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Akademický článek

Dynamic warning zone and a short-distance goal for autonomous robot navigation using deep reinforcement learning

Autor: Estrella Elvia Montero, Husna Mutahira, Nabih Pico, Mannan Saeed Muhammad

Publikováno v: Complex & Intelligent Systems, Vol 10, Iss 1, Pp 1149-1166 (2023)

Abstract Robot navigation in crowded environments has recently benefited from advances in deep reinforcement learning (DRL) approaches. However, it still presents a challenge to designing socially compliant robot behavior. Avoiding collisions and the

Externí odkaz: https://doaj.org/article/76ff0d3c05fc4fb6afa5abaddc9cc5b7

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Akademický článek

Unloading sequence planning for autonomous robotic container-unloading system using A-star search algorithm

Autor: Eugene Auh, Juhwak Kim, Younghwan Joo, Jeongyeol Park, Geonuk Lee, Ilho Oh, Nabih Pico, Hyungpil Moon

Publikováno v: Engineering Science and Technology, an International Journal, Vol 50, Iss , Pp 101610- (2024)

In autonomous unloading systems, one of the major challenges is planning the unloading sequence in cluttered logistics container environments. Proper unloading sequence planning is crucial to avoid damage to the packages caused by collision and colla

Externí odkaz: https://doaj.org/article/5f50527a48794162a972b5a2c66d0d09

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Akademický článek

Task-Motion Planning System for Socially Viable Service Robots Based on Object Manipulation

Autor: Jeongmin Jeon, Hong-ryul Jung, Nabih Pico, Tuan Luong, Hyungpil Moon

Publikováno v: Biomimetics, Vol 9, Iss 7, p 436 (2024)

This paper presents a software architecture to implement a task-motion planning system that can improve human-robot interactions by including social behavior when social robots provide services related to object manipulation to users. The proposed sy

Externí odkaz: https://doaj.org/article/69a97705e664464ba8577c3a99732ac1

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Akademický článek

A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator

Autor: Meseret Tadese, Nabih Pico, Sungwon Seo, Hyungpil Moon

Publikováno v: Sensors, Vol 22, Iss 24, p 9708 (2022)

Accurate dynamic model is critical for collaborative robots to achieve satisfactory performance in model-based control or other applications such as dynamic simulation and external torque estimation. Such dynamic models are frequently restricted to i

Externí odkaz: https://doaj.org/article/4f0e7b2492874fd7aa53ffee98e99184

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Akademický článek

An Online Task-Planning Framework Using Mixed Integer Programming for Multiple Cooking Tasks Using a Dual-Arm Robot

Autor: June-sup Yi, Tuan Anh Luong, Hosik Chae, Min Sung Ahn, Donghun Noh, Huy Nguyen Tran, Myeongyun Doh, Eugene Auh, Nabih Pico, Francisco Yumbla, Dennis Hong, Hyungpil Moon

Publikováno v: Applied Sciences, Vol 12, Iss 8, p 4018 (2022)

This work proposes an online task-scheduling method using mixed-integer programming for a multi-tasking problem regarding a dual-arm cooking robot in a controlled environment. Given each task’s processing time, their location in the working space,

Externí odkaz: https://doaj.org/article/0b5f3d569c474369ae70b71f6e83279f

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Akademický článek

Six-Wheel Robot Design Methodology and Emergency Control to Prevent the Robot from Falling down the Stairs

Autor: Nabih Pico, Sang-Hyeon Park, June-sup Yi, Hyungpil Moon

Publikováno v: Applied Sciences, Vol 12, Iss 9, p 4403 (2022)

This paper proposes a design methodology for a six-wheeled rover that adapt to different stairs and maintain its stability based on the robot’s parameters, the kinematics constraints, the maximum height, and the minimum length of the step required

Externí odkaz: https://doaj.org/article/dc226a888f80463387307ba96ba9f478

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