Mobile Robot in the Elevator: What Floor Am I On?

Krejsa, J.; Vĕchet, Stanislav; Chen, Kuo-Shen; Havelka, Martin; Cernil, Martin

doi:10.1109/me54704.2022.9983194

Cited by 5 publications

(3 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Mobile robot localization [22] is the process of tracking the states of the system over time. The states refer to the pose information, such as translation (p xyz ) and orientation (o xyz ).…”

Section: B Robot Localizationmentioning

confidence: 99%

UWB Aided Mobile Robot Localization with Neural Networks and the EKF

Karfakis¹,

Couceiro²,

Portugal

et al. 2022

2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

View full text Add to dashboard Cite

This paper exploits the use of Ultra Wide Band (UWB) technology to improve the localization of robots in both indoor and outdoor environments. In order to efficiently integrate the UWB technology in existing multi-sensor architectures, such as Kalman-based, we propose two approaches to estimate the UWB position covariance values. The first approach uses statistical methods to estimate static covariance values based on data acquired a priori. The second approach adopts a neural network (NN) to capture the relationship between the positional error of the UWB data and the signal quality information, such as the Estimate Of Precision (EOP) and Received Signal Strength Indicator (RSSI). The GPS-RTK is used as ground truth and RGB-D odometry is adopted for both benchmarking and integration purposes. Position sources are fused by means of an Extended Kalman Filter (EKF). Real world experiments are conducted with a tracked mobile robot driving outdoors in a closed-loop trajectory. Results show that the NN is able to efficiently model the sensor covariances and adapt the trustworthiness of the EKF estimation, overcoming data loss by relying on the other available estimation source.

show abstract

Section: B Robot Localizationmentioning

confidence: 99%

UWB Aided Mobile Robot Localization with Neural Networks and the EKF

Karfakis¹,

Couceiro²,

Portugal

et al. 2022

2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

View full text Add to dashboard Cite

show abstract

“…(Korb and Nicholson, 2004;Thrun et al, 2005). This research is motivated by industry demands, particularly in utilizing the advanced diagnostic capabilities for platforms like BREACH (Krejsa and Vechet, 2018;Vechet, 2011). The development of an advanced diagnostic assistant is based on the necessity to involve maintenance workers, enabling them to address all possible issues efficiently, thereby preventing costly down-times and the need for professional services.…”

Section: Introductionmentioning

confidence: 99%

AI Based Assistive Maintenance of Machines via Querix Expert-System

Vechet,

Krejsa,

Chen

2024

Engineering Mechanics

View full text Add to dashboard Cite

In the context of the expanding domain of Industry 4.0 and the integration of smart factories, there has been increasing interest in advanced diagnostics for industrial machines. This paper introduces an evolution of state-of-the-art expert system designed to aid in diagnosing issues encountered during the operation of industrial machines. Advanced diagnostic and maintenance systems serve as crucial components in the digital era of smart factories, so as the use-case scenario a mobile robotic platforms was used.

show abstract

“…The primary motivation for our work is the direct demand from industry needs where the hi-tech robotic platform BREACH (see figure 1) is used (Krejsa and Vechet (2018); Vechet (2011)). The need for customer service was the motivation to develop an advanced diagnostic assistant which helps unskilled maintenance workers to solve banal problems that otherwise lead to expensive shutdowns and professional services.…”

Section: Introductionmentioning

confidence: 99%

The design of Bayesian diagnostic expert system Querix and it’s engineering application

Vĕchet¹,

Krejsa²,

Chen³

2023

Engineering Mechanics

View full text Add to dashboard Cite

Advanced diagnostics of various industrial machines have garnered attention from researchers in recent years as the popularity of smart factories of Industry 4.0 grows. Alongside modern RPA (Robotic Process Automation) systems, which bring various AI methods into the administration of industrial processes, advanced diagnostic and maintenance systems are a logical complement for the digital era of smart factories. This paper focuses on the introduction of a developed expert system used to help diagnose mobile robotic platforms during daily use.

show abstract

Mobile Robot in the Elevator: What Floor Am I On?

Cited by 5 publications

References 10 publications

UWB Aided Mobile Robot Localization with Neural Networks and the EKF

UWB Aided Mobile Robot Localization with Neural Networks and the EKF

AI Based Assistive Maintenance of Machines via Querix Expert-System

The design of Bayesian diagnostic expert system Querix and it’s engineering application

Contact Info

Product

Resources

About