| Description |
1 online resource (1 volume) |
| Series |
Lecture notes in networks and systems ; volume 429 |
|
Lecture notes in networks and systems ; v. 429.
|
| Contents |
Intro -- Preface -- Contents -- Motion Planning and Control -- Design for a Dual-Redundant Flight Control Computer Using a Model Predictive Voting Algorithm -- 1 Introduction -- 2 Related Work -- 3 Methodology -- 3.1 Dual-Redundant Flight Control Computer System Design -- 3.2 Model Predictive Voting Algorithm (MPVA) -- 4 Simulation Results -- 5 Conclusions -- References -- TPL: Trajectory Planner for Target Tracking in Low-Light Environments -- 1 Introduction -- 2 Related Works -- 3 Methodology -- 3.1 System Overview -- 3.2 Waypoints Generation with Object Detection |
|
3.3 Trajectory Construction -- 3.4 Tracking Controller -- 4 Experiment -- 4.1 Validation of Trajectory Planner and Controller -- 4.2 Real-World Experiment -- 5 Result and Discussion -- 6 Conclusion -- References -- Design of Foothold Decision Model in Convex Model Predictive Control for Legged Robots -- 1 Introduction -- 2 Dynamics and Control -- 2.1 3D Single Rigid Body Hybrid Model -- 2.2 Variation-Based Linearization -- 2.3 Vectorization -- 2.4 Model Predictive Control -- 3 Simulational Results -- 3.1 Comparative Simulation -- 3.2 Challenging Tasks -- 4 Conclusion -- References |
|
Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control -- 1 Introduction -- 1.1 Model Predictive Control -- 1.2 Reinforcement Learning -- 2 Methodology -- 2.1 Overview -- 2.2 Nonlinear Model Predictive Control -- 2.3 Learning Footstep Planning Policy -- 3 Result -- 3.1 Environment Setup -- 3.2 Comparison with Heuristic Planner -- 4 Conclusion -- References -- Study on Geometry Based Collision Avoidance for Formation Flight by Redefinition of Safety Radius -- 1 Introduction -- 2 Guidance Law of Formation Flight -- 3 Collision Avoidance for Formation Flight |
|
3.1 Obstacle Detection and Estimation -- 3.2 Redefinition of Safe Radius -- 3.3 Collision Detection and Avoidance -- 4 Experiment -- 4.1 System Configuration -- 4.2 Flight Experiment -- 5 Conclusion -- Reference -- Socially Acceptable Route Planning and Trajectory Behavior Analysis of Personal Mobility Device for Mobility Management with Improved Sensing -- 1 Introduction -- 2 Socially Acceptable Global Path Analysis for PMD -- 2.1 Map Visualization of Shared Space in an Area -- 2.2 Traffic Flow and Betweenness Centrality (BC) for Finding Out Major Links |
|
2.3 Design Criteria for Selecting Social Acceptable Route -- 2.4 Cost Function of Links for Global Path Search -- 2.5 Global Path Analysis -- 3 Socially Acceptable Local Path Management for PMD -- 3.1 Modelling of Socially Acceptable Local Navigation -- 3.2 Local Navigation Analysis -- 4 Conclusion -- References -- Automatic Parameterization of Motion and Force Controlled Robot Skills -- 1 Introduction -- 2 Related Work -- 2.1 Contact Skill Learning -- 2.2 Hybrid Position-Force Control -- 3 Skill Architecture -- 3.1 Skill Attributes -- 3.2 Skill Parameters -- 4 Skill Implementation -- 4.1 Slide |
| Summary |
This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on robotics and artificial intelligence. This book is based on a collection of papers presented at the 9th International Conference on Robot Intelligence Technology and Applications (RiTA), held at KAIST in Daejeon, Korea, in a hybrid format, on December 1617, 2021. Humankind is getting through the third year of COVID-19 pandemic. While this pandemic has made everyones life so challenging, it has also expedited transition of our everyday lives into a new form, often called "the new normal." Although many people often use the terminology, perhaps we still do not have a consensus about what it is and what is should be like. One thing that is clear is that robotics and artificial intelligence technologies are playing critical roles in this phase transition of our everyday lives. We see last-mile delivery robots on the street, AI-embedded service robots in the restaurants, uninhabited shops, non-face-to-face medical services, conferences and talks in metaverses and AI-based online education programs. For better readability, the total of 53 papers are grouped into four chapters: Chapter I: Motion Planning and Control; Chapter II: Design and Robot Application; Chapter III: Sensing, Perception and Recognition; and Chapter IV: Cognition, Autonomy and Intelligence. For those who have research on robot intelligence technology, we believe this book will help them understand the recent robot technologies and applications and enhance their study |
| Notes |
Conference proceedings |
|
Includes author index |
|
Print version record |
| Subject |
Robotics -- Congresses
|
|
Artificial intelligence -- Congresses
|
|
Artificial intelligence
|
|
Robotics
|
| Genre/Form |
proceedings (reports)
|
|
Conference papers and proceedings
|
|
Conference papers and proceedings.
|
|
Actes de congrès.
|
| Form |
Electronic book
|
| Author |
Kim, Jinwhan, editor
|
|
Han'guk Kwahak Kisurwŏn, host institution.
|
| ISBN |
9783030976729 |
|
3030976726 |
|
