Online Dynamic Motion Planning and Control for Wheeled Biped Robots
Songyan Xin1 and Sethu Vijayakumar1,2
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (CartLIPM) as a template model for the rolling motion and the under-actuated LIPM f...
DiPE: Deeper into Photometric Errors for Unsupervised Learning of Depth and Ego-motion from Monocular Videos
H. Jiang, L. Ding, Z. Sun and R. Huang
Unsupervised learning of depth and ego-motion from unlabelled monocular videos has recently drawn great attention, which avoids the use of expensive ground truth in the supervised one. It achieves this by using the photometric errors between the target view and the synthesized views from its adjacent source views as the loss. Despite significant progress, the learning still suffers from occlusion and scene dynamics. ...
A Two-stage Automatic Latching System for The USVs Charging in Disturbed Berth
K. Xue et al.
Automatic latching for charging in a disturbed environment for Unmanned Surface Vehicle (USVs) is always a challenging problem. In this paper, we propose a two-stage automatic latching system for USVs charging in berth. In Stage I, a vision-guided algorithm is developed to calculate an optimal latching position for charging. In Stage II, a novel latching mechanism is designed to compensate the movement misalignments ...
OceanVoy: A Hybrid Energy Planning System for Autonomous Sailboat
Q. Sun, W. Qi, H. Liu, Z. Sun, T. L. Lam and H. Qian
Towards long range and high endurance sailing, energy is of utmost importance. Moreover, benefiting from the dominance of the sailboat itself, it is energy-saving and environment-friendly. Thus, the sailboat with energy planning problem is meaningful. However, until now, the sailboat energy optimization problem has rarely been considered. In this paper, we focus on the energy consumption optimization of an autonomous...
Robot-to-Robot Relative Pose Estimation based on Semidefinite Relaxation Optimization
Ming Li1,2, Guanqi Liang1,2, Haobo Luo1,2, Huihuan Qian1,2, and Tin Lun Lam1,2,†
In this paper, the 2D robot-to-robot relative pose (position and orientation) estimation problem based on ego-motion and noisy distance measurements is considered. We address this problem using an optimization-based method, which does not require complicated numerical analysis while yields no inferior relative localization (RL) results compared to existing approaches. In particular, we start from a state-of-the-art m...
An Obstacle-crossing Strategy Based on the Fast Self-reconfiguration for Modular Sphere Robots
Haobo Luo1,2, Ming Li1,2, Guangqi Liang1,2, Huihuan Qian1,2, and Tin Lun Lam1,2,†
This paper introduces an obstacle-crossing strategy , and the self-reconfiguration algorithm for a new class of modular robots called the rolling sphere, which can fit obstacles represented by cubes of different sizes due to the chain connection of multiple spheres. For the self-reconfiguration of the rolling spheres, a large gradient is obtained by classifying its action types and hierarchically minimizing the dista...
FreeBOT: A Freeform Modular Self-reconfigurable Robot with Arbitrary Connection Point - Design and Implementation
Guanqi Liang1,2, Haobo Luo1,2, Ming Li1,2, Huihuan Qian1,2, and Tin Lun Lam1,2,†
This paper proposes a novel modular self-reconfigurable robot (MSRR) "FreeBOT", which can be connected freely at any point on other robots. FreeBOT is mainly composed of two parts: a spherical ferromagnetic shell and an internal magnet. The connection between the modules is genderless and instant, since the internal magnet can freely attract other FreeBOT spherical ferromagnetic shells, and not need to be precisely a...
Prospect Theoretic Analysis of Privacy-Preserving Mechanism
Guocheng Liao; Xu Chen; Jianwei Huang (2019)
We study a problem of privacy-preserving mechanism design. A data collector wants to obtain data from individuals to perform some computations. To relieve the privacy threat to the contributors, the data collector adopts a privacy-preserving mechanism by adding random noise to the computation result, at the cost of reduced accuracy. Individuals decide whether to contribute data when faced with the privacy issue. Due ...
A System-of-Systems Bio-Inspired Design Process: Conceptual Design and Physical Prototype of a Reconﬁgurable Robot Capable of Multi-Modal Locomotion
Ning Tan1*, Zhenglong Sun2,3*, Rajesh Elara Mohan4, Nishann Brahmananthan4, Srinivasan Venkataraman5, Ricardo Sosa6 and Kristin Wood4 (2019)
Modern engineering problems require solutions with multiple functionalities in order to meet their practical needs to handle a variety of applications in different scenarios. Conventional design paradigms for single design purpose may not be able to satisfy this requirement efficiently. This paper proposes a novel system-of-systems bio-inspired design method framed in a solution-driven bio-inspired design paradigm.
Population flow drives spatio-temporal distribution of COVID-19 in China
Jayson S. Jia1, Xin Lu2,3, Yun Yuan4, Ge Xu5, Jianmin Jia6,7 ✉ & Nicholas A. Christakis8 (2020)
Sudden, large-scale and diffuse human migration can amplify localized outbreaks of disease into widespread epidemics1–4. Rapid and accurate tracking of aggregate population flows may therefore be epidemiologically informative. Here we use 11,478,484 counts of mobile phone data from individuals leaving or transiting through the prefecture of Wuhan between 1 January and 24 January 2020 as they moved to 296 prefectures ...
Crowdsourcing with Heterogeneous Workers in Social Networks
Chao Huang, Haoran Yu, Jianwei Huang, Randall A. Berry (2019)
Many online social networking platforms are leveraging crowdsourcing to enhance the user experience. These platforms seek to incentivize heterogeneous workers to exert efforts to complete tasks (e.g., moderation of posts and articles) and truthfully report their solutions. Output agreement mechanism (e.g., majority voting) is a common approach to this end. In an output agreement mechanism, a worker is rewarded accord...
香港中文大学（深圳）机器人与智能制造研究院、深圳市人工智能与机器人研究院 机器人科研中心 （2020-02-24）
《ROBOTIST》孕育在2020年初的新冠疫情期间，我们定在2月24日“二月二·龙抬头”这一天发行创刊号，也是为了寄托一份美好的期望。创刊号将收集 CUHKSZ 和 AIRS 的机器人科研大团队近三年发表在国际顶刊顶会的论文，以及由作者翻译的中文稿。