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Siddiqui, J. R., Andreasson, H., Driankov, D. & Lilienthal, A. J. (2016). Towards visual mapping in industrial environments: a heterogeneous task-specific and saliency driven approach. In: 2016 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at IEEE International Conference on Robotics and Automation (ICRA, Stockholm, Sweden, May 16-21, 2016 (pp. 5766-5773). Institute of Electrical and Electronics Engineers (IEEE), Article ID 7487800.
Open this publication in new window or tab >>Towards visual mapping in industrial environments: a heterogeneous task-specific and saliency driven approach
2016 (English)In: 2016 IEEE International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 5766-5773, article id 7487800Conference paper, Published paper (Refereed)
Abstract [en]

The highly percipient nature of human mind in avoiding sensory overload is a crucial factor which gives human vision an advantage over machine vision, the latter has otherwise powerful computational resources at its disposal given today’s technology. This stresses the need to focus on methods which extract a concise representation of the environment inorder to approach a complex problem such as visual mapping. This article is an attempt of creating a mapping system, which proposes an architecture that combines task-specific and saliency driven approaches. The proposed method is implemented on a warehouse robot. The proposed solution provide a priority framework which enables an industrial robot to build a concise visual representation of the environment. The method is evaluated on data collected by a RGBD sensor mounted on a fork-lift robot and shows promise for addressing visual mapping problems in industrial environments.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keywords
Image color analysis, Object detection, Robot sensing systems, Service robots, Training, Visualization
National Category
Engineering and Technology Computer Engineering
Research subject
Computer Science; Computerized Image Analysis; Computer and Systems Science; Computer Engineering; Computer Technology
Identifiers
urn:nbn:se:oru:diva-51234 (URN)10.1109/ICRA.2016.7487800 (DOI)000389516204136 ()2-s2.0-84977586825 (Scopus ID)978-146738026-3 (ISBN)
Conference
IEEE International Conference on Robotics and Automation (ICRA, Stockholm, Sweden, May 16-21, 2016
Funder
Knowledge Foundation
Available from: 2016-07-04 Created: 2016-07-04 Last updated: 2018-01-10Bibliographically approved
Andreasson, H., Bouguerra, A., Cirillo, M., Dimitrov, D. N., Driankov, D., Karlsson, L., . . . Stoyanov, T. (2015). Autonomous transport vehicles: where we are and what is missing. IEEE robotics & automation magazine, 22(1), 64-75
Open this publication in new window or tab >>Autonomous transport vehicles: where we are and what is missing
Show others...
2015 (English)In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 22, no 1, p. 64-75Article in journal (Refereed) Published
Abstract [en]

In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.

Keywords
Intelligent vehicles; Mobile robots; Resource management; Robot kinematics; Trajectory; Vehicle dynamics
National Category
Robotics
Identifiers
urn:nbn:se:oru:diva-44432 (URN)10.1109/MRA.2014.2381357 (DOI)000352030600010 ()2-s2.0-84925133099 (Scopus ID)
Available from: 2015-04-24 Created: 2015-04-24 Last updated: 2018-08-30Bibliographically approved
Palm, R. & Driankov, D. (2015). Velocity potentials and fuzzy modeling of fluid streamlines for obstacle avoidance of mobile robots. In: 2015 IEEE International Conference on Fuzzy Systems, (FUZZ-IEEE): . Paper presented at 2015 IEEE International Conference on Fuzzy Systems, (FUZZ-IEEE) Istanbul, Turkey, August 2-5, 2015 (pp. 1-8). IEEE Press
Open this publication in new window or tab >>Velocity potentials and fuzzy modeling of fluid streamlines for obstacle avoidance of mobile robots
2015 (English)In: 2015 IEEE International Conference on Fuzzy Systems, (FUZZ-IEEE), IEEE Press, 2015, p. 1-8Conference paper, Published paper (Refereed)
Abstract [en]

The use of the velocity potential of an incompressible fluid is an important and elegant tool for obstacle avoidance of mobile robots. Obstacles are modeled as cylindrical objects - combinations of cylinders can also form super obstacles. Possible trajectories of a vehicle are given by a set of streamlines around the obstacle computed by the velocity potential. Because of the number of streamlines and of data points involved therein, models of sets of streamlines for different sizes of obstacles are created first using dataset models and finally fuzzy models of streamlines. Once an obstacle appears in the sensor cone of the robot the set of streamlines is computed from which that streamline is selected that guarantees a smooth transition from/to the planned trajectory. Collisions with other robots are avoided by a combination of velocity potential and force potential and/or the change of streamlines during operation (lane hopping).

Place, publisher, year, edition, pages
IEEE Press, 2015
Keywords
obstacle avoidance; velocity potential; fuzzy modeling; streamlines
National Category
Robotics
Research subject
Informatics
Identifiers
urn:nbn:se:oru:diva-47940 (URN)10.1109/FUZZ-IEEE.2015.7337800 (DOI)000370288300002 ()978-1-4673-7428-6 (ISBN)
Conference
2015 IEEE International Conference on Fuzzy Systems, (FUZZ-IEEE) Istanbul, Turkey, August 2-5, 2015
Projects
AIR
Available from: 2016-02-04 Created: 2016-02-04 Last updated: 2017-10-17Bibliographically approved
Palm, R. & Driankov, D. (2014). Fluid mechanics for path planning and obstacle avoidance of mobile robots. In: J.Filipe, O. Gusikhin, K.Madani, J. Sasiadek (Ed.), ICINCO 2014 proceedings of the 11th International Conference on Informatics in Control Automation and Robotics: . Paper presented at 11th International Conference on Informatics in Control, Automation and Robotics, Vienna, Austria (pp. 231-238). SciTePress
Open this publication in new window or tab >>Fluid mechanics for path planning and obstacle avoidance of mobile robots
2014 (English)In: ICINCO 2014 proceedings of the 11th International Conference on Informatics in Control Automation and Robotics / [ed] J.Filipe, O. Gusikhin, K.Madani, J. Sasiadek, SciTePress, 2014, p. 231-238Conference paper, Published paper (Refereed)
Abstract [en]

Obstacle avoidance is an important issue for off-line path planning and on-line reaction to unforeseen appearance of obstacles during motion of a non-holonomic mobile robot along apredefined trajectory. Possible trajectories for obstacle avoidance are modeled by the velocity potential using a uniform flow plus a doublet representing a cylindrical obstacle. In the case of an appearance of an obstacle in the sensor cone of the robot a set of streamlines is computed from which a streamline is selected that guarantees a smooth transition from/to the planned trajectory. To avoid collisions with other robots a combination of velocity potential and force potential and/or the change of streamlines during operation (lane hopping) are discussed.

Place, publisher, year, edition, pages
SciTePress, 2014
Keywords
Mobile robots, obstacle avoidance, fluid mechanics, velocity potential
National Category
Engineering and Technology Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-38966 (URN)978-989-758-040-6 (ISBN)
Conference
11th International Conference on Informatics in Control, Automation and Robotics, Vienna, Austria
Projects
SAUNA - Safe Autonomous Navigation
Funder
Knowledge Foundation
Available from: 2014-11-25 Created: 2014-11-25 Last updated: 2018-01-11Bibliographically approved
Palm, R., Kadmiry, B., Iliev, B. & Driankov, D. (2009). Recognition and teaching of robot skills by fuzzy time-modeling. In: J. P. Carvalho, D. U. Kaymak, J. M. C. Sousa (Ed.), J. P. Carvalho, D. U. Kaymak, J. M. C. Sousa (Ed.), Proceedings of the Joint 2009 international fuzzy systems association world congress and 2009 European society of fuzzy logic and technology conference: . Paper presented at Joint International-Fuzzy-Systems-Association World Congress/European-Society-Fuzzy-Logic-and-Technology Conference, Lisbon, Portugal, Jul 20-24 (pp. 7-12). Linz, Austria: Johannes Kepler university
Open this publication in new window or tab >>Recognition and teaching of robot skills by fuzzy time-modeling
2009 (English)In: Proceedings of the Joint 2009 international fuzzy systems association world congress and 2009 European society of fuzzy logic and technology conference / [ed] J. P. Carvalho, D. U. Kaymak, J. M. C. Sousa, Linz, Austria: Johannes Kepler university , 2009, p. 7-12Conference paper, Published paper (Other academic)
Abstract [en]

Robot skills are low-level motion and/or grasping capabilities that constitute the basic building blocks from which tasks are built. Teaching and recognition of such skills can be done by Programming-by-Demonstration approach. A human operator demonstrates certain skills while his motions are recorded by a data-capturing device and modeled in our case via fuzzy clustering and Takagi-Sugeno modeling technique. The resulting skill models use the time as input and the operator's actions and reactions as outputs. Given a test skill by the human operator the robot control system recognizes the individual phases of skills and generates the type of skill shown by the operator.

Place, publisher, year, edition, pages
Linz, Austria: Johannes Kepler university, 2009
National Category
Control Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-19378 (URN)000279170600002 ()2-s2.0-80053645996 (Scopus ID)978-989-95079-6-8 (ISBN)
Conference
Joint International-Fuzzy-Systems-Association World Congress/European-Society-Fuzzy-Logic-and-Technology Conference, Lisbon, Portugal, Jul 20-24
Available from: 2011-10-04 Created: 2011-10-04 Last updated: 2017-10-18Bibliographically approved
Kadmiry, B. & Driankov, D. (2004). A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control. Fuzzy sets and systems (Print), 146(3), 313-347
Open this publication in new window or tab >>A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control
2004 (English)In: Fuzzy sets and systems (Print), ISSN 0165-0114, E-ISSN 1872-6801, Vol. 146, no 3, p. 313-347Article in journal (Refereed) Published
Abstract [en]

In this paper we address the design of a fuzzy flight controller that achieves stable and robust -aggressive- manoeuvrability for an unmanned helicopter. The fuzzy flight controller proposed consists of a combination of a fuzzy gain scheduler and linguistic (Mamdani-type) controller. The fuzzy gain scheduler is used for stable and robust altitude, roll, pitch, and yaw control. The linguistic controller is used to compute the inputs to the fuzzy gain scheduler, i.e., desired values for roll, pitch, and yaw at given desired altitude and horizontal velocities. The flight controller is obtained and tested in simulation using a realistic nonlinear MIMO model of a real unmanned helicopter platform, the APID-MK

Place, publisher, year, edition, pages
Elsevier, 2004
Keywords
unmanned helicopter, Takagi-Sugeno fuzzy control, fuzzy gain scheduling, linguistic modelling and control
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-42489 (URN)10.1016/j.fss.2003.07.002 (DOI)2480 (Local ID)2480 (Archive number)2480 (OAI)
Available from: 2009-10-07 Created: 2015-02-06 Last updated: 2018-01-11Bibliographically approved
Kadmiry, B. & Driankov, D. (2004). A fuzzy gain-scheduler for the attitude control of an unmanned helicopter. IEEE transactions on fuzzy systems, 12(4), 502-515
Open this publication in new window or tab >>A fuzzy gain-scheduler for the attitude control of an unmanned helicopter
2004 (English)In: IEEE transactions on fuzzy systems, ISSN 1063-6706, E-ISSN 1941-0034, ISSN 1063-6706/04, Vol. 12, no 4, p. 502-515Article in journal (Refereed) Published
Abstract [en]

In this paper, we address the design of an attitude controller that achieves stable, and robust aggressive maneuverability for an unmanned helicopter. The controller proposed is in the form of a fuzzy gain-scheduler, and is used for stable and robust altitude, roll, pitch, and yaw control. The controller is obtained from a realistic nonlinear multiple-input-multiple-output model of a real unmanned helicopter platform, the APID-MK3. The results of this work are illustrated by extensive simulation, showing that the objective of aggressive, and robust maneuverability has been achieved.

Keywords
Fuzzy gain scheduling, output-feedback fuzzy control, Takagi–Sugeno fuzzy control, unmanned helicopter
National Category
Engineering and Technology Computer Sciences
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-39023 (URN)10.1109/TFUZZ.2004.832539 (DOI)
Funder
Knut and Alice Wallenberg Foundation
Available from: 2014-11-26 Created: 2014-11-26 Last updated: 2018-01-11Bibliographically approved
Saffiotti, A., Driankov, D. & Duckett, T. (2004). A system for vision based human-robot interaction. Paper presented at IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR, Bonn, Germany, May 2004.
Open this publication in new window or tab >>A system for vision based human-robot interaction
2004 (English)Conference paper, Oral presentation only (Refereed)
Abstract [en]

We describe our initial steps toward the realization of a robotic system for assisting fire-fighting and rescue services. The system implements the concept of shared autonomy between the robot and the human operator: the mobile robot performs local navigation, sensing and mapping, while the operator interprets the sensor data and provides strategic navigation goals.

National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-3911 (URN)
Conference
IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR, Bonn, Germany, May 2004
Available from: 2007-08-13 Created: 2007-08-13 Last updated: 2018-01-13Bibliographically approved
Kadmiry, B. & Driankov, D. (2004). Takagi-Sugeno fuzzy gain scheduling with sampling-time uncertainties. In: Proceedings 2004 IEEE International Conference on Fuzzy Systems: . Paper presented at 2004 IEEE International Conference on Fuzzy Systems, Budapest, Hungary, July 25-29, 2004 (pp. 1087-1091). New York, USA: IEEE conference proceedings, 2
Open this publication in new window or tab >>Takagi-Sugeno fuzzy gain scheduling with sampling-time uncertainties
2004 (English)In: Proceedings 2004 IEEE International Conference on Fuzzy Systems, New York, USA: IEEE conference proceedings, 2004, Vol. 2, p. 1087-1091Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the robust fuzzy control problem for discrete-time nonlinear systems in the presence of sampling time uncertainties. The case of the discrete T-S fuzzy system with sampling-time uncertainty is considered and a robust controller design method is proposed. The sufficient conditions and the design procedure are formulated in the form of linear matrix inequalities (LMI). The effectiveness of the proposed controller design methodology is demonstrated of a visual-servoing control problem.

Place, publisher, year, edition, pages
New York, USA: IEEE conference proceedings, 2004
Series
IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), ISSN 1098-7584 ; 2
National Category
Engineering and Technology Control Engineering
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-38973 (URN)10.1109/FUZZY.2004.1375561 (DOI)000224959100189 ()2-s2.0-11144317954 (Scopus ID)0-7803-7293-X (ISBN)
Conference
2004 IEEE International Conference on Fuzzy Systems, Budapest, Hungary, July 25-29, 2004
Funder
Knowledge Foundation
Available from: 2014-11-25 Created: 2014-11-25 Last updated: 2017-10-18Bibliographically approved
Bergsten, P., Palm, R. & Driankov, D. (2002). Observers for Takagi-Sugeno fuzzy systems. IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, 32(1), 114-121
Open this publication in new window or tab >>Observers for Takagi-Sugeno fuzzy systems
2002 (English)In: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, ISSN 1083-4419, E-ISSN 1941-0492, ISSN 1083-4419/02, Vol. 32, no 1, p. 114-121Article in journal (Refereed) Published
Abstract [en]

We focus on the analysis and design of two different sliding mode observers for dynamic Takagi-Sugeno (TS) fuzzy systems. A nonlinear system of this class is composed of multiple affine local linear models that are smoothly interpolated by weighting functions resulting from a fuzzy partitioning of the state space of a given nonlinear system subject to observation. The Takagi-Sugeno fuzzy system is then an accurate approximation of the original nonlinear system. Our approach to the analysis and design of observers for Takagi-Sugeno fuzzy systems is based on extending sliding mode observer schemes to the case of interpolated multiple local affine linear models. Thus, our main contribution is nonlinear observer analysis and design methods that can effectively deal with model/plant mismatches. Furthermore, we consider the difficult case when the weighting functions in the Takagi-Sugeno fuzzy system depend on the estimated state

Place, publisher, year, edition, pages
IEEE Journals & Magazines, 2002
Keywords
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=979966
National Category
Engineering and Technology Computer Sciences
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-38978 (URN)10.1109/3477.979966 (DOI)
Funder
Knowledge Foundation
Available from: 2014-11-25 Created: 2014-11-25 Last updated: 2018-01-11Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-9477-4044

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