V-REP: A versatile and scalable robot simulation framework

Rohmer, Eric; Singh, Surya P. N.; Freese, Marc

doi:10.1109/iros.2013.6696520

Cited by 1,238 publications

(646 citation statements)

References 5 publications

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“…V-REP [16] is used to simulate the behaviour of the UAV using a physical model that interacts with the simulated environment (see Figure 1). Using the ROS bridge, it exanges information in real time with ROS as it would do in real experiments e.g.…”

Section: Methodology and Equipmentmentioning

confidence: 99%

Evasive Maneuvering for UAVs: An MPC Approach

Castillo-Lopez

Olivares-Méndez

Voos

2017

ROBOT 2017: Third Iberian Robotics Conference

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Abstract. Flying autonomously in a workspace populated by obstacles is one of the main goals when working with Unmanned Aerial Vehicles (UAV). To address this challenge, this paper presents a model predictive flight controller that drives the UAV through collision-free trajectories to reach a given pose or follow a waypoint path. The major advantage of this approach lies on the inclusion of threedimensional obstacle avoidance in the control layer by adding ellipsoidal constraints to the optimal control problem. The obstacles can be added, moved and resized online, providing a way to perform waypoint navigation without the need of motion planning. In addition, the delays of the system are cosidered in the prediction by an experimental first order with delay model of the system. Successful experiments in 3D path tracking and obstacle avoidance validates its effectiveness for sense-and-avoid and surveillance applications presenting the proper structure to extent its autonomy and applications.

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Section: Methodology and Equipmentmentioning

confidence: 99%

Evasive Maneuvering for UAVs: An MPC Approach

Castillo-Lopez

Olivares-Méndez

Voos

2017

ROBOT 2017: Third Iberian Robotics Conference

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“…Since the Interaction ProMP and the database return the joint trajectories of the robot, we implemented a high-fidelity, forward kinematic simulator of the robot and hand in V-REP (Rohmer, Singh, & Freese, 2013) as shown in Fig. 13(a).…”

Section: Comparison With a Database Approachmentioning

confidence: 99%

Probabilistic movement primitives for coordination of multiple human–robot collaborative tasks

et al. 2016

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This paper proposes an interaction learning method for collaborative and assistive robots based on movement primitives. The method allows for both action recognition and human-robot movement coordination. It uses imitation learning to construct a mixture model of human-robot interaction primitives. This probabilistic model allows the assistive trajectory of the robot to be inferred from human observations. The method is scalable in relation to the number of tasks and can learn nonlinear correlations between the trajectories that describe the human-robot interaction. We evaluated the method experimentally with a lightweight robot arm in a variety of assistive scenarios, including the coordinated handover of a bottle to a human, and the collaborative assembly of a toolbox. Potential applications of the method are personal caregiver robots, control of intelligent prosthetic devices, and robot coworkers in factories.Keywords Movement primitives · physical humanrobot interaction · imitation learning · mixture model · action recognition · trajectory generation

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“…To simulate these effects we use robotic simulation software [17]. In this software we can model our complete measurement setup.…”

Section: Optimisation and Path Planningmentioning

confidence: 99%

Optimised dynamic line scanning thermography for aircraft structures

Peeters¹,

Verspeek²,

Sels³

et al. 2018

Proceedings of the 2018 International Conference on Quantitative InfraRed Thermography

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In-line inspection of advanced components, remains a challenging task in industry. A methodology is discussed which uses numerical simulations to automatically determine the best set of experimental parameters to inspect the structure on defects using active thermography. The inspection is performed using an industrial conveyor belt or a robotic arm optimised using a numerical model of the defected test sample. During the path planning, the directional emissivity is considered for the complex surface and an optimal experimental setup is found. The results show that in-line quality evaluation of complex shaped structures is improved with a minimal amount of inspection time.

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V-REP: A versatile and scalable robot simulation framework

Cited by 1,238 publications

References 5 publications

Evasive Maneuvering for UAVs: An MPC Approach

Evasive Maneuvering for UAVs: An MPC Approach

Probabilistic movement primitives for coordination of multiple human–robot collaborative tasks

Optimised dynamic line scanning thermography for aircraft structures

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