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Conference

International Conference on Advanced Robotics 

About: International Conference on Advanced Robotics is an academic conference. The conference publishes majorly in the area(s): Robot & Mobile robot. Over the lifetime, 1319 publications have been published by the conference receiving 18335 citations.


Papers
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Proceedings Article
01 Jul 2003
TL;DR: Current usage of Player and Stage is reviewed, and some interesting research opportunities opened up by this infrastructure are identified.
Abstract: This paper describes the Player/Stage software tools applied to multi-robot, distributed-robot and sensor network systems. Player is a robot device server that provides network transparent robot control. Player seeks to constrain controller design as little as possible; it is device independent, non-locking and language- and style-neutral. Stage is a lightweight, highly configurable robot simulator that supports large populations. Player/Stage is a community Free Software project. Current usage of Player and Stage is reviewed, and some interesting research opportunities opened up by this infrastructure are identified.

1,628 citations

Proceedings ArticleDOI
27 Jul 2015
TL;DR: The Yale-CMU-Berkeley (YCB) Object and Model set is intended to be used for benchmarking in robotic grasping and manipulation research, and provides high-resolution RGBD scans, physical properties and geometric models of the objects for easy incorporation into manipulation and planning software platforms.
Abstract: In this paper we present the Yale-CMU-Berkeley (YCB) Object and Model set, intended to be used for benchmarking in robotic grasping and manipulation research. The objects in the set are designed to cover various aspects of the manipulation problem; it includes objects of daily life with different shapes, sizes, textures, weight and rigidity, as well as some widely used manipulation tests. The associated database provides high-resolution RGBD scans, physical properties and geometric models of the objects for easy incorporation into manipulation and planning software platforms. A comprehensive literature survey on existing benchmarks and object datasets is also presented and their scope and limitations are discussed. The set will be freely distributed to research groups worldwide at a series of tutorials at robotics conferences, and will be otherwise available at a reasonable purchase cost.

619 citations

Proceedings ArticleDOI
07 Jul 1997
TL;DR: An implemented algorithm for a distributed team of autonomous mobile robots to search for an object, and when one robot finds it, they all gather around it, and then manipulate ("rescue") it.
Abstract: We present an implemented algorithm for a distributed team of autonomous mobile robots to search for an object. When one robot finds it, they all gather around it, and then manipulate ("rescue") it. The algorithm exploits parallelism, with all robots searching concurrently, and also teamwork, because the manipulation is performed cooperatively. Our algorithm is fully distributed; the robots communicate with each other, and there is no central server or supervisor. Applications include hazardous waste cleanup, bomb detection and removal, materials delivery, and eventually the rescue of survivors of accidents or disasters. The search and rescue program was written using MOVER, a programming system for distributed tasks. The system provides high-level programming constructs for task distribution across robots. Finally, MOVER encourages code re-use because the task distribution mechanism can synchronize any set of procedures (without rewriting), allowing the programmer of a distributed task to access libraries of robot software written for single-robot tasks.

301 citations

Proceedings ArticleDOI
01 Jan 2013
TL;DR: This paper presents the design and fabrication of a robust, fiber-reinforced soft bending actuator where its bend radius and bending axis can be mechanically-programed with a flexible, selectively-placed conformal covering that acts to mechanically constrain motion.
Abstract: Established design and fabrication guidelines exist for achieving a variety of motions with soft actuators such as bending, contraction, extension, and twisting. These guidelines typically involve multi-step molding of composite materials (elastomers, paper, fiber, etc.) along with specially designed geometry. In this paper we present the design and fabrication of a robust, fiber-reinforced soft bending actuator where its bend radius and bending axis can be mechanically-programed with a flexible, selectively-placed conformal covering that acts to mechanically constrain motion. Several soft actuators were fabricated and their displacement and force capabilities were measured experimentally and compared to demonstrate the utility of this approach. Finally, a prototype two-digit end-effector was designed and programmed with the conformal covering to shape match a rectangular object. We demonstrated improved gripping force compared to a pure bending actuator. We envision this approach enabling rapid customization of soft actuator function for grasping applications where the geometry of the task is known a priori.

242 citations

Proceedings ArticleDOI
27 Jul 2015
TL;DR: In this article, the authors evaluate the application of the Kinect v2 depth sensor for mobile robot navigation and analyze the data quality of the measurements for indoors and outdoors in overcast and direct sunlight situations.
Abstract: With the introduction of the Microsoft Kinect for Windows v2 (Kinect v2), an exciting new sensor is available to robotics and computer vision researchers. Similar to the original Kinect, the sensor is capable of acquiring accurate depth images at high rates. This is useful for robot navigation as dense and robust maps of the environment can be created. Opposed to the original Kinect working with the structured light technology, the Kinect v2 is based on the time-of-flight measurement principle and might also be used outdoors in sunlight. In this paper, we evaluate the application of the Kinect v2 depth sensor for mobile robot navigation. The results of calibrating the intrinsic camera parameters are presented and the minimal range of the depth sensor is examined. We analyze the data quality of the measurements for indoors and outdoors in overcast and direct sunlight situations. To this end, we introduce empirically derived noise models for the Kinect v2 sensor in both axial and lateral directions. The noise models take the measurement distance, the angle of the observed surface, and the sunlight incidence angle into account. These models can be used in post-processing to filter the Kinect v2 depth images for a variety of applications.

242 citations

Performance
Metrics
No. of papers from the Conference in previous years
YearPapers
20211
202026
2019124
2017130
201627
2015138