Gestures-teleoperation of a heterogeneous multi-robot system

被引：7

作者：

de Carvalho, Kevin Braathen ^{[1
]}

Villa, Daniel Khede Dourado ^{[2
]}

Sarcinelli-Filho, Mario ^{[2
]}

Brandao, Alexandre Santos ^{[1
]}

机构：

[1] Univ Fed Vicosa, Grad Program Comp Sci, BR-36570900 Vicosa, MG, Brazil

[2] Univ Fed Espirito Santo, Grad Program Elect Engn, BR-29075910 Vitoria, ES, Brazil

来源：

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2022年 / 118卷 / 5-6期

关键词：

Gesture recognition; Teleoperation; Multi-robot systems; Heterogeneous squads; Mobile robotics; ADAPTIVE DYNAMIC CONTROLLER; TRAJECTORY TRACKING; ACTION RECOGNITION; ROBOT; TRANSPARENCY; QUADROTOR; MODEL;

D O I：

10.1007/s00170-021-07659-2

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work presents a solution for the teleoperation of a heterogeneous team of mobile robots. Regarding the team of robots, two possibilities are considered which are UAV-UGV (Unmanned Aerial Vehicle-Unmanned Ground Vehicle) and UAV-UAV. To execute this task, high-level gesture patterns are made in a remote station, and we proposed an easy-to-train Artificial Neural Network (ANN) classifier to identify the skeletal data extracted by an RGB-D (Red, Green, Blue-Depth) camera. Our classifier uses custom data to build the gesture patterns, allowing the use of smooth and intuitive gestures for the teleoperation of mobile robots. To validate our proposal, experiments were run using two off-the-shelf Parrot AR.Drone 2 quadrotors and the differential drive platform Pioneer 3-DX. The results of such experiments allow concluding that the proposed teleoperation system is able to accomplish inspection/surveillance tasks, and it can be easily modified to similar applications, as emergency response or load transportation.

引用

页码：1999 / 2015

页数：17

共 50 条

[31] Construction of heterogeneous multi-robot system based on knowledge model
Zhang, T.
Hasanuzzaman, Md.
Ampornaramveth, V.
Ueno, H.
[J]. 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, 2006, : 274 - 279
[32] Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses
Jesus Roldan, Juan
Garcia-Aunon, Pablo
Garzon, Mario
de Leon, Jorge
del Cerro, Jaime
Barrientos, Antonio
[J]. SENSORS, 2016, 16 (07)
[33] SOFTWARE MODULES FOR OPTIMIZATION OF SPECIFICATION OF HETEROGENEOUS MULTI-ROBOT SYSTEM
Komasilovs, Vitalijs
[J]. 12TH INTERNATIONAL SCIENTIFIC CONFERENCE ENGINEERING FOR RURAL DEVELOPMENT, 2013, : 147 - 152
[34] Multi-Robot Heterogeneous Adversarial Coverage
Korngut, Yair
Agmon, Noa
[J]. 2023 INTERNATIONAL SYMPOSIUM ON MULTI-ROBOT AND MULTI-AGENT SYSTEMS, MRS, 2023, : 100 - 106
[35] Multi-Robot Collaboration with Heterogeneous Capabilities
Han, Yunhai
Boyd, Nathan
Ni, Xinpei
Zhao, Ye
[J]. 2022 AMERICAN CONTROL CONFERENCE, ACC, 2022, : 3368 - 3368
[36] Adaptive heterogeneous multi-robot teams
Parker, LE
[J]. NEUROCOMPUTING, 1999, 28 : 75 - 92
[37] Evaluation Method for Multi-Operator and Multi-Robot Teleoperation Systems
Feng, Guanhua
Li, Wenhao
Zhang, Heng
[J]. PROCEEDINGS OF 2018 IEEE 3RD ADVANCED INFORMATION TECHNOLOGY, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IAEAC 2018), 2018, : 436 - 441
[38] Initial Self-localization Based on Shared Information for Multi-robot Teleoperation System
Suzuki, Shintaro
Toda, Yuichiro
Kubota, Naoyuki
[J]. 2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 2013, : 2721 - 2726
[39] A Multi-threads Architecture for the Motion Coordination of a Heterogeneous Multi-Robot System
Marchese, Fabio M.
[J]. MICAI 2007: SIXTH MEXICAN INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE, PROCEEDINGS, 2008, : 418 - 428
[40] Multi-robot Teleoperation under Dynamically Changing Network Topology
Tumerdem, Ugur
Ohnishi, Kouhei
[J]. 2009 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-3, 2009, : 780 - 785

← 1 2 3 4 5 →