Mendez
3w ago
Lunar exploration missions require detailed and accurate planning to ensure their safety. Remote sensing data, such as optical satellite imagery acquired by lunar orbiters, are key for the identification of future landing and mission sites. Here robot- and astronaut-scale obstacles are the most relevant to resolve; however, the spatial resolution of the available image data is often insufficient, particularly in the poorly illuminated polar regions of the moon, leading to uncertainty. This work shows how a novel single-image superresolution (SISR) application, the Adversarial Network for Unc ..read more
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Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics
IEEE Robotics & Automation Magazine
by Felix Wiebe, Shivesh Kumar, Lasse J. Shala, Shubham Vyas, Mahdi Javadi, Frank Kirchner
3w ago
Recent interest in the control of underactuated robots has surged significantly due to the impressive athletic behaviors shown by robots developed by, e.g., Boston Dynamics ( https://www.bostondynamics.com ), Agility Robotics ( https://agilityrobotics.com/robots ), and the Massachusetts Institute of Technology [1] . This gives rise to the need for canonical robotic hardware setups for studying underactuation and comparing learning and control algorithms for their performance and robustness. Similar to OpenAIGym [2] and Stable Baselines [3] , which provide simulated benchmarking environments ..read more
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Run to the Source: The Effective Reproducibility of Robotics Code Repositories
IEEE Robotics & Automation Magazine
by Enric Cervera
3w ago
In recent years the robotics community has actively embraced the open paradigm, and research articles are commonly enriched with the inclusion of a source code repository of software. However, the reproducibility of such code is not straightforward, and it may become increasingly difficult with the evolution of software. There is a need for providing not only the source code but also an executable version with all of the necessary library dependencies. A solution based on software containers is presented in this article, with some unique advantages. First, the executable package is automatic ..read more
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Paolo Dario to Receive the 2024 IEEE Robotics and Automation Technical Field Award
IEEE Robotics & Automation Magazine
by IEEE
3M ago
Paolo Dario has been selected as the recipient of the prestigious 2024 IEEE Robotics and Automation Technical Field Award (TFA). For more about this article see link below. https://ieeexplore.ieee.org/document/10474521 For the open access PDF link of this article please click here. The post Paolo Dario to Receive the 2024 IEEE Robotics and Automation Technical Field Award appeared first on IEEE Robotics & Automation Magazine ..read more
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