访问计数 158205 (自2016年5月)

Led by Prof. Zhiqiang Zheng, our NuBot team was founded in 2004. Currently we have two full professors (Prof. Zhiqiang Zheng and Prof. Hui Zhang), one associate professor (Prof. Huimin Lu), one assistant professor (Dr. Junhao Xiao), and several graduate students. Till now, 8 team members have obtained their doctoral degree with the research on RoboCup Middle Size League (MSL), and more than 20 have obtained their master degrees. For more detail of each member please see NuBoters.


As shown in the figure below, five generations of robots have been created since 2004. We participated in RoboCup Simulation and Small Size League (SSL) initially. Since 2006, we have been participating in RoboCup MSL actively, e.g., we have been to Bremen, Germany (2006), Atlanta, USA (2007), Suzhou, China (2008), Graz, Austria (2009), Singapore (2010), Eindhoven, Netherlands (2013), Joao Pessoa, Brazil (2014), Hefei, China (2015) and Leipzig Germany (2016). We have also been participating in RoboCup China Open since it was launched in 2006.


5 generations NuBot robots


The NuBot robots have been employed not only for RoboCup, but also for other research as an ideal test bed more than robot soccer. As a result, we have published more than 70 journal papers and conference papers. For more detail please see the publication list. Our current research mainly focuses on multi-robot coordination, robust robot vision and formation control.


The following items are our team description papers (TDPs) which illustrates our research progress over the past years.



发布时间:2016-01-05 12:58
最后编辑:代维
0?1470885445
肖军浩 TO  NuBot Research Team | Publications
发布时间:2016-01-05 11:06
更新时间:2018-10-13 15:21

2018

  • Qinghua Yu, Jie Liang, Junhao Xiao, Huimin Lu, Zhiqiang Zheng. A Novel Perspective Invariant Feature Transform for RGB-D Images. Computer Vision and Image Understanding, Volume 167, pp. 109-120, 2018. (source code)
  • Weijia Yao, Huimin Lu, Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Distributed Static and Dynamic Circumnavigation Control with Arbitrary Spacings for a Heterogeneous Multi-robot System. Journal of Intelligent & Robotic Systems, 2018.
  • Wei Dai, Huimin Lu, Junhao Xiao, Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, 2018. (accompanying video)(source code)
  • Qinghua Yu, Junhao Xiao, Huimin Lu, Zhiqiang Zheng. Hybrid-Residual-based RGBD Visual Odometry. IEEE Access, vol. 6, pp. 28540-28551, 2018. (source code)
  • Hui Zhang, Xieyuanli Chen, Huimin Lu, Junhao Xiao. Distributed and Collaborative Monocular SLAM for Multi-robot System in Large-scale environments. International Journal of Advanced Robotic Systems, 2018.
  • 熊丹, 卢惠民, 肖军浩, 郑志强. 具有尺度和旋转适应性的长时间目标跟踪. 自动化学报, 已录用, 2018.
  • 张辉, 王盼, 肖军浩, 卢惠民. 一种基于三维建图和虚拟现实的人机交互系统. 控制与决策, 已录用, 2018.
  • Weijia Yao, Sha Luo, Huimin Lu, Junhao Xiao. Distributed Circumnavigation Control with Dynamic spacing for a Heterogeneous Multi-robot System. RoboCup 2018 Symposium, 2018.
  • Runze Wang, Huimin Lu, Junhao Xiao, Yi Li and Qihang Qiu. The Design of an Augmented Reality System for Urban Search and Rescue. 2018 IEEE International Conference on Intelligence and Safety for Robotics, 2018.
  • Yi Li, Chenggang Xie, Huimin Lu, Xieyuanli Chen, Junhao Xiao, Hui Zhang. Scale-aware Monocular SLAM Based on Convolutional Neural Network. 2018 IEEE International Conference on Information and Automation (ICIA 2018), Wuyishan, China, 2018.
  • Xieyuanli Chen, Huimin Lu, Junhao Xiao and Hui Zhang. Distributed monocular multi-robot SLAM. The 8th Annual IEEE Int. Conf. on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2018), 2018.
  • Junchong Ma, Weijia Yao, Wei Dai, Huimin Lu, Junhao Xiao, Zhiqiang Zheng. Cooperative Encirclement Control for a Group of Targets by Decentralized Robots with Collision Avoidance. Proceedings of the 37th Chinese Control Conference, 2018.
  • Junkai Ren, Wei Dai, Kuangye Xie, Junhao Xiao, Huimin Lu. A Novel Real-time Motion Control Approach for Omni-directional Mobile Robots. Proceedings of the 37th Chinese Control Conference, 2018.
  • 闫若怡,熊丹,于清华,肖军浩,卢惠民.  基于并行跟踪和检测框架和深度学习的目标跟踪算法. 计算机应用. 2018.
  • 陈鹏,谢成钢,卢惠民,肖军浩. 基于RGB-D相机的室内移动机器人自定位方法. 计算机测量与控制.Vol.26,No.3,pp.120-123+128, 2018.

2017

  • Bo Sun, Yadan Zeng, Houde Dai, Junhao Xiao, Jianwei Zhang, (2017) "A novel scan registration method based on the feature-less global descriptor – spherical entropy image", Industrial Robot: An International Journal, Vol. 44 Issue: 4, pp.552-563.

  • Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu, Zhiqiang Zheng,  Building Software System and Simulation Environment for RoboCup MSL Soccer RobotsBased on ROS and Gazebo, Springer Book on Robot Operating System (ROS) –The Complete Reference (Volume 2), pp. 597-631, 2017.

  • Junhao Xiao, Huimin Lu, Lilian Zhang, Jianhua Zhang. Pallet recognition and localization using an RGB-D camera. International Journal of Advanced Robotic Systems, 2017.

  • Shaozun Hong, Meiping Wu, Junhao Xiao, Xiaohong Xu, Huimin Lu. Kylin: a transformable track-wheel hybrid robot. Proceedings of the 2017 International Conference on Advanced Mechatronic Systems, Xiamen, China, December 6-9, 2017.

  • Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017.

  • Minjun Xiong, Huimin Lu, Dan Xiong, Junhao Xiao, Ming Lv. Scale-Aware Monocular Visual-Inertial Pose Estimation for Aerial Robots. Chinese Automation Congress 2017, Jinan, 2017.

  • Sha Luo, Huimin Lu, Junhao Xiao, Qinghua Yu, Zhiqiang Zheng. Robot Detection and Localization Based on Deep Learning. Chinese Automation Congress 2017, Jinan, 2017.

  • Pan Wang, Junhao Xiao, Huimin Lu, Hui Zhang, Ruoyi Yan, Shaozun Hong. A Novel Human-Robot Interaction System Based on 3D Mapping and Virtual Reality. Chinese Automation Congress 2017, Jinan, 2017.

  • Xieyuanli Chen, Hui Zhang, Huimin Lu, Junhao Xiao, Qihang Qiu and Yi Li. Robust SLAM system based on monocular vision and LiDAR for robotic urban search and rescue. Proceedings of the 15th IEEE International Symposium on Safety, Security, and Rescue Robotics 2017 (SSRR 2017), Shanghai, 2017.

  • Xieyuanli Chen, Huimin Lu, Junhao Xiao, Hui Zhang, PanWang. Robust relocalization based on active loop closure for real-time monocular SLAM. Proceedings of the 11th International Conference on Computer Vision Systems (ICVS), 2017.

  • Weijia Yao, Zhiwen Zeng, Xiangke Wang, Huimin Lu, Zhiqiang Zheng. Distributed Encirclement Control with Arbitrary Spacing for Multiple Anonymous Mobile Robots. Proceedings of the 36th Chinese Control Conference, 2017.

  • Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng, et al. Edge Agreement of Second-order Multi-agent System with Dynamic Quantization via Directed Edge Laplacian. Nonlinear Analysis: Hybrid Systems, Vol. 23, pp. 1-10, 2017.

  • Yuhua Zhong, Junhao Xiao, Huimin Lu, Hui Zhang. Real-Time Terrain Classification for Rescue Robot Based on Extreme Learning Machine. In: Sun F., Liu H., Hu D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2016. Communications in Computer and Information Science, vol 710, 2017. Springer, Singapore.

2016

  • 卢惠民,肖军浩,郑志强,ROS与中型组足球机器人,国防工业出版社,ISBN: 978-7-118-10952-8,31.7万字, 2016.10.

  • 肖军浩,李鹏,耿丽娜,郑志强,实用机器人设计——竞赛机器人(译),机械工业出版社,ISBN:978-7-111-53601-7,20万字,2016.05.

  • 肖军浩,机器人操作系统浅析(译),国防工业出版社,10万字,ISBN: 978-7-118-11056-2,18万字, 2016.09.

  • Lilian Zhang, Huimin Lu, Xiaoping Hu, Reinhard Koch. Vanishing Point Estimation and Line Classification in a Manhattan World with a Unifying Camera Model. International Journal of Computer Vision, Vol. 117, No. 2, pp. 111-130, 2016.

  • Dan Xiong, Junhao Xiao, Huimin Lu, Zhiwen Zeng, Qinghua Yu, Kaihong Huang, Xiaodong Yi, Zhiqiang Zheng.The design of an intelligent soccer-playing robot. Industrial Robot: An International Journal, Vol. 43, No.1, pp. 91-102, 2016. [PDF]

  • Huimin Lu, Junhao Xiao, Lilian Zhang, Shaowu Yang, Andreas Zell. Biologically Inspired Visual Odometry Based on the Computational Model of Grid Cells for Mobile Robots. Proceedings of the 2016 IEEE Conference on Robotics and Biomimetics, Qingdao, China, December 3~7, 2016. [PDF]
  • Wei Dai, Qinghua Yu, Junhao Xiao, and Zhiqiang Zheng,Communication-less Cooperation between Soccer Robots. In 2016 RoboCup Symposium, Leipzig, Germany. [PDF]

  • Yuxi Huang, Ming Lv, Dan Xiong, Shaowu Yang, Huimin Lu, An Object Following Method Based on Computational Geometry and PTAM for UAV in Unknown Environments.In 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China.[PDF]
  • Qiu Cheng, Shuijun Yu, Qinghua Yu and Junhao Xiao, Real-time Object Segmentation for Soccer Robots Based on Depth Images.In 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China. [PDF]
  • Yi Liu, Yuhua Zhong, Xieyuanli Chen, Pan Wang, Huimin Lu, Junhao Xiao, Hui Zhang, The Design of a Fully Autonomous Robot System for Urban Search and Rescue. In 2016 IEEE International Conference on Information and Automation (ICIA), Ningbo, China.[PDF]
  • Junkai Ren, Chenggang Xie, Junhao Xiao, Kaihong Huang, Huimin Lu, (2016). A Control System for Active Ball Handing in the RoboCup Middle Size League, In 28th Chinese Control and DecisionConference (CCDC), Yinchuan, China.[PDF]
  • Zhiwen Zeng Z, Xiangke Wang, Zhiqiang Zheng. Convergence analysis using the edge Laplacian: Robust consensus of nonlinear multi-agent systems via ISS method. International Journal of Robust and Nonlinear Control, Vol. 26, No. 5, pp. 1051–1072, 2016.
  • Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng. Edge Agreement of Multi-agent System with Quantized Measurements via Directed Edge Laplacian. IET Control Theory & Applications, Vol. 10, No. 13, pp. 1583-1589,2016.

2015

  • Huimin Lu, Lixing Jiang, Andreas Zell. Long Range Traversable Region Detection Based on Superpixels Clustering for Mobile Robots. Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, September 28~October 02, 2015, pp. 546-552. [PDF]

  • Xianglin Yang, Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Trajectory Planning for RoboCup MSL Mobile Robots Based on Bézier Curve and Voronoi Diagram. International Conference on Information and Automation, Lijiang, China, August 2015, pp: 2552-2557. [PDF]
  • Weijia Yao, Wei Dai, Junhao Xiao, Huimin Lu, Zhiqiang Zheng. A Simulation System Based on ROS and Gazebo for RoboCup Middle Size League. Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics, Zhuhai, China, December 6~9, 2015. [PDF]
  • 郑志强,卢惠民,刘斐,机器人视觉系统研究,科学出版社,ISBN: 978-7-03-044736-4,2015.06.
  • Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng. The model reduction of multi-agent system depended on the spanning tree of directed graph. 2015 IEEE International Conference on Information and Automation, 2015: 1278-1282.
  • Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng. Second-order edge agreement with locally Lipschitz  dynamics under digraph via edge Laplacian and ISS method.2015 34th Chinese Control Conference (CCC), 2015: 7190-7195.
  • Huimin Lu, Qinghua Yu, Dan Xiong, Junhao Xiao, and Zhiqiang Zheng. Object Motion Estimation Based on Hybrid Vision for Soccer Robots in 3D Space. RoboCup 2014: Robot World Cup XVIII, Lecture Notes in Computer Science Volume 8992, pp 454-465, 2015. [PDF]


2014

  • Shuai Cheng, Junhao Xiao, Huimin Lu. Real-time obstacle avoidance using subtargets and Cubic B-spline for mobile robots. Proceedings of 2014 IEEE International Conference on Information and Automation, China, 2014, pp. 634-639.[PDF]

  • Yunlei Chen, Huimin Lu, Junhao Xiao, Hui Zhang. Traversable Region Detection based on Near-to-far Self-supervised Incremental Learning. Proceedings of 2014 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2014), Beijing, China, September 2014.
  • 卢惠民,徐明,李迅.用于计算成像系统的基于信噪比自适应估计的图像去模糊研究.光学学报,Vol.34,No.8,pp.0810002-1~8,2014.
  • Zhiwen Zeng, Xiangke Wang, Zhiqiang Zheng. Nonlinear consensus under directed graph via the edge Laplacian. Control and Decision Conference (2014 CCDC), The 26th Chinese. IEEE, 2014: 881-886.


2013

  • Xun Li, Huimin Lu, Dan Xiong, Hui Zhang and Zhiqiang Zheng. A Survey on Visual Perception for RoboCup MSL Soccer Robots. International Journal of Advanced Robotic Systems, Vol.10, 110:2013, pp.1-10, 2013. [PDF]

  • Huimin Lu, Xun Li, Hui Zhang, and Zhiqiang Zheng. Robust Place Recognition Based on Omnidirectional Vision and Real-time Local Visual Features for Mobile Robots. Advanced Robotics, Vol.27, No.18, pp.1439-1453, 2013. [PDF]

  • Huimin Lu, Xun Li, Hui Zhang, Mei Hu and Zhiqiang Zheng. Robust and Real-time Self-Localization Based on Omnidirectional Vision for Soccer Robots. Advanced Robotics, Vol.27, No.10, pp.799-811, 2013. [PDF]

  • Zhiwen Zeng, Huimin Lu, Zhiqiang Zheng. High-speed Trajectory Tracking Based on Model Predictive Control for Omni-directional Mobile Robots. Proceedings of the 2013 25th Chinese Control and Decision Conference (CCDC), Guiyang, China, May 25-27, 2013, pp. 3179-3184. [PDF]

  • Hui Zhang, Huimin Lu, Peng Dong, Dan Xiong, and Zhiqiang Zheng. A Novel Generic Ball Recognition Algorithm Based on Omnidirectional Vision for Soccer Robots. International Journal of Advanced Robotic Systems, Vol. 10, 388:2013, pp. 1-12, 2013. [PDF]

  • YU Qinghua, HUANG Kaihong, Huimin Lu, GUO Hongwu. Object Motion Estimation and Interception Based on Stereo Vision for Soccer Robots in 3D Space. Proceedings of the 32nd Chinese Control Conference, Xi'an, China, July 26-28, 2013, pp. 5943-5948. [PDF]

  • Dan Xiong, Huimin Lu, Zhiwen Zeng, Zhiqiang Zheng. Topological Localization Based on Key-frames Selection and Vocabulary Tree for Mobile Robots. Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, December 2013, pp. 2505-2510.


2012

  • Dan Xiong, Huimin Lu, Zhiqiang Zheng. A self-localization method based on omnidirectional vision and MTi for soccer robots. Proceedings of the 10th World Congress on Intelligent Control and Automation, Beijing, China, 2012, pp. 3731-3736. [PDF]


2011

  • Huimin Lu, Shaowu Yang, Hui Zhang, Zhiqiang Zheng. A Robust Omnidirectional Vision Sensor for Soccer Robots. Mechatronics, Elsevier, Vol.21, No.2, pp. 373-389, 2011. [PDF]

  • Huimin Lu, Hui Zhang, Zhiqiang Zheng. A Novel Real-Time Local Visual Feature for Omnidirectional Vision Based on FAST and LBP. RoboCup 2010: Robot Soccer World Cup XIV, LNAI 6556, Springer, pp. 291-302, 2011. [PDF]


2010

  • Huimin Lu, Zhiqiang Zheng. Two Novel Real-Time Local Visual Features for Omnidirectional Vision. Pattern Recognition, Elsevier, Vol.43, No.12, pp. 3938-3949, 2010. [PDF]

  • Huimin Lu, Hui Zhang, Shaowu Yang, Zhiqiang Zheng. Camera Parameters Auto-Adjusting Technique for Robust Robot Vision. Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, USA, May 5~8, 2010, pp. 1518-1523. [PDF]

  • Xiangke Wang, Hui Zhang, Huimin Lu, Zhiqiang Zheng. A New Triple-based Multi-robot System Architecture and Application in Soccer Robots. ICIRA 2010, Part II, LNAI 6425, Springer, pp. 105-115, 2010. [PDF]

  • 卢惠民, 张辉, 杨绍武, 郑志强. 一种鲁棒的基于全向视觉的足球机器人自定位方法. 机器人, Vol.32, No.4, pp. 553-559+567, 2010. [PDF]

  • Huimin Lu, Hui Zhang, Shaowu Yang, Zhiqiang Zheng. A Novel Camera Parameters Auto-Adjusting Method Based on Image Entropy. RoboCup 2009: Robot Soccer World Cup XIII, LNAI 5949, Springer, pp. 192-203, 2010. [PDF]


2009

  • Huimin Lu, Hui Zhang, Shaowu Yang, Zhiqiang Zheng. Vision-based Ball Recognition for Soccer Robots without Color Classification. Proceedings of 2009 IEEE International Conference on Information and Automation, Zhuhai/Macau,China, 2009, pp. 916-921. [PDF]

  • 卢惠民, 张辉, 郑志强. 基于视觉的移动机器人自定位问题. 中南大学学报(自然科学版), Vol.40, Suppl.1, pp. 127-134, 2009.

  • Huimin Lu, Hui Zhang, Junhao Xiao, Fei Liu, Zhiqiang Zheng. Arbitrary Ball Recognition Based on Omni-directional Vision for Soccer Robots. RoboCup 2008: Robot Soccer World Cup XII, LNAI 5399, Springer, pp. 133-144, 2009.[PDF]


2008

  • Huimin Lu, Zhiqiang Zheng, Fei Liu, Xiangke Wang. A Robust Object Recognition Method for Soccer Robots.Proceedings of 7th World Congress on Intelligent Control and Automation,Chongqing,China, 2008, pp. 1645-1650. [PDF]

  • 刘斐, 卢惠民, 郑志强. 基于线性分类器的混合空间查找表颜色分类方法. 中国图象图形学报, Vol.13, No.1, pp. 104-108, 2008.


2007

  • 柳林, 刘斐, 季秀才, 卢惠民, 海丹, 郑志强. 全向移动机器人编队分布式控制研究. 机器人, Vol. 29, No.1, pp. 23-28, 2007.

  • Fei Liu, Huimin Lu, Zhiqiang Zheng. A Robust Approach of Field Features Extraction for Robot Soccer. Proceedings of 4th IEEE LARS 07/COMRob 07, ROBOTIC FORUM Monterrey 2007, November 05-09, 2007.

  • 卢惠民, 刘斐, 郑志强. 一种新的用于足球机器人的全向视觉系统. 中国图象图形学报, Vol.12, No.7, pp. 1243-1248, 2007.

  • Fei Liu, Huimin Lu, Zhiqiang Zheng. A Modified Color Look-Up Table Segmentation Method for Robot Soccer. Proceedings of 4th IEEE LARS 07/COMRob 07, ROBOTIC FORUM Monterrey 2007, November 05-09, 2007.


2006

  • 卢惠民, 王祥科, 刘斐, 季秀才, 郑志强. 基于全向视觉和前向视觉的足球机器人目标识别. 中国图象图形学报, Vol.11, No.11, pp. 1686-1689, 2006.

  • Xiucai Ji, Lin Liu and Zhiqiang Zheng. A modular hierarchical architecture for autonomous robots based on task-driven behaviors. International Conference on Sensing, Computing and Automation, Chongqing, China, May 8-11, 2006: 631~636.

  • 柳林, 季秀才, 郑志强. 基于市场法及能力分类的多机器人任务分配研究. 机器人, 2006, 28(3): 337~343.

2005

  • LIU Lin and ZHENG Zhiqiang. Combinatorial bids based multi-robot task allocation method. Proceedings of the 2005 IEEE International Conference on Robotics and Automation(ICRA2005), 2005: 1157~1162.

  • LIU Lin and ZHENG Zhiqiang. A novel multi-robot coordination method using capability category. Proceedings of the 16th IFAC World Congress, 2005.

2004

  • LIU Lin, WANG Lei, ZHENG Zhiqiang, SUN Zengqi. A learning market based layered multi-robot architecture. Proceedings of the 2004 IEEE International Conference on Robotics and Automation(ICRA2004), 2004: 3417~3422.

  • 柳林, 郑志强. 多机器人任务分配及其在机器人足球中的应用. 控制理论与应用, 2004, 21(Suppl.): 46~50.

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0?1470885445
李义 TO  NuBot Research Team | Videos
发布时间:2018-07-10 09:46
更新时间:2018-07-24 10:10

This video is about the experimental results of the following paper: Yi Li, Chenggang Xie, Huimin Lu, Xieyuanli Chen, Junhao Xiao and Hui Zhang. Scale-aware Monocular SLAM Based on Convolutional Neural Network. Proceedings of the 15th IEEE International Conference on Information and Automation 2018 ( ICIA 2018 ), Mount Wuyi, 2018.


Abstract—Remarkable performance has been achieved using the state-of-the-art monocular Simultaneous Localization and Mapping (SLAM) algorithms. However, due to the scale ambiguity limitation of monocular vision, the existing monocular SLAM systems can not directly restore the absolute scale in unknown environments. Given the amazing results in the field of depth estimation from Convolutional Neural Networks (CNNs), we propose a CNN-based monocular SLAM, where we naturally combine the CNN-predicted depth maps together with the monocular ORB-SLAM, overcoming the scale ambiguity limitation of the monocular SLAM. We test our method using the popular KITTI odometry benchmark, and the experimental results show that the overall performance of average translational and rotational error can reach 2.00% and 0.0051º/m. In addition, our approach can work well under the pure rotation motion, which shows the robustness and high accuracy of the proposed algorithm.

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0?1470885445
发布时间:2018-04-08 10:59
更新时间:2018-04-08 15:02

Abstract— Most robots in urban search and rescue (USAR) fulfill tasks teleoperated by human operators. The operator has to know the location of the robot and find the position of the target (victim). This paper presents an augmented reality system using a Kinect sensor on a customly designed rescue robot. Firstly, Simultaneous Localization and Mapping (SLAM) using RGB-D cameras is running to get the position and posture of the robot. Secondly, a deep learning method is adopted to obtain the location of the target. Finally, we place an AR marker of the target in the global coordinate and display it on the operator's screen to indicate the target even when the target is out of the camera’s field of view. The experimental results show that the proposed system can be applied to help humans interact with robots.

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0?1470885445
Junchong TO  NuBot Research Team | Videos
发布时间:2018-01-30 13:40
更新时间:2018-04-08 10:47

This video is the accompanying video of the paper: Junchong Ma, Weijia Yao, Wei Dai, Huimin Lu, Junhao Xiao, Zhiqiang Zheng. Cooperative Encirclement Control for a Group of Targets by Decentralized Robots with Collision Avoidance. Proceedings of the 37th Chinese Control Conference, 2018.

Abstract: This study focuses on multi-target capture and encirclement control problem for multiple mobile robots. With the distributed architecture, this problem involves a group of robots to encircle several moving targets in a coordinated circle formation. In order to efficiently allocate the targets to robots, a Hybrid Dynamic Task Allocation (HDTA) algorithm was proposed, in which a temporary "manager" robot was assigned to negotiate with other robots. For encirclement formation, a robust  control law was introduced for any number of mobile robots to form a specific circle formation with arbitrary inter-robot angular spacing. In view of safety, an online collision avoidance algorithm combining the sub-targets and Artificial Potential Fields (APF) approaches was proposed, which ensures that the paths of robots are collision-free. To prove the validity and robustness of the proposed scheme, both theoretical analysis and simulation experiments were conducted.

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0?1470885445
代维 TO  NuBot Research Team | Qualifications
发布时间:2018-01-17 19:37
更新时间:2018-02-17 11:35

1. Team description Paper

The team description paper can be downloaded from here, with the main contribution of a newly designed three-wheel robot.


2. 5 Papers in recent 5 years

[1] Wei Dai, Huimin Lu, Junhao Xiao and Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, 2018. [PDF]

[2] Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu and Zhiqiang Zheng. Building Software System and Simulation Environment for RoboCup MSL Soccer Robots Based on ROS and Gazebo. Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2), pp. 597-631, Springer, 2017. [PDF]

[3] Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017, pp. 86-91. [PDF]

[4] Wei Dai, Qinghua Yu, Junhao Xiao and Zhiqiang Zheng. Communication-Less Cooperation Between Soccer Robots. RoboCup 2016: Robot World Cup XX, pp. 356-367, Springer, 2016. [PDF]
[5] Dan Xiong, Junhao Xiao, Huimin Lu, et al, The design of an intelligent soccer-playing robot, Industrial Robot: An International Journal, 43(1): 91-102, 2016. [PDF]


3. Results and awards in recent 3 years

2017

  • 3rd place in MSL scientific challenge in RoboCup 2017, Nagoya, Japan

  • 3rd place in MSL technique challenge in RoboCup 2017, Nagoya, Japan

  • 4th place in MSL of RoboCup 2017, Nagoya, Japan

  • 3rd place in MSL of RoboCup 2017 ChinaOpen, RiZhao, China

  • 1st place in MSL scientific challenge of RoboCup 2016 ChinaOpen, RiZhao, China

2016

  • 3rd place in MSL scientific challenge in RoboCup 2016, Leipzig, Germany

  • 4th place in MSL of RoboCup 2016, Leipzig, Germany

  • 3rd place in MSL of RoboCup 2016 ChinaOpen, Hefei, China

  • 1st place in MSL scientific challenge of RoboCup 2016 ChinaOpen, Hefei, China

2015

  • 2rd place in MSL technique challenge in RoboCup 2015, Hefei, China

  • 3rd place in MSL scientific challenge in RoboCup 2015, Hefei, China

  • 6th place in MSL of RoboCup 2015, Hefei, China


4. Qualification video

The qualification video for RoboCup 2018 Montreal, Canada can be found at our youku channel (recommended for users in China) or our YouTube channel (recommended for users out of China).


5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded from here.


6. Contributions to the RoboCup MSL community

  • Junhao Xiao, one member of NuBot team, served to MSL community as an EC member. He also served as a MSL TC member of RoboCup 2016 Leipzig, Germany, a member of MSL TC and OC of RoboCup 2015 Hefei, China, and local chair of RoboCup 2015 MSL.
  • Huimin Lu, one member of NuBot team, served to MSL community as a member of TC and OC of RoboCup 2008 Suzhou, and he was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.
  • Junchong Ma, one member of NuBot team, served to MSL community as a member of TC RoboCup 2018 Montreal, Canada.
  • We released the source code of our robots and a simulation system under an open source license. Particularly, this simulation system supports 3D simulation of the MSL competition between two teams, which was employed in 2016 and 2017 China Robot Competition. It can also be used for the research of multi-robot coordination control, such as task allocation and formation control.


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0?1470885445
肖军浩 TO  NuBot Research Team | NuBoters
发布时间:2016-01-06 00:31
更新时间:2018-02-03 22:42

name

Founder and director

Prof. Dr. Zhiqiang Zheng

Staff

Prof. Dr. Hui Zhang

Associate Prof. Dr. Huimin Lu

Dr. Junhao Xiao

Graduate students

Qinghua Yu

Wei Dai

Junkai Ren

Weijia Yao

Xieyuanli Chen

Sha Luo (female)

Runze Wang

Junchong Ma

Ruoyi Yan (female)

Yi Li

Qihang Qiu

Shaozun Hong

Bingxin Han (female)

Xiao Li

Zhiqian Zhou

Shanshan Zhu

Chenghao Shi

Alumni

Dr. Lin Liu

Dr. Fei Liu

Dr. Xiucai Ji

Associate Prof. Dr. Wenjie Shu

Dr. Dan Hai

Associate Prof. Dr. Xiangke Wang

Dr. Shaowu Yang

Dr. Lina Geng (female)

Dr. Shuai Tang

Dr. Zhiwen Zeng

Dr. Xiabin Dong

Dr. Dan Xiong

Mrs. Wei Liu

Mr. Yupeng Liu

Mr. Dachuan Wang

Mr. Baifeng Yu

Mr. Fangyi Sun

Mr. Lianhu Cui

Mr. Shengcai Lu

Mr. Peng Dong

Mr. Yubo Li

Mr. Xiaozhou Zhu

Mr. Qingzhu Cui

Mr. Xingrui Yang

Mr. Kaihong Huang

Mr. Shuai Cheng

Mr. Xiaoxiang Zheng

Mr. Yunlei Chen

Mr. Xianglin Yang

Mr. Yu Zhang

Mrs. Yaoyao Lan

Mr. Yuxi Huang

Mr. Yi Liu

Mr. Yuhua Zhong

Mr. Qiu Cheng

Mr. Peng Chen

Mrs. Minjun Xiong

Mr. Pan Wang

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  • 用户头像
    杨绍武 2年前

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发布时间:2016-06-23 22:35
更新时间:2017-12-22 17:37

This video is the accompanying video of the paper: Yi Liu, Yuhua Zhong, Xieyuanli Chen, Pan Wan, Huimin Lu, Junhao Xiao, Hui Zhang, The Design of a Fully Autonomous Robot System for Urban Search and Rescue, Proceedings of the 2016 IEEE International Conference on Information and Automation, 2016.

Abstract: Autonomous robots in urban search and rescue (USAR) have to fulfill several tasks at the same time: localization, mapping, exploration, object recognition, etc. This paper describes the whole system and the underlying research of the NuBot rescue robot for participating RoboCup Rescue competition, especially in exploring the rescue environment autonomously. A novel path following strategy and a multi-sensor based controller are designed to control the robot for traversing the unstructured terrain. The robot system has been successfully applied and tested in the RoboCup Rescue Robot League (RRL) competition and won the championship of 2016 RoboCup China Open RRL competition.


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发布时间:2016-10-17 08:43
更新时间:2017-12-22 17:36

This video is the accompanying video for the following paper: Huimin Lu, Junhao Xiao, Lilian Zhang, Shaowu Yang, Andreas Zell. Biologically Inspired Visual Odometry Based on the Computational Model of Grid Cells for Mobile Robots. Proceedings of the 2016 IEEE Conference on Robotics and Biomimetics, 2016.

Abstract: Visual odometry is a core component of many visual navigation systems like visual simultaneous localization and mapping (SLAM). Grid cells have been found as part of the path integration system in the rat's entorhinal cortex, and they provide inputs for place cells in the rat's hippocampus. Together with other cells, they constitute a positioning system in the brain. Some computational models of grid cells based on continuous attractor networks have also been proposed in the computational biology community, and using these models, self-motion information can be integrated to realize dead-reckoning. However, so far few researchers have tried to use these computational models of grid cells directly in robot visual navigation in the robotics community. In this paper, we propose to apply continuous attractor network model of grid cells to integrate the robot's motion information estimated from the vision system, so a biologically inspired visual odometry can be realized. The experimental results show that good dead-reckoning can be achieved for different mobile robots with very different motion velocities using our algorithm. We also implement a full visual SLAM system by simply combining the proposed visual odometry with a quite direct loop closure detection derived from the well-known RatSLAM, and comparable results can be achieved in comparison with RatSLAM.

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发布时间:2016-07-16 16:10
更新时间:2017-12-22 17:34

Title

Real-time Terrain Classification for Rescue Robot Based on Extreme Learning Machine

Author


Yuhua Zhong, Junhao Xiao, Huimin Lu and Hui Zhang

Abstract

Full autonomous robots in urban search and rescue (USAR) have to deal with complex terrains. The real-time recognition of terrains in front could effectively improve the ability of pass for rescue robots. This paper presents a real-time terrain classification system by using a 3D LIDAR on a custom designed rescue robot. Firstly, the LIDAR state estimation and point cloud registration are running in parallel to extract the test lane region. Secondly, normal aligned radial feature (NARF) is extracted and downscaled by a distance based weighting method. Finally, an extreme learning machine (ELM) classifier is designed to recognize the types of terrains. Experimental results demonstrate the effectiveness of the proposed system.

Video

The video can be found here if the below link does not work.


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