基于视觉的室内移动机器人定位与导航关键技术研究

U1813206
2018
F0309.机器人学与智能系统
陈卫东
联合基金项目
教授
上海交通大学
296万元
运动控制;运动规划;室内移动机器人;视觉定位;视觉导航
2019-01-01到2022-12-31
  • 中英文摘要
  • 结题摘要
  • 结题报告
  • 项目成果
  • 项目参与人
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序号 标题 类型 作者
1 Efficient planning for object search task based on hierarchical POMDP 会议论文 Wenrui Zhao;Weidong Chen
2 Online learning based long-term feature existence state prediction for visual topological localization 会议论文 Hongle Xie;Weidong Chen;Jingchuang Wang
3 A Mapless Navigation Method Based on Reinforcement Learning and Local Obstacle Map 会议论文 Xizheng Pang;Yanjie Li;Qi Liu;Ki Deng
4 Long-term localization with time series map prediction for mobile robots in dynamic environments 会议论文 Lisai Wang;Weidong Chen;Jingchuan Wang
5 Learning real-time dynamic responsive gap-traversing policy for quadrotors with safety aware exploration 期刊论文 Shiyu Chen;Yanjie Li
6 A fully distributed adaptive event-triggered control for output regulation of multi-agent systems with directed network 期刊论文 Xiongtao Shi;Yanjie Li;Qi liu;Ke Lin;Shiyu Chen
7 Spatiotemporal visibility driven visual-inertial SLAM for remote rover with transmission delay 期刊论文 Hongle Xie;Weidong Chen;Jingchuan Wang
8 智能车挑战赛-竞速赛 奖励 王景川
9 Exploration via Distributional Reinforcement Learning with Epistemic and Aleatoric Uncertainty Estimation 会议论文 Qi Liu;Yanjie Li;Yuecheng Liu;Meiling Chen;Shaohua Lv;Yunhong Xu
10 Efficient Feature Extraction and Localizability Based Matching for Lidar SLAM 会议论文 Lingfeng Dong;Weidong Chen;Jingchuan Wang
11 基于注意力模型和深度强化学习的无人车行驶决策方法 专利 陈美玲;李衍杰;刘奇
12 基于折纸结构的旋转型气动驱动器 专利 陈卫东;陈怀远;王景川
13 基于交叉弯曲梁结构的切口型连续体机器人 专利 陈卫东;艾孝杰;高安柱
14 用于腔内介入诊疗的全方向异形弯曲连续体柔性机械臂 专利 陈卫东;艾孝杰;高安柱
15 面向冶金机器人接插的仓架目标视觉识别定位方法和系统 专利 陈卫东;刘卫平;王贺升
16 用于室外特征稀疏环境下的机器人SLAM方法及系统 专利 陈卫东;田琛晟;王景川
17 Multi-robot path planning with due times 期刊论文 Hanfu Wang;Weidong Chen
18 Long-term visual inertial SLAM based on time series map prediction 会议论文 Bowen Song;Weidong Chen;Jingchuan Wang;Hesheng Wang
19 Retrieval-based Localization Based on Domain-invariant Feature Learning under Changing Environments 会议论文 Hanjiang Hu;Hesheng Wang;Zhe Liu;Chenguang Yang;Weidong Chen;Le Xie
20 Coupled task scheduling for heterogeneous multi-robot system of two robot types performing complex-schedule order fulfillment tasks 期刊论文 Hanfu Wang;Weidong Chen;Jingchuan Wang
21 基于视觉的机器人末端测温枪坐标系标定方法及系统 专利 陈卫东;廖业国;王贺升
22 一种密集行人环境下强化学习移动机器人的导航方法及装置 专利 刘奇;李衍杰;牟涌金
23 英汉智能机器人技术简明词典 专著 陈卫东;王贺升;王景川;卢俊国
24 Hierarchical quadtree feature optical flow tracking based sparse pose-graph visual-inertial SLAM 会议论文 Hongle Xie;Weidong Chen;Jingchuan Wang;Hesheng Wang
25 月面环境三维激光SLAM技术 期刊论文 尚天祥;王景川;董凌峰;陈卫东
26 ROLL: long-term robust LiDAR-based localization with temporary mapping in changing environments 会议论文 Bin Peng;Hongle Xie;Weidong Chen
27 Hierarchical forest based fast online loop closure for low-latency consistent visual-inertial SLAM 期刊论文 Hongle Xie;Weidong Chen;Jingchuan Wang
28 智能车挑战赛 奖励 王景川
29 Simulated annealing algorithms for the heterogeneous robots task scheduling problem in heterogeneous robotic order fulfillment systems 会议论文 Hanfu Wang;Weidong Chen
30 Leader-follower Trajectory Tracking Control for a Mobile Robot With Unknown Amplitudes of Reference Velocities and Input Disturbances 会议论文 Xu Zhang;Xiao Yu;Weidong Chen
31 Efficient Power Grid Topology Control via Two-Stage Action Search 会议论文 Yuecheng Liu;Yanjie Li;Qi Liu;Yunhong Xu;Shaohua Lv;Meiling Chen
32 An Overview of Robust Reinforcement Learning 会议论文 Shiyu Chen;Yanjie Li
33 A Two-Objective ILP Model of OP-MATSP for the Multi-Robot Task Assignment in an Intelligent Warehouse 期刊论文 Jianqi Gao;Yanjie Li;Yunhong Xu;Shaohua Lv
34 Iterative Learning Control for a Soft Exoskeleton with Hip and Knee Joint Assistance 期刊论文 Chunjie Chen;Yu Zhang;Yanjie Li;Zhuo Wang;Yida Liu;Wujing Cao;Xinyu Wu
35 利用视觉修正冶金接插装配作业机器人误差的方法及系统 专利 陈卫东;周坤
36 Robust Identification of Visual Markers Under Boundary Occlusion Condition 会议论文 Ruijie Chang;Yanjie Li;Chongying Wu
37 Lifelong Robotic Vision Challenge 奖励 Hongle Xie;Bowen Song
38 英汉智能机器人技术辞典 专著 陈卫东;王贺升;王景川;卢俊国
39 LSD based vision detection system for industrial robot under complex illumination conditions 奖励 Weiping Liu;Weidong Chen
40 Robust incremental long-term visual topological localization in changing environments 期刊论文 Hongle Xie;Tianchen Deng;Jingchuan Wang;Weidong Chen
41 月面特征稀疏环境下的视觉惯性SLAM方法 期刊论文 谢洪乐;陈卫东;范亚娴;王景川
42 Task scheduling for transport and pick robots in logistics: a comparative study on constructive heuristics 期刊论文 Hanfu Wang;Weidong Chen
43 机器人先进视觉赛-3D测量项目 奖励 王景川
44 电动轮椅的越障装置及其电动轮椅 专利 陈卫东;柳江林;轩连;张红丽
45 一种基于深度安全强化学习的机器人无地图导航方法 专利 吕少华;李衍杰;许运鸿
46 基于无标定视觉的机器人轴孔对准控制方法 专利 陈卫东;周坤
47 基于局部路径点生成的分层无地图导航方法及装置 专利 庞玺政;李衍杰;叶兆辉
48 面向冶金作业的鱼雷罐车视觉识别与定位方法及其系统 专利 陈卫东;刘卫平;王贺升
49 Visual servoing of a cable-driven soft robot manipulator with shape feature 期刊论文 Fan Xu;Hesheng Wang;Weidong Chen;Yanzi Miao
50 A lightweight soft exoskeleton in lower limb assistance 会议论文 Yu Zhang;Zhuo Wang;Chunjie Chen;Fang Tao;Ruimei Sun;Yanjie Li
51 Leader-follower Tracking Control of Mobile Robot with Unknown Leader’s Constant Velocities 会议论文 Xu Zhang;Xiao Yu;Weidong Chen
52 A Coordinated Path Planning Algorithm for Multi-Robot in Intelligent Warehouse 会议论文 Xin Chen;Yanjie Li;Lintao Liu
53 Local pose optimization with an attention-based neural network 会议论文 Yiling Liu;Hesheng Wang;Fan Xu;Yong Wang;Weidong Chen;Qirong Tang
54 A Deep Safe Reinforcement Learning Approach for Mapless Navigation 会议论文 Shaohua Lv;Yanjie Li;Qi Liu;Jianqi Gao;Xizheng Pang;Meiling Chen
55 Long-term visual SLAM with Bayesian persistence filter based global map prediction 期刊论文 Tianchen Deng;Hongle Xie;Jingchuan Wang;Weidong Chen
56 月球车多传感器SLAM仿真系统 期刊论文 范亚娴;陈卫东;董凌峰;王景川;王鹏基
57 A 3D Simulation Environment and Navigation Approach for Robot Navigation via Deep Reinforcement Learning in Dense Pedestrian Environment 会议论文 Qi Liu;Yanjie Li;Lintao Liu
58 Towards Autonomous Driving Decision by Combining Self-attention and Deep Reinforcement Learning 会议论文 Meiling Chen;Yanjie Li;Qi Liu;Shaohua Lv;Yunhong Xu;Yuecheng Liu
59 Multi-agent Pathfinding with Local and Global Guidance 会议论文 Yunhong Xu;Yanjie Li;Qi Liu;Jianqi Gao;Yuecheng Liu;Meiling Chen
60 罐盖视觉检测与定位方法及系统、介质、装置 专利 陈卫东;高昊
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