Article
Engineering, Electrical & Electronic
Suwan Bu, Liang Yan, Xiaoshan Gao, Gang Wang, Peiran Zhao, I-Ming Chen
Summary: The objective of this article is to propose a novel spherical robot with a built-in four-wheel omnidirectional mobile platform. The four-wheel structure improves the friction coefficient, reduces slipping motion, increases the velocity augmentation factor, and improves the loading capacity. The article introduces the structure and working principle of the proposed spherical robot, formulates kinematic and dynamic models, analyzes slipping errors, designs a slip observer and motion controller, conducts simulations to validate the slip observer, and develops a research prototype. Experimental investigation shows that the prototype achieves good trajectory tracking performance with the slip observer.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Engineering, Aerospace
Matthew W. Givens, Jay W. McMahon
Summary: This work develops a novel sequential information filter formulation for computationally efficient visual-inertial odometry and mapping. By carefully constructing the square-root information matrix, the mean and covariance can be easily and accurately recovered throughout operation. Results show that this filter does not require explicit marginalization of past landmark states to maintain constant-time complexity.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
(2023)
Article
Robotics
Vinh Le Nguyen, Ryan James Caverly
Summary: This study introduces two novel extended Kalman filtering approaches to fuse payload sensor data and forward kinematics for pose estimation in cable-driven parallel robots. Monte-Carlo simulations demonstrate that using EKF and MEKF results in more accurate pose estimates compared to forward kinematics calculations alone.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Computer Science, Information Systems
Yuan Xu, Yuriy S. Shmaliy, Shuhui Bi, Xiyuan Chen, Yuan Zhuang
Summary: In this paper, a UWB-based indoor robot localization technique is proposed. The hybrid colored EKF and colored EFIR filter algorithm is developed to overcome the issues caused by CMN, and measurement differences are utilized. Experimental results show that the proposed algorithm performs better than traditional algorithms in handling CMN.
IEEE INTERNET OF THINGS JOURNAL
(2023)
Article
Robotics
Chuanqi Zheng, Siddharth Sane, Kangneoung Lee, Vishnu Kalyanram, Kiju Lee
Summary: This article introduces a new versatile multiterrain mobile robot called alpha-WaLTR, which has four passively transformable wheels with embedded spring suspension. The robot is capable of traversing various terrains, obstacles, and stairs while maintaining simplicity in control principles. The design of the robot was optimized using multiobjective design optimization and guided by Unity-based simulations. Experiments demonstrated the effective vibration reduction and consistent locomotion capabilities of the robot, and the system-level integration with an embedded control system was also demonstrated.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Telecommunications
Inam Ullah, Siyu Qian, Zhixiang Deng, Jong-Hyouk Lee
Summary: This paper introduces an EKF-based localization algorithm using edge computing to achieve higher accuracy and wider coverage. Simulation results show that the proposed algorithm is more accurate compared with current state-of-the-art localization algorithms.
DIGITAL COMMUNICATIONS AND NETWORKS
(2021)
Article
Engineering, Electrical & Electronic
Ronaldo Francisco Ribeiro Pereira, Felipe Proenca de Albuquerque, Luisa Helena Bartocci Liboni, Eduardo Coelho Marques Costa, Mauricio Carvalho de Oliveira
Summary: In this article, a nonlinear approach using the Kronecker product and the extended Kalman filter is proposed for the estimation of electrical parameters of transmission lines. The results show that this approach provides reliable and accurate estimation compared to other methods.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2022)
Article
Robotics
Feng Xue, Chen Yao, Ye Yuan, Yangtao Ge, Wujie Shi, Zheng Zhu, Liang Ding, Zhenzhong Jia
Summary: This letter proposes an integrated wheel-terrain interaction detecting algorithm for monitoring the states and interactions of a wheeled mobile robot with soft terrains. The algorithm achieves high frequency and accuracy, and a semi-empirical model is also proposed to estimate the relationship between wheel sinkage and slip ratio, enhancing the safety and success rate of the robot.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Multidisciplinary
Shuo Zhang, Jian-tao Yao, Ying-bin Wang, Zi-sheng Liu, Yun-dou Xu, Yong-sheng Zhao
Summary: An adaptive wheel-legged shape reconfigurable mobile robot, based on a scissor-like mechanism, is proposed for obstacle detecting and surmounting on complex terrain. The robot can dynamically adjust its shape according to the environment, transitioning between wheel and leg shapes. It has stability comparable to a traditional wheel mechanism and obstacle surmounting performance of a leg mechanism, making it suitable for field reconnaissance and exploration missions.
DEFENCE TECHNOLOGY
(2022)
Article
Engineering, Mechanical
Mario E. Herrera-Cordero, Manuel Arias-Montiel, Marco Ceccarelli, Esther Lugo-Gonzalez
Summary: This article introduces an Adams/MATLAB cosimulation technique for evaluating the dynamics and control performance of a single-wheel pendulum robot, validating design solutions. The obtained results show significant performance based on analytical and programming efforts, and open-loop experimental results are presented for validation.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2021)
Article
Robotics
Rohit Sonker, Ashish Dutta
Summary: This study utilizes a learning based Model Predictive Controller (MPC) for path tracking by a four-wheel robot on uneven terrain. A neural network is employed as a model with the capability to learn complex state transition dynamics. Incorporating terrain height information improves performance significantly.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Transportation Science & Technology
Mohammadreza Saeedmanesh, Anastasios Kouvelas, Nikolas Geroliminis
Summary: This study focuses on the traffic state estimation issue in urban networks modeled with MFD dynamics, using an estimation engine based on EKF theory to address real-time estimation challenges with limited data. The accuracy of the estimation is tested through micro-simulation, showing the methodology's versatility across different applications.
TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES
(2021)
Article
Engineering, Multidisciplinary
Adar Gaathon, Amir Degani
Summary: The superior ability of dynamic legged locomotion in traversing rough terrain comes with the cost of fragile stability. This work demonstrates that a curved leg shape can improve the robot's robustness to perturbations without complicating the control scheme.
BIOINSPIRATION & BIOMIMETICS
(2022)
Article
Computer Science, Information Systems
Jung Min Pak
Summary: SEKFB is a new filtering algorithm that addresses the issue of uncertain process-noise covariance in indoor localization using constant-velocity motion models. It runs multiple EKFs in parallel with different covariance hypotheses, selecting the most probable output using Mahalanobis distance evaluation, and has been shown through simulations to provide accurate and reliable localization without the need for careful selection of process-noise covariance.
Article
Chemistry, Multidisciplinary
Ricardo Piza, Rafael Carbonell, Vicente Casanova, Angel Cuenca, Julian J. Salt Llobregat
Summary: This paper presents a sensor fusion approach based on extended Kalman filter for path-following control of a holonomic mobile robot with four mecanum wheels. The approach addresses the issues of nonuniform measurement rates and sensor failures, and improves control performance by modifying the Pure Pursuit path-tracking algorithm.
APPLIED SCIENCES-BASEL
(2022)
