Details of the Researcher

PHOTO

Ravankar Ankit
Section
Graduate School of Engineering
Job title
Specially Appointed Associate Professor(Research)
Degree

  • 博士（工学）（北海道大学）

  • 修士（工学）（北海道大学）

e-Rad No.
40778528
Researcher ID
L-8613-2016

Research History 7

  • 2022/07 - Present
    Tohoku University　Faculty of Engineering, Division of Mechanical and Aerospace Engineering, Department of Robotics　Specially Appointed Associate Professor

  • 2021/06 - 2022/06
    Tohoku University　Faculty of Engineering, Division of Mechanical and Aerospace Engineering, Department of Robotics　Specially Appointed Lecturer

  • 2021/04 - 2021/05
    Tohoku University　Graduate School of Engineering, Faculty of Engineering, Department of Robotics, Division of Mechanical and Aerospace Engineering　Academic Research Fellow

  • 2016/04 - 2021/03
    Hokkaido University　Research Faculty of Engineering　Assistant Professor

  • 2015/10 - 2016/03
    Hokkaido University, Japan　Institute for the Advancement of Higher Education　Assistant Professor

  • 2014/10 - 2015/09
    Hokkaido University, Japan　Research Assistant

  • 2013/10 - 2014/09
    Hokkaido University, Japan　Teaching Assistant

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Education 3

  • Hokkaido University　Graduate School of Engineering　(Ph.D.) Doctor of Philosophy, Human Mechanical and Systems Design Engineering

    2012/10 - 2015/09

  • Hokkaido University　Graduate School of Engineering　Master of Engineering, Human Mechanical Systems and Design Engineering

    2010/10 - 2012/09

  • University of Pune　Production Engineering

    2005/06 - 2009/05

Committee Memberships 19

  • IET Image Processing Journal　Associate Editor

    2024/12 - Present

  • IEEE Internet of Things Journal　Associate Editor

    2024/11 - Present

  • IEEE Standard Association (IEEE SA)　Working Group Vice Chairman, P7017 Recommended Practice for Design-Centered Human-Robot Interaction (HRI) and Governance

    2023/01 - Present

  • MDPI Sensors Journal　Guest Editor (Special Issue "Advanced Research in Intelligent Autonomous Mobile Robots System, Learning and Control")

    2021/10 - Present

  • The Society of Instrument and Control Engineers　Executive Committee Member

    2021/04 - Present

  • International Society of Artificial Life and Robotics, ISAROB　International Program Committee Member

    2018/04 - Present

  • SII 2016 - IEEE/SICE International Symposium on System Integration, Sapporo　Executive Program Committee

    2016/01 - Present

  • Robotics Society of Japan (RSJ), 41st Annual Robotics Society of Japan Conference RSJ2023, Sendai, Japan　Planning Committee Chairman

    2023/01 - 2023/10

  • IEEE international Conference on Robotics and Automation, IEEE ICRA 2024　ICRA Expo Organizing Member (2024)

    2022/12 - 2023/05

  • International Conference on Robotics, Control, Automation and Artificial Intelligence (RCAAI2022)　International Program Committee Member

    2022 - 2022

  • Hokkaido University, STSI (Sustainable Transportation and Smart Infrastructure) Program　Executive Steering Committee Member

    2017/02 - 2021/03

  • Hokkaido University, STSI (Sustainable Transportation and Smart Infrastructure) Program　Executive Committee Member

    2017/02 - 2021/03

  • Robot Triathlon　Executive Committee Member

    2016/04 - 2021/03

  • Hokkaido University, NITOBE Education Program　Executive Committee Member

    2015/10 - 2021/03

  • International Institute of Applied Informatics IIAI, 9th International Conference on Data Science and Institutional Research (DSIR 2020)　プログラム委員 PC

    2019/08 - 2020/09

  • 日本機械学会 第62回自動制御連合講演会　Executive Committee Member

    2019/01 - 2019/11

  • International Institute of Applied Informatics IIAI , 8th International Conference on Data Science and Institutional Research (DSIR 2019)　プログラム委員 PC

    2018/08 - 2019/07

  • 8th International Conference on Indoor Positioning and Indoor Navigation, IPIN 2017　Local Arrangement Committee Member

    2016/05 - 2017/09

  • Hokkaido University, Graduate School of Engineering　Executive Committee Member and Steering Member, 4th International Doctoral Symposium on Mechanical Engineering

    2015/01 - 2015/11

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Professional Memberships 5

  • THE JAPAN SOCIETY OF MECHANICAL ENGINEERS JSME

    2017 - Present

  • THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS SICE

    2016 - Present

  • IEEE Robot Automation Society (IEEE-RAS)

    2010/12 - Present

  • IEEE

    2010 - Present

  • IEEE Standard Association (IEEE SA)

    2023/03 -

Research Interests 6

  • Navigation

  • Intelligent Robotics

  • Artificial Intelligence

  • Computer Vision

  • SLAM

  • Mobile Robotics

Research Areas 2

  • Informatics / Mechanics and mechatronics / Robotics

  • Informatics / Robotics and intelligent systems / Robotics

Awards 18

  1. Best Workshop Paper (ICRA 2024 Workshop on Assistive Systems: Lab to Patient Care)

    2024/05　IEEE International Conference on Robotics and Automation (ICRA 2024)　ROS 2 Healthcare: Closing the Loop Between Human Sensing and Robotic Interventions

  2. Best Paper Award

    2024/02　International Conference on Communication, Computing and Data Security, (IC-CCDS) 2024, Mumbai, India　Distributed Multi-agent Mapping and Localization For Enhanced Autonomous Navigation

  3. SI2022 Excellent Presentation Award

    2022/12　Society of Instrumentation and Control Engineers　Development of a Walking Support Robot for Motivating Human Walking

  4. SICE Annual Conference International Award (SICE 2022)

    2022/09　Society of Instrumentation and Control Engineering, SICE　Automatic Dimensional Inspection System of Railcar Wheelset for Condition Monitoring

  5. 2021 SICE(The Society of Instrument and Control Engineers) Best Paper Award

    2021/09　Japan Society of Intstument and Control Engineering (SICE)

  6. SI2020 Excellent Presentation Award

    2020/12　Society of Instrumentation and Measurement　UAVを用いた自動スペクトル計測システムにおけるジンバル制御

  7. SI2020 Excellent Presentation Award

    2020/12　Society of Instrumentation and Measurement　積雪環境におけるスキャンマッチングを用いた自己位置推定性能の改善

  8. Best Paper Award

    2020/02　International Society of Artificial Life and Robotics (ISAROB)　Path Planning for Service Robots in Continuous Operation

  9. Honorable Mention Award (top 5% paper)

    2019/07　IIAI-AAI International Congress on Advanced Applied Informatics

  10. Best Poster Presentation

    2018/06　AGH-HU Joint Symposium　Development of Port Facilities Inspection Robot Using Multi-copter

  11. Travel Grant - 2nd Japan-Taiwan International Engineering Forum, Taipei, Taiwan 28 Feb- 3 March, 2018

    2018/02　6-Happier (Tokyo Tech, National Taiwan University)

  12. Young Author Award

    2018/01　International Society of Artificial Life and Robotics　International Symposium on Artificial Life and Robotics, ISAROB 2018

  13. Best Poster Presentation

    2016/02　Hokkaido University-Seoul National University Joint Symposium

  14. Best Paper Award

    2015/11　Hokkaido University International Doctoral Symposium

  15. Best Student Paper Award

    2015/10　IEEE/ICCAS, Korea

  16. MEXT scholarship for graduate studies

    2012/10　MEXT, Japan

  17. Young Author Award Finalist

    2011/12　IEEE/SICE

  18. MEXT scholarship for graduate studies

    2010/10　MEXT, Japan

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Papers 146

  1. Task Planning for a Factory Robot Using Large Language Model.

    Yosuke Tsushima, Shu Yamamoto, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    IEEE Robotics Autom. Lett.　10　(3)　2383-2390　2025/03

    DOI： 10.1109/LRA.2025.3531153 　

  2. Open Vocabulary Object Search Utilizing Large Language Models and Fuzzy Inferencing. Peer-reviewed

    Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2025 IEEE/SICE International Symposium on System Integrations (SII 2025)　345-351　2025

    DOI： 10.1109/SII59315.2025.10870891 　

  3. Vibrotactile Feedback for Training Tempo and Stroke Length in Golf Putting. Peer-reviewed

    Jose Victorio Salazar Luces, Ankit A. Ravankar, Yasuhisa Hirata

    2025 IEEE/SICE International Symposium on System Integrations (SII 2025)　127-133　2025

    DOI： 10.1109/SII59315.2025.10870998 　

  4. Enhancing Manipulator Flexibility: Real-time Positional Control for Variable Assembly Environments using AprilTag Markers and Edge Detection Peer-reviewed

    Kamogelo Teddy Theodore Moyo, Jose Victorio Salazar Luces, Ankit A. Ravankar, Yasuhisa Hirata, Morozumi Shota

    2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)　3932-3939　2024/08/28

    Publisher: IEEE

    DOI： 10.1109/case59546.2024.10711707 　

  5. A B-spline Approach for Improved Environmental Awareness in Virtual Walking System using Avatar Robot Peer-reviewed

    Alessandra Miuccio, Ricardo Manríquez-Cisterna, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata, Paolo Rocco

    2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)　189-195　2024/08/26

    Publisher: IEEE

    DOI： 10.1109/ro-man60168.2024.10731425 　

  6. Towards Inclusive Dance: A Robotic Approach for Enhancing Movement and Interaction for People with Disabilities

    Zhenyu Liao, Zonghao Dong, Ricardo Manríquez, Ankit Ravankar, Juan Carlos Martinez Rocha, Juliette Lavender, Fumi Seto, Eric Monacelli, Yasuhisa Hirata

    2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan (Video Paper)　2024/05

  7. Prototype of Adaptive Touch Walking Support Robot for Maximizing Human Physical Potential Peer-reviewed

    Junya Terayama, Ankit Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan (ICRA-EXPO Demo Paper)　2024/05

  8. RENKEI: Connecting sleep and assistive robotics for elderly care Peer-reviewed

    Alexander Breuss, Ricardo Manríquez, Oriella Gnarra, Manuel Fujs, Jorge Peña Queralta, Mehdi Ejtehadi, Ankit Ravankar, Jose Victorio Salazar Luces, Diego Paez, Yasuhisa Hirata, Robert Riener

    2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan (ICRA-EXPO Demo Paper)　2024/05

  9. A Stand-Assist Care Robot for Enhancing Senior Mobility Peer-reviewed

    Ricardo Manríquez, Ankit Ravankar, Jose Victorio Salazar Luces, Takuro Hatsukari, Yasuhisa Hirata

    2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan (ICRA-EXPO Demo Paper)　2024/05

  10. Tailoring Indoor Search Strategies: The Role of User Preferences in Multi-Target Navigation Peer-reviewed

    Akash Kedar Chikhalikar, Ankit Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan (Late Breaking Results)　2024/05

  11. Adaptive Speed Control of Treadmill Device for Enhanced Exercise in Virtual and Mixed Reality Experiences Peer-reviewed

    Ricardo Manríquez, Alexander Breuss, Oriella Gnarra, Jorge Peña Queralta, Ankit Ravankar, Jose Victorio Salazar Luces, Diego Paez, Robert Riener, Yasuhisa Hirata

    2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan (ICRA-EXPO Demo Paper)　2024/05

  12. Office Robot with Health Sensing Functions Peer-reviewed

    Hana Yamamoto, Hiroyasu Hanada, Ankit Ravankar, Jose Victorio, Salazar Luces, Masashige Motoe, Yasuhisa Hirata, Koichi Ohta, Nishida Minoru, Makiyo Maekawa

    2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan (ICRA-EXPO Demo Paper)　2024/05

  13. Automatic inspection of wheel surface defects using a combination of laser sensors and machine vision Peer-reviewed

    Takeshi Emoto, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    SICE Journal of Control, Measurement, and System Integration　17　(1)　57-66　2024/02/14

    Publisher: Informa UK Limited

    DOI： 10.1080/18824889.2024.2314800 　

    ISSN： 1882-4889

    eISSN： 1884-9970

  14. Semantic-Based Multi-Object Search Optimization in Service Robots Using Probabilistic and Contextual Priors

    Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    IEEE Access　12　113151-113164　2024

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/access.2024.3444478 　

    eISSN： 2169-3536

  15. Synergizing Multi-Robot Assistive Care: An IoT-Driven Framework for Elderly Support in a Simulated Smart Living Lab, Peer-reviewed

    Ankit A Ravankar, Akash Chikalikar, Jose Salazar, Abhijeet Ravankar, Yasuhisa Hirata

    The Twenty-Ninth International Symposium on Artificial Life and Robotics 2024 (AROB 29th 2024),　872-877　2024/01

  16. A method for detecting wear and damage on railcar wheel tread surface using a combination of laser measurement and machine vision Peer-reviewed

    Takeshi EMOTO, Takanori EMARU, Ankit RAVANKAR, Abhijeet RAVANKAR, Yukinori KOBAYASHI

    Mechanical Engineering Journal　11　(3)　23-00352　2024

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/mej.23-00352 　

    eISSN： 2187-9745

  17. Real-Time Marker-Based Monocular Autonomous Docking in Semi-Unstructured Indoor Environments. Peer-reviewed

    Sebastian Chinchilla, Takumi Saito, Ryosuke Oikawa, Tomoaki Yamada, Naoto Toshiki, Satsuki Yamane, Jose Salazar, Ankit A. Ravankar, Yasuhisa Hirata

    IEEE/SICE international Symposium on System Integration SII2024　1561-1568　2024

    DOI： 10.1109/SII58957.2024.10417484 　

  18. Running Guidance for Visually Impaired People Using Sensory Augmentation Technology Based Robotic System Peer-reviewed

    Zhenyu Liao, Jose V.Salazar Luces, Ankit A. Ravankar, Yasuhisa Hirata

    IEEE Robotics and Automation Letters　8　(9)　5323-5330　2023/09/01

    DOI： 10.1109/LRA.2023.3294718 　

    eISSN： 2377-3766

  19. Real-time monitoring of elderly people through computer vision Peer-reviewed

    Abhijeet Ravankar, Arpit Rawankar, Ankit A. Ravankar

    Artificial Life and Robotics　28　(3)　496-501　2023/08

    DOI： 10.1007/s10015-023-00882-y 　

    ISSN： 1433-5298

    eISSN： 1614-7456

  20. Video stabilization algorithm for field robots in uneven terrain Peer-reviewed

    Abhijeet Ravankar, Arpit Rawankar, Ankit A. Ravankar

    Artificial Life and Robotics　28　(3)　502-508　2023/08

    DOI： 10.1007/s10015-023-00883-x 　

    ISSN： 1433-5298

    eISSN： 1614-7456

  21. Care: Cooperation of ai robot enablers to create a vibrant society Peer-reviewed

    Ankit A. A. Ravankar, Seyed Amir Tafrishi, Jose V. Salazar Luces, Fumi Seto, Yasuhisa Hirata

    IEEE ROBOTICS & AUTOMATION MAGAZINE　30　(1)　8-23　2023/03

    DOI： 10.1109/MRA.2022.3223256 　

    ISSN： 1070-9932

    eISSN： 1558-223X

  22. Wheel Surface Defect Detection Method Using Laser Sensor and Machine Vision.

    Takeshi Emoto, Ankit A. Ravankar, Abhijeet A. Ravankar, Takanori Emaru, Yukinori Kobayashi

    62nd Annual Conference of the Society of Instrument and Control Engineers(SICE)　1194-1199　2023

    Publisher: IEEE

    DOI： 10.23919/SICE59929.2023.10354134 　

  23. Path-Following Guidance for Powered Wheelchair Users Using Mixed-Reality Technology with Shared Control Policy Peer-reviewed

    Zhenyu Liao, Jose Salazar, Ankit Ravankar, Sebastian Chinchilla, Eric Monacelli, Yasuhisa Hirata

    2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022　380-385　2023

    Publisher: IEEE

    DOI： 10.1109/CBS55922.2023.10115329 　

  24. A Performance Evaluation of Overground Gait Training with a Mobile Body Weight Support System using Wearable Sensors Peer-reviewed

    Zonghao Dong, Jose Victorio Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi, Yasuhisa Hirata

    IEEE Sensors Journal　23　(11)　1-1　2023

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/jsen.2023.3269031 　

    ISSN： 1530-437X

    eISSN： 1558-1748 2379-9153

  25. Nursing Care Teaching System Based on Mixed Reality for Effective Caregiver-Patient Interaction Peer-reviewed

    Goro Aoki, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata

    2023 IEEE/SICE International Symposium on System Integration, SII 2023　2023

    DOI： 10.1109/SII55687.2023.10039419 　

  26. An Object-oriented Navigation Strategy for Service Robots Leveraging Semantic Information Peer-reviewed

    Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Yasuhisa Hirata

    2023 IEEE/SICE International Symposium on System Integration, SII 2023　2023

    DOI： 10.1109/SII55687.2023.10039409 　

  27. Cooperation of Assistive Robots to Improve Productivity in the Nursing Care Field Peer-reviewed

    Yasuhisa Hirata, Jose Victorio Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi

    Springer Proceedings in Advanced Robotics　27 SPAR　287-294　2023

    DOI： 10.1007/978-3-031-25555-7_19 　

    ISSN： 2511-1256

    eISSN： 2511-1264

  28. Automatic Dimensional Inspection System of Railcar Wheelset for Condition Monitoring Peer-reviewed

    Takeshi Emoto, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    2022 61st Annual Conference of the Society of Instrument and Control Engineers (SICE)　2022/09/06

    Publisher: IEEE

    DOI： 10.23919/sice56594.2022.9905812 　

  29. A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots Peer-reviewed

    Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    2022 International Conference on Robotics and Automation (ICRA)　5755-5761　2022/05/23

    Publisher: IEEE

    DOI： 10.1109/icra46639.2022.9811593 　

  30. Immersive Virtual Walking System Using an Avatar Robot Peer-reviewed

    Kengkij Promsutipong, Jose V. Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi, Yasuhisa Hirata

    2022 International Conference on Robotics and Automation (ICRA)　9325-9331　2022/05/23

    Publisher: IEEE

    DOI： 10.1109/icra46639.2022.9811588 　

    ISSN： 1050-4729

  31. PSM: A Predictive Safety Model for Body Motion Based On the Spring-Damper Pendulum Peer-reviewed

    Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata

    2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　6657-6664　2022

    DOI： 10.1109/IROS47612.2022.9981274 　

    ISSN： 2153-0858

  32. Robot Path Planning in Narrow Environments Using Improved Roadmap Sampling

    Ankit A. RAVANKAR, Abhijeet RAVANKAR, Seyed Amir TAFRISHI, Jose Victorio SALAZAR Luces, Yasuhisa HIRATA

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2P2-M03　2022

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2p2-m03 　

    eISSN： 2424-3124

  33. Dynamic Motion Planning For Mobile Robots Considering Moving Obstacles

    Ankit A. RAVANKAR, Abhijeet RAVANKAR, Jose Victorio SALAZAR Luces, Seyed Amir TAFRISHI, Yasuhisa HIRATA

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1A1-T12　2022

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.1a1-t12 　

    eISSN： 2424-3124

  34. Simulation-based Mobile Robot Navigation for Precision Agriculture Monitoring Application

    Ankit A. RAVANKAR, Abhijeet RAVANKAR, Jose Victorio SALAZAR Luces, Seyed Amir TAFRISHI, Yasuhisa HIRATA

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1P1-A08　2022

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.1p1-a08 　

    eISSN： 2424-3124

  35. A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots. Peer-reviewed

    Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    International Conference on Robotics and Automation (ICRA)　5755-5761　2022

    DOI： 10.1109/ICRA46639.2022.9811593 　

  36. Corrections to “Multi-Modal Sensor Fusion-Based Semantic Segmentation for Snow Driving Scenarios” Peer-reviewed

    Sirawich Vachmanus, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi

    IEEE Sensors Journal　21　(22)　26186-26189　2021/11/15

    Publisher: Institute of Electrical and Electronics Engineers ({IEEE})

    DOI： 10.1109/JSEN.2021.3116408 　

    ISSN： 1530-437X

    eISSN： 1558-1748

  37. Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Arpit Rawankar, Yohei Hoshino

    Agriculture　11　(10)　954-954　2021/09/30

    Publisher: {MDPI} {AG}

    DOI： 10.3390/agriculture11100954 　

    eISSN： 2077-0472

  38. An Evaluation of RGB-Thermal Image Segmentation for Snowy Road Environment Peer-reviewed

    Sirawich Vachmanus, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi

    2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021　2021　(ICMA)　224-230　2021/08/08

    DOI： 10.1109/ICMA52036.2021.9512708 　

  39. Multi-Modal Sensor Fusion-Based Semantic Segmentation for Snow Driving Scenarios Peer-reviewed

    Sirawich Vachmanus, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi

    IEEE SENSORS JOURNAL　21　(15)　16839-16851　2021/08

    DOI： 10.1109/JSEN.2021.3077029 　

    ISSN： 1530-437X

    eISSN： 1558-1748

  40. Multi-robot path planning for smart access of distributed charging points in map Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Michiko Watanabe, Yohei Hoshino, Arpit Rawankar

    Artificial Life and Robotics　26　(1)　52-60　2021/02

    DOI： 10.1007/s10015-020-00612-8 　

    ISSN： 1433-5298

    eISSN： 1614-7456

  41. Monocular Visual-inertial Localization in a Point Cloud Map Using Feature-to-Distribution Registration Peer-reviewed

    Su Wang, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    2021 IEEE/SICE International Symposium on System Integration, SII 2021　2021　(IEEECONF)　720-726　2021/01/11

    DOI： 10.1109/IEEECONF49454.2021.9382659 　

    ISSN： 2474-2317

  42. SVM based Pedestrian Detection System for Sidewalk Snow Removing Machines Peer-reviewed

    Yuta Sasaki, Takanori Emaru, Ankit A. Ravankar

    2021 IEEE/SICE International Symposium on System Integration, SII 2021　2021　(IEEECONF)　700-701　2021/01/11

    DOI： 10.1109/IEEECONF49454.2021.9382618 　

    ISSN： 2474-2317

  43. Improved Scan Matching Performance in Snowy Environments Using Semantic Segmentation Peer-reviewed

    Masahiro Obuchi, Takanori Emaru, Ankit A. Ravankar

    2021 IEEE/SICE International Symposium on System Integration, SII 2021　2021　(IEEECONF)　702-703　2021/01/11

    DOI： 10.1109/IEEECONF49454.2021.9382713 　

    ISSN： 2474-2317

  44. Real-time Interpolation Method for Sparse LiDAR Point Cloud Using RGB Camera Peer-reviewed

    Tomohiko Hasegawa, Takanori Emaru, Ankit A. Ravankar

    2021 IEEE/SICE International Symposium on System Integration, SII 2021　2021　(IEEECONF)　421-425　2021/01/11

    DOI： 10.1109/IEEECONF49454.2021.9382760 　

    ISSN： 2474-2317

  45. Autonomous Navigation of Mobile Robots in Vineyard

    Abhijeet RAVANKAR, Ankit A. RAVANKAR, Yohei HOSHINO

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　1P2-A15　2021

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.1p2-a15 　

    ISSN： 2424-3124

    eISSN： 2424-3124

    More details Close

    Vineyards which are situated in remote mountainous areas receive weak GPS signals. Mobile robots working in such vineyards needs special algorithms to navigate without using GPS information. In this paper, we propose an algorithm of autonomous mobile robot navigation which uses only the local features of the vineyard. The algorithm only uses data from laser range sensor to accurately detect pillars supporting the grape plants in the presence of noise. Robust detection of these landmarks is important for the autonomous navigation of robot in vineyards. The detected pillars are also used for accurate localization and mapping. We also present an algorithm for smooth obstacle avoidance in vineyard for dynamic obstacles like moving people. Experiments in both simulation and actual vineyard fields are presented.

  46. A Geometric Assistive Controller for the Users of Wheeled Mobile Robots without Desired States. Peer-reviewed

    Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata

    The IEEE International Conference on Robotics and Biomimetics (ROBIO 2021)　1953-1959　2021

    DOI： 10.1109/ROBIO54168.2021.9739645 　

  47. Evaluation of an Avatar Robot with a Physically Immersive Telepresence. Peer-reviewed

    Koen Hertenberg, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata

    The IEEE International Conference on Robotics and Biomimetics (ROBIO 2021)　99-104　2021

    Publisher: IEEE

    DOI： 10.1109/ROBIO54168.2021.9739326 　

  48. Breakwater inspection system using airborne LiDAR Peer-reviewed

    T. Ueno, T. Emaru, A. A. Ravankar, Y. Kobayashi

    Bridge Maintenance, Safety, Management, Life-Cycle Sustainability and Innovations - Proceedings of the 10th International Conference on Bridge Maintenaince, Safety and Management, IABMAS 2020　52nd　3286-3291　2021

    DOI： 10.1201/9780429279119-446 　

  49. Automatic Inspection of Railcar Wheels Using Laser and Image Sensor. Peer-reviewed

    Takeshi Emoto, Ankit A. Ravankar, Abhijeet A. Ravankar, Takanori Emaru, Yukinori Kobayashi

    60th Annual Conference of the Society of Instrument and Control Engineers of Japan(SICE)　1282-1287　2021

    Publisher: IEEE

  50. Mobile Robot Navigation Based on Deep Reinforcement Learning with 2D-LiDAR Sensor using Stochastic Approach.

    Han Beomsoo, Ankit A. Ravankar, Takanori Emaru

    2021 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENCE AND SAFETY FOR ROBOTICS (ISR)　2021　(ISR)　417-422　2021

    DOI： 10.1109/ISR50024.2021.9419565 　

  51. Development of Robust Ridge Detection Method and Control System for Autonomous Navigation of Mobile Robot in Agricultural Farm Peer-reviewed

    Shunsuke Fujita, Takanori Emaru, Ankit A. Ravankar, Yukinori Kobayashi

    CISM International Centre for Mechanical Sciences, Courses and Lectures　601　16-23　2021

    DOI： 10.1007/978-3-030-58380-4_3 　

    ISSN： 0254-1971

    eISSN： 2309-3706

  52. Autonomous VTOL-UAV Docking System for Heterogeneous Multirobot Team International-journal Peer-reviewed

    Eduardo Narvaez, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    IEEE Transactions on Instrumentation and Measurement　70　1-18　2021

    DOI： 10.1109/TIM.2020.3039649 　

    ISSN： 0018-9456

    eISSN： 1557-9662

  53. Dynamics Modelling and Parameter Identification of a Reaction Wheel Based Pendulum Peer-reviewed

    Cheng Yi Su, Chao Chung Peng, Ankit A. Ravankar, Abhijeet Ravankar

    Proceedings - 4th IEEE International Conference on Robotic Computing, IRC 2020　2020　(IRC)　271-274　2020/11

    Publisher: IEEE

    DOI： 10.1109/IRC.2020.00049 　

  54. Semantic Image Segmentation on Snow Driving Scenarios Peer-reviewed

    Yayun Lei, Takanori Emaru, Ankit A. Ravankar, Yukinori Kobayashi, Su Wang

    2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020　2020　(ICMA)　1094-1100　2020/10/13

    DOI： 10.1109/ICMA49215.2020.9233538 　

  55. Semantic Segmentation for Road Surface Detection in Snowy Environment Peer-reviewed

    Sirawich Vachmanus, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi

    2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020　2020　(SICE)　1381-1386　2020/09/23

    Publisher: IEEE

  56. Estimation of Tree Diameter at Breast Height using Stereo Camera by Drone Surveying and Mobile Scanning Methods Peer-reviewed

    Visarut Trairattanapa, Ankit A. Ravankar, Takanori Emaru

    2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020　2020　(SICE)　946-951　2020/09/23

    Publisher: IEEE

  57. Line Segment Extraction and Polyline Mapping for Mobile Robots in Indoor Structured Environments Using Range Sensors International-journal Peer-reviewed

    Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    SICE Journal of Control, Measurement, and System Integration　13　(3)　138-147　2020/05/26

    Publisher: The Society of Instrument and Control Engineers (SICE), Japan

    DOI： 10.9746/jcmsi.13.138 　

    ISSN： 1882-4889

  58. Development of a low-cost semantic monitoring system for vineyards using autonomous robots International-journal Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Michiko Watanabe, Yohei Hoshino, Arpit Rawankar

    Agriculture (Switzerland)　10　(5)　182-182　2020/05

    DOI： 10.3390/agriculture10050182 　

    ISSN： 2077-0472

    eISSN： 2077-0472

  59. Google earth engine for the detection of soiling on photovoltaic solar panels in arid environments International-journal Peer-reviewed

    Hitesh Supe, Ram Avtar, Deepak Singh, Ankita Gupta, Ali P. Yunus, Jie Dou, Ankit A. Ravankar, Geetha Mohan, Saroj Kumar Chapagain, Vivek Sharma, Chander Kumar Singh, Olga Tutubalina, Ali Kharrazi

    Remote Sensing　12　(9)　1466-1466　2020/05/01

    DOI： 10.3390/RS12091466 　

    ISSN： 2072-4292

    eISSN： 2072-4292

  60. Safe mobile robot navigation in human-centered environments using a heat map-based path planner International-journal Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yohei Hoshino, Michiko Watanabe, Yukinori Kobayashi

    Artificial Life and Robotics　25　(2)　264-272　2020/05/01

    DOI： 10.1007/s10015-020-00591-w 　

    ISSN： 1433-5298

    eISSN： 1614-7456

  61. Image Based Landmark Detection in Vineyards

    RAVANKAR Abhijeet, RAVANKAR Ankit A., HOSHINO Yohei, WATANABE Michiko

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2020　2020

    ISSN： 2424-3124

  62. An Intelligent Cleaning Robot for Indoor Environments

    RAVANKAR Abhijeet, RAVANKAR Ankit A., WATANABE Michiko, HOSHINO Yohei

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2020　2020

    ISSN： 2424-3124

  63. Human detection for the purpose of improving the efficiency of sidewalk snow removal using thermal camera

    南岡和弥, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020

  64. Transient Virtual Obstacles for Safe Robot Navigation in Indoor Environments

    RAVANKAR Abhijeet, RAVANKAR Ankit A., HOSHINO Yohei, WATANABE Michiko, RAWANKAR Arpit

    Information Engineering Express (Web)　6　(1)　2020

    ISSN： 2185-9892

  65. Measuring Student Learning Outcomes in Introductory Project Management Course in Graduate Schools

    RAVANKAR Ankit A., RAVANKAR Abhijeet, IMAI Shotaro

    International Journal of Institutional Research and Management (Web)　4　(1)　2020

    ISSN： 2432-3683

  66. Transient Virtual Obstacles for Safe Robot Navigation in Indoor Environments

    Abhijeet Ravankar, Ankit Ravankar, Yohei Hoshino, Michiko Watanabe, Arpit Rawankar

    Information Engineering Express　6　(1)　59-69　2020

    Publisher: International Institute of Applied Informatics

    DOI： 10.52731/iee.v6.i1.539 　

    ISSN： 2185-9884

    eISSN： 2185-9892

  67. Applying Semantic Segmentation to Autonomous Cars in the Snowy Environment.

    Zhaoyu Pan, Takanori Emaru, Ankit A. Ravankar, Yukinori Kobayashi

    CoRR　abs/2007.12869　2020

  68. HPPRM: Hybrid Potential Based Probabilistic Roadmap Algorithm for Improved Dynamic Path Planning of Mobile Robots Peer-reviewed

    Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    IEEE Access　8　221743-221766　2020

    DOI： 10.1109/ACCESS.2020.3043333 　

    ISSN： 2169-3536

    eISSN： 2169-3536

  69. Multi-Robot Mapping and Navigation Using Topological Features

    Ankit Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    Proceedings　2019/11/14

    Publisher: {MDPI}

    DOI： 10.3390/ecsa-6-06580 　

  70. An Efficient Algorithm for Cleaning Robots Using Vision Sensors

    Abhijeet Ravankar, Ankit Ravankar, Michiko Watanabe, Yohei Hoshino

    Proceedings　2019/11/14

    Publisher: {MDPI}

    DOI： 10.3390/ecsa-6-06578 　

  71. ITC: Infused tangential curves for smooth 2D and 3D navigation of mobile robots† Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Arpit Rawankar, Yohei Hoshino, Yukinori Kobayashi

    Sensors (Switzerland)　19　(20)　4384-4384　2019/10/02

    DOI： 10.3390/s19204384 　

    ISSN： 1424-8220

    eISSN： 1424-8220

  72. Virtual Obstacles for Safe Mobile Robot Navigation Peer-reviewed

    Abhijeet Ravankar, Ankit Ravankar, Yohei Hoshino, Yukinori Kobayashi

    Proceedings - 2019 8th International Congress on Advanced Applied Informatics, IIAI-AAI 2019　2019　(IIAI-AAI)　552-555　2019/07

    Publisher: IEEE

    DOI： 10.1109/IIAI-AAI.2019.00118 　

  73. Managing the Project: The Essential Need for Project Management Training and Education in Graduate Schools Peer-reviewed

    Ankit Ravankar, Shotaro Imai, Abhijeet Ravankar

    Proceedings - 2019 8th International Congress on Advanced Applied Informatics, IIAI-AAI 2019　2019　(IIAI-AAI)　420-425　2019/07

    Publisher: IEEE

    DOI： 10.1109/IIAI-AAI.2019.00092 　

  74. On Sharing Spatial Data with Uncertainty Integration Amongst Multiple Robots Having Different Maps Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yohei Hoshino, Yukinori Kobayashi

    APPLIED SCIENCES-BASEL　9　(13)　2753　2019/07

    DOI： 10.3390/app9132753 　

    ISSN： 2076-3417

    eISSN： 2076-3417

  75. Multi-modal Vibration Control of a Double Shell Railway Car-Body Model using Passive Piezo-electric Shunt Circuit Peer-reviewed

    Silabhadra Das, Ashish Gupta, Yukinori Kobayashi, Takanori Emaru, Ankit Ravankar

    2019 12th Asian Control Conference, ASCC 2019　772-777　2019/06

    Publisher: IEEE

  76. A novel approach for lidar-based robot localization in a scale-drifted map constructed using monocular SLAM Peer-reviewed

    Su Wang, Yukinori Kobayashi, Ankit A. Ravankar, Takanori Emaru, Abhijeet Ravankar

    Sensors (Switzerland)　19　(10)　2230-2230　2019/05/02

    DOI： 10.3390/s19102230 　

    ISSN： 1424-8220

  77. Cooperative Multi-Robot Map Merging with Task Distribution Peer-reviewed

    Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    Robotics and Mechatronics Conference (ROBOMECH 2019), Hiroshima　2019　2019/05

    ISSN： 2424-3124

  78. Autonomous navigation of ground robot for vineyard monitoring Peer-reviewed

    A Ravankar, AA Ravankar, Y Hoshino, Y Kobayashi

    Robotics and Mechatronics Conference (ROBOMECH2019), Hiroshima　2019　2019/05

    ISSN： 2424-3124

  79. Bio-inspired structure and behavior of self-recovery quadruped robot with a limited number of functional legs Peer-reviewed

    Sarun Chattunyakit, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar

    Applied Sciences (Switzerland)　9　(4)　799　2019/02/25

    DOI： 10.3390/app9040799 　

    ISSN： 2076-3417

    eISSN： 2076-3417

  80. Aerial Robot Model based design and verification of the single and multi-agent inspection application development Peer-reviewed

    Seiko P. Yamaguchi, Masaru Sakuma, Takaki Ueno, Filip Karolonek, Tadeusz Uhl, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi

    CoRR　abs/1812.05296　2018/12/13

    More details Close

    In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex environments. Furthermore, aerial robotics application with multi-agent systems are anticipated to further extend its potential. However, one of the major difficulties in aerial robotics applications is the testing of the elaborated system within safety concerns, especially when multiple agents are simultaneously applied. Thus, virtual prototyping and simulation-based development can serve in development, assessment and improvement of the aerial robot applications. In this research, two examples of the specific applications are highlighted, harbor structure and facilities inspection with UAV, and development of autonomous positioning of multi-UAVs communication relaying system. In this research, virtual prototype was designed and further simulated in multi-body simulation (MBS) feigning the sensing and actuating equipment behaviors. Simultaneous simulation of the control and application system running with software in the loop (SITL) method is utilized to assess the designed hardware behavior with modular application nodes running in Robot Operating System. Furthermore, prepared simulation environment is assessed with multi-agent system, proposed in previous research with autonomous position control of communication relaying system. Application of the virtual prototype's simulation environment enables further examination of the proposed system within comparison degree with postfield tests. The research aims to contribute through case assessment of the design process to safer, time and cost-efficient development and application design in the field of aerial robotics.

  81. A Bio-Inspired Algorithm for Autonomous Task Coordination of Multiple Mobile Robots

    Abhijeet Ravankar, Ankit Ravankar, Yukinori Kobayashi, Yohei Hoshino

    5th International Electronic Conference on Sensors and Applications　2018/11/14

    Publisher: MDPI

    DOI： 10.3390/ecsa-5-05760 　

  82. Autonomous Mapping and Exploration with Unmanned Aerial Vehicles Using Low Cost Sensors Peer-reviewed

    Ankit Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru

    Proceedings　4　(1)　44-44　2018/11

    Publisher: MDPI} {AG

    DOI： 10.3390/ecsa-5-05753 　

    eISSN： 2504-3900

    More details Close

    Mapping and exploration are important tasks of mobile robots for various applications such as search and rescue, inspection, and surveillance. Unmanned aerial vehicles (UAVs) are more suited for such tasks because they have a large field of view compared to ground robots. Autonomous operation of UAVs is desirable for exploration in unknown environments. In such environments, the UAV must make a map of the environment and simultaneously localize itself in it which is commonly known as the SLAM (simultaneous localization and mapping) problem. This is also required to safely navigate between open spaces, and make informed decisions about the exploration targets. UAVs have physical constraints including limited payload, and are generally equipped with low-spec embedded computational devices and sensors. Therefore, it is often challenging to achieve robust SLAM on UAVs which also affects exploration. In this paper, we present an autonomous exploration of UAVs in completely unknown environments using low cost sensors such as LIDAR and an RGBD camera. A sensor fusion method is proposed to build a dense 3D map of the environment. Multiple images from the scene are geometrically aligned as the UAV explores the environment, and then a frontier exploration technique is used to search for the next target in the mapped area to explore the maximum area possible. The results show that the proposed algorithm can build precise maps even with low-cost sensors, and explore the environment efficiently.

  83. Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Yohei Hoshino, Chao Chung Peng

    Sensors (Switzerland)　18　(9)　3170-3170　2018/09/19

    DOI： 10.3390/s18093170 　

    ISSN： 1424-8220

    eISSN： 1424-8220

  84. Hitchhiking based symbiotic multi-robot navigation in sensor networks Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Yohei Hoshino, Chao Chung Peng, Michiko Watanabe

    Robotics　7　(3)　37-37　2018/07/15

    DOI： 10.3390/robotics7030037 　

    ISSN： 2218-6581

    eISSN： 2218-6581

  85. Towards Better Problem Finding and Creativity in Graduate School Education: A Case Study of Nitobe School Program Peer-reviewed

    Ankit Ravankar, Shotaro Imai, Abhijeet Ravankar, Tomohiro Agatsuma, Tomomichi Kato, Taichi Takasuka, Teruyuki Tsuji, Kaori K. Shigetomi, Ken Saito

    Proceedings - 2018 7th International Congress on Advanced Applied Informatics, IIAI-AAI 2018　2018　(IIAI-AAI)　414-418　2018/07/02

    Publisher: IEEE

    DOI： 10.1109/IIAI-AAI.2018.00088 　

  86. Localization with Laser Range Finder in a Metrically Inconsistent Map from Monocular SLAM Peer-reviewed

    Su Wang, Yukinori Kobayashi, Abhijeet Ravankar, Ankit A. Ravankar, Takanori Emaru

    2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018　2018　(ROBIO)　796-801　2018/07/02

    DOI： 10.1109/ROBIO.2018.8665306 　

  87. Task coordination for multiple mobile robots considering semantic and topological information Peer-reviewed

    Ankit A. Ravankar, Abhijeet Ravankar, Chao Chung Peng, Yukinori Kobayashi, Takanori Emaru

    Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018　2018　(ICASI)　1088-1091　2018/06/22

    DOI： 10.1109/ICASI.2018.8394468 　

  88. Real-time multi-robot path planning revisited as a caching problem Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Chao Chung Peng, Takanori Emaru

    Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018　2018　(ICASI)　350-353　2018/06/22

    DOI： 10.1109/ICASI.2018.8394606 　

  89. A single LiDAR-based feature fusion indoor localization algorithm Invited Peer-reviewed

    Yun Ting Wang, Chao Chung Peng, Ankit A. Ravankar, Abhijeet Ravankar

    Sensors (Switzerland)　18　(4)　1294-1294　2018/04

    DOI： 10.3390/s18041294 　

    ISSN： 1424-8220

    eISSN： 1424-8220

  90. UAV pose estimation using IR and RGB cameras Peer-reviewed

    Wang Su, Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    SII 2017 - 2017 IEEE/SICE International Symposium on System Integration　2018-January　(SII)　151-156　2018/02/01

    DOI： 10.1109/SII.2017.8279204 　

    ISSN： 2474-2317

  91. Vision based autonomous docking of VTOL UAV using a mobile robot manipulator Peer-reviewed

    Eduardo Narváez, Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru

    SII 2017 - 2017 IEEE/SICE International Symposium on System Integration　2018-January　(SII)　157-163　2018/02/01

    DOI： 10.1109/SII.2017.8279205 　

    ISSN： 2474-2317

  92. Road Detection in Snowy Forest Environment using RGB Camera

    VACHMANUS Sirawich, EMARU Takanori, RAVANKAR Ankit, KOBAYASHI Yukinori

    日本ロボット学会学術講演会予稿集(CD-ROM)　36th　2018

  93. Development of Port Facilities Inspection Robot Using Multi-copter

    UENO Takaki, SAKUMA Masaru, YAMAGUCHI Seiko Piotr, YAMAGUCHI Seiko Piotr, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit

    日本ロボット学会学術講演会予稿集(CD-ROM)　36th　2018

  94. Autonomous Mobile Robot Mapping and Navigation using Topological and Semantic Information Peer-reviewed

    AA Ravankar, A Ravankar, Y Kobayashi, T Emaru

    Proceedings of the 23rd International Symposium on Artificial Life and Robotics, ISAROB, January 18-20, Beppu, Japan (**Young Author Award)　2018/01

  95. Utilization of the Student E-Portfolio in the Graduate Education: The Case Report of 'Nitobe School Program' in Hokkaido University Peer-reviewed

    Shotaro Imai, Michiyo Shimamura, Ankit A. Ravankar, Hisashi Haga, Yukinori Kobayashi, Yasuhiro Yamanaka

    Proceedings - 2017 6th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2017　2017　(IIAI-AAI)　147-152　2017/11/15

    DOI： 10.1109/IIAI-AAI.2017.193 　

  96. A hybrid topological mapping and navigation method for large area robot mapping Peer-reviewed

    Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017　2017-November　(SICE)　1104-1107　2017/11/10

    DOI： 10.23919/SICE.2017.8105770 　

  97. Can robots help each other to plan optimal paths in dynamic maps? Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017　2017-November　(SICE)　317-320　2017/11/10

    DOI： 10.23919/SICE.2017.8105701 　

  98. Large Scale Mapping using Semantic and Topological Information for Autonomous Mobile Robot Navigation Invited Peer-reviewed

    AA Ravankar, A Ravankar, Y Kobayashi, T Emaru

    The 7th East Asia Mechanical and Aerospace Engineering (EAMAE) Workshop, Sapporo, Japan　2017/11

  99. Optimal Robot Path Selection Using Fuzzy Analytical Hierarchical Process Peer-reviewed

    AA Ravankar, A Ravankar, Y Kobayashi, T Emaru

    4th Intl. Electronic Confernce on Sensors Applications　2　(3)　111　2017/11

    DOI： 10.3390/ecsa-4-04905 　

  100. Effect of instructor’s actions and attitudes on student’s motivation and discussion process in TBL class for graduate students Invited Peer-reviewed

    S. Imai, AA Ravankar, M. Shimamura, T. Takasuka, G. Chiba, Y. Yamanaka

    International Journal of Institutional Research and Management　1　(2)　17-35　2017/09

  101. Hitchhiking robots: A collaborative approach for efficient multi-robot navigation in indoor environments Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    Sensors (Switzerland)　17　(8)　1878-1878　2017/08/15

    DOI： 10.3390/s17081878 　

    ISSN： 1424-8220

  102. Symbiotic navigation in multi-robot systems with remote obstacle knowledge sharing Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    Sensors (Switzerland)　17　(7)　1581-1581　2017/07/05

    DOI： 10.3390/s17071581 　

    ISSN： 1424-8220

    eISSN： 1424-8220

  103. Angular Piezo Actuator Controlled Laser Resonator for Precise Sensing of Respiratory Diseases Peer-reviewed

    A Rawankar, J Gondane, A Ravankar

    Proceedings, MDPI　1　(2)　2017/06

    DOI： 10.3390/ecsa-3-A002 　

  104. Mapping of pier substructure using UAV Peer-reviewed

    Masaru Sakuma, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar

    SII 2016 - 2016 IEEE/SICE International Symposium on System Integration　2016　(SII)　361-366　2017/02/06

    DOI： 10.1109/SII.2016.7844025 　

    ISSN： 2474-2317

  105. Adaptive control for omnidirectional wheeled robot

    Kota Kawamura, Takanori Emaru, Yukinori Kobayashi, Ankit A. Ravankar

    SII 2016 - 2016 IEEE/SICE International Symposium on System Integration　2016　(SII)　367-372　2017/02/06

    DOI： 10.1109/SII.2016.7844026 　

    ISSN： 2474-2317

  106. A method of low-cost IMU calibration and alignment Peer-reviewed

    Jixin Lv, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    SII 2016 - 2016 IEEE/SICE International Symposium on System Integration　2016　(SII)　373-378　2017/02/06

    DOI： 10.1109/SII.2016.7844027 　

    ISSN： 2474-2317

  107. 3D map-building from RGB-D data considering noise characteristics of Kinect

    Takahiro Yamaguchi, Takanori Emaru, Yukinori Kobayashi, Ankit A. Ravankar

    SII 2016 - 2016 IEEE/SICE International Symposium on System Integration　2016　(SII)　379-384　2017/02/06

    DOI： 10.1109/SII.2016.7844028 　

    ISSN： 2474-2317

  108. Low-cost Mobile Platform for ROS

    Ankit Ravankar, Abhijeet Ravankar, Takanori Emaru, Yukinori Kobayashi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　1P1-G09　2017

    Publisher: Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.1p1-g09 　

    ISSN： 2424-3124

    eISSN： 2424-3124

  109. Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments Peer-reviewed

    Ravankar Abhijeet, Ravankar Ankit A, Kobayashi Yukinori, Emaru Takanori

    Sensors　17　(8)　1878　2017

    Publisher: Multidisciplinary Digital Publishing Institute

    ISSN： 1424-8220

  110. Problem-based learning and problem finding among university graduate students Peer-reviewed

    Ankit A, Shotaro Imai, Michiyo Shimamura, Go Chiba, Taichi Takasuka

    高等教育ジャーナル: 高等教育と生涯学習= Journal of Higher Education and Lifelong Learning　24　(24)　9-20　2017

    Publisher: 北海道大学高等教育推進機構

    DOI： 10.14943/J.HighEdu.24.9 　

    ISSN： 1341-9374

  111. Effect of instructor’s actions and attitudes on student’s motivation and discussion process in TBL class for graduate students Peer-reviewed

    Shotaro Imai, Ravankar Ankit, Shimamura Michiyo, Takasuka Taichi, Chiba Go, Yamanaka Yasuhiro

    International Journal of Institutional Research and Management　1　(2)　17-35　2017

    Publisher: IIAI

  112. Symbiotic navigation in multi-robot systems with remote obstacle knowledge sharing Peer-reviewed

    Ravankar Abhijeet, Ravankar Ankit A, Kobayashi Yukinori, Emaru Takanori

    Sensors　17　(7)　1581　2017

    Publisher: Multidisciplinary Digital Publishing Institute

    ISSN： 1424-8220

  113. Avoiding blind leading the blind: Uncertainty integration in virtual pheromone deposition by robots

    Ravankar Abhijeet, Ravankar Ankit A., Kobayashi Yukinori, Emaru Takanori

    International journal of advanced robotic systems　13　(6)　1-16　2016/12/01

    Publisher: SAGE Publications

    DOI： 10.1177/1729881416666088 　

    ISSN： 1729-8814

  114. Intelligent Robot Guidance in Fixed External Camera Network for Navigation in Crowded and Narrow Passages Peer-reviewed

    A Ravankar, A A Ravankar, Y Kobayashi, T Emaru

    3rd International Electronic Conference on Sensors and Applications　2016/12

    DOI： 10.3390/ecsa-3-D008 　

  115. Avoiding blind leading the blind Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    International Journal of Advanced Robotic Systems　13　(6)　1-16　2016/11/11

    DOI： 10.1177/1729881416666088 　

    ISSN： 1729-8806

    eISSN： 1729-8814

  116. Avoiding blind leading the blind Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    International Journal of Advanced Robotic Systems　13　(6)　1-16　2016/11/11

    DOI： 10.1177/1729881416666088 　

    ISSN： 1729-8806

    eISSN： 1729-8814

  117. Discussion on a method of team-based-learning style lecture for graduate students in a research university Peer-reviewed

    Shotaro Imai, Ankit A. Ravankar, Michiyo Shimamura, Taichi E. Takasuka, Go Chiba, Yasuhiro Yamanaka

    Proceedings - 2016 5th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2016　2016　(IIAI-AAI)　537-541　2016/08/31

    DOI： 10.1109/IIAI-AAI.2016.135 　

  118. Nurturing problem-finding skills in graduate students through problem based learning approaches Peer-reviewed

    Ankit A. Ravankar, Shotaro Imai, Michiyo Shimamura, Go Chiba, Taichi Takasuka, Yasuhiro Yamanaka

    Proceedings - 2016 5th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2016　2016　(IIAI-AAI)　542-546　2016/08/31

    DOI： 10.1109/IIAI-AAI.2016.177 　

  119. How does the english ability of the student change through the postgraduate education: The case report of "nitobe school program" in hokkaido university" Peer-reviewed

    Michiyo Shimamura, Shotaro Imai, Ankit A. Ravankar, Yasuhiro Yamanaka

    Proceedings - 2016 5th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2016　2016　(IIAI-AAI)　547-551　2016/08/31

    DOI： 10.1109/IIAI-AAI.2016.233 　

  120. SHP: Smooth Hypocycloidal Paths with Collision-Free and Decoupled Multi-Robot Path Planning Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    International Journal of Advanced Robotic Systems　13　(3)　133　2016/06/17

    DOI： 10.5772/63458 　

    ISSN： 1729-8806

    eISSN： 1729-8814

  121. On a bio-inspired hybrid pheromone signalling for efficient map exploration of multiple mobile service robots Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    Artificial Life and Robotics　21　(2)　221-231　2016/06/01

    DOI： 10.1007/s10015-016-0279-4 　

    ISSN： 1433-5298

    eISSN： 1614-7456

  122. On a Hopping-Points SVD and Hough Transform-Based Line Detection Algorithm for Robot Localization and Mapping Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yohei Hoshino, Takanori Emaru, Yukinori Kobayashi

    International Journal of Advanced Robotic Systems　13　(3)　98　2016/05/23

    DOI： 10.5772/63540 　

    ISSN： 1729-8806

    eISSN： 1729-8814

  123. On a Hopping-points SVD and Hough Transform-based Line Detection Algorithm for Robot Localization and Mapping Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yohei Hoshino, Takanori Emaru, Yukinori Kobayashi

    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS　13　(3)　2016/05

    DOI： 10.5772/63540 　

    ISSN： 1729-8814

    eISSN： 1729-8814

  124. SLAM within indoor loops by using incremental scan registration Peer-reviewed

    Jixin Lv, Abhijeet Ravankar, Yukinori Kobayashi, Ankit A. Ravankar, Takanori Emaru

    2015 IEEE/SICE International Symposium on System Integration, SII 2015　720-725　2016/02/10

    DOI： 10.1109/SII.2015.7405068 　

  125. Estimation of position and trajectory of a flying ball in 3-D space Peer-reviewed

    Mengze Li, Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    2015 IEEE/SICE International Symposium on System Integration, SII 2015　443-448　2016/02/10

    DOI： 10.1109/SII.2015.7405020 　

  126. Path smoothing extension for various robot path planners Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    International Conference on Control, Automation and Systems　0　263-268　2016/01/24

    Publisher: IEEE Computer Society

    DOI： 10.1109/ICCAS.2016.7832330 　

    ISSN： 1598-7833

  127. SHP: Smooth Hypocycloidal Paths with Collision-Free and Decoupled Multi-Robot Path Planning

    RAVANKAR Abhijeet, RAVANKAR Ankit A., KOBAYASHI Yukinori, EMARU Takanori

    International Journal of Advanced Robotic Systems (Web)　13　(3)　133　2016

    DOI： 10.5772/63458 　 10.3390/s17071581_references_DOI_TRyxYILADBPKiStPQD8B4Nvc7WC 　 10.1109/access.2020.3043333_references_DOI_TRyxYILADBPKiStPQD8B4Nvc7WC 　 10.3390/agriculture11100954_references_DOI_TRyxYILADBPKiStPQD8B4Nvc7WC 　

    ISSN： 1729-8814

    eISSN： 1729-8814

    More details Close

    Generating smooth and continuous paths for robots with collision avoidance, which avoid sharp turns, is an important problem in the context of autonomous robot navigation. This paper presents novel smooth hypocycloidal paths (SHP) for robot motion. It is integrated with collision-free and decoupled multi-robot path planning. An SHP diffuses (i.e., moves points along segments) the points of sharp turns in the global path of the map into nodes, which are used to generate smooth hypocycloidal curves that maintain a safe clearance in relation to the obstacles. These nodes are also used as safe points of retreat to avoid collision with other robots. The novel contributions of this work are as follows: (1) The proposed work is the first use of hypocycloid geometry to produce smooth and continuous paths for robot motion. A mathematical analysis of SHP generation in various scenarios is discussed. (2) The proposed work is also the first to consider the case of smooth and collision-free path generation for a load carrying robot. (3) Traditionally, path smoothing and collision avoidance have been addressed as separate problems. This work proposes integrated and decoupled collision-free multi-robot path planning. ‵Node caching‵ is proposed to improve efficiency. A decoupled approach with local communication enables the paths of robots to be dynamically changed. (4) A novel ‵multi-robot map update‵ in case of dynamic obstacles in the map is proposed, such that robots update other robots about the positions of dynamic obstacles in the map. A timestamp feature ensures that all the robots have the most updated map. Comparison between SHP and other path smoothing techniques and experimental results in real environments confirm that SHP can generate smooth paths for robots and avoid collision with other robots through local communication.

  128. Path Smoothing Extension for Various Robot Path Planners Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)　2016　(ICCAS)　263-268　2016

    ISSN： 2093-7121

  129. On a bio-inspired hybrid pheromone signalling for efficient map exploration of multiple mobile service robots Peer-reviewed

    Ravankar Abhijeet, Ravankar Ankit A, Kobayashi Yukinori, Emaru Takanori

    Artificial life and robotics　21　(2)　221　2016

    Publisher: Springer

    ISSN： 1433-5298

  130. Intelligent Robot Guidance in Fixed External Camera Network for Navigation in Crowded and Narrow Passages Peer-reviewed

    Ravankar Abhijeet, Ravankar Ankit, Kobayashi Yukinori, Emaru Takanori

    Multidisciplinary Digital Publishing Institute Proceedings　1　(2)　37　2016

  131. An intelligent docking station manager for multiple mobile service robots Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Lv Jixin, Takanori Emaru, Yohei Hoshino

    ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings　72-78　2015/12/23

    DOI： 10.1109/ICCAS.2015.7364881 　

    ISSN： 2093-7121

  132. A solution to estimate robot motion with large rotation by matching laser scans Peer-reviewed

    Jixin Lv, Kobayashi Yukinori, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru

    2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015　1083-1088　2015/09/30

    DOI： 10.1109/SICE.2015.7285356 　

  133. A novel vision based adaptive transmission power control algorithm for energy efficiency in wireless sensor networks employing mobile robots Peer-reviewed

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Jixin Lv, Takanori Emaru, Yohei Hoshino

    International Conference on Ubiquitous and Future Networks, ICUFN　2015-August　300-305　2015/08/07

    DOI： 10.1109/ICUFN.2015.7182554 　

    ISSN： 2165-8528

    eISSN： 2165-8536

  134. Indoor slope and edge detection by using two-dimensional EKF-SLAM with orthogonal assumption Peer-reviewed

    Jixin Lv, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar

    International Journal of Advanced Robotic Systems　12　(4)　44　2015/04

    DOI： 10.5772/60407 　

    ISSN： 1729-8806

    eISSN： 1729-8814

  135. A connected component labeling algorithm for sparse Lidar data segmentation Peer-reviewed

    Abhijeet Ravankar, Yukinori Kobayashi, Ankit Ravankar, Takanori Emaru

    ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications　437-442　2015/04

    DOI： 10.1109/ICARA.2015.7081188 　

  136. Indoor Slope and Edge Detection by using Two-Dimensional EKF-SLAM with Orthogonal Assumption Peer-reviewed

    Jixin Lv, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar

    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS　12　(44)　2015/04

    DOI： 10.5772/60407 　

    ISSN： 1729-8806

    eISSN： 1729-8814

  137. Algorithms and a framework for indoor robot mapping in a noisy environment using clustering in spatial and hough domains Peer-reviewed

    Ankit A. Ravankar, Yohei Hoshino, Abhijeet Ravankar, Lv Jixin, Takanori Emaru, Yukinori Kobayashi

    International Journal of Advanced Robotic Systems　12　(27)　2015/03/31

    DOI： 10.5772/59992 　

    ISSN： 1729-8806

    eISSN： 1729-8814

  138. Algoritnms and a Framework for Indoor Robot Mapping in a Noisy Environment using Clustering in Spatial and Hough Domains Peer-reviewed

    Ankit A. Ravankar, Yohei Hoshino, Abhijeet Ravankar, Lv Jixin, Takanori Emaru, Yukinori Kobayashi

    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS　12　(3)　27　2015/03

    DOI： 10.5772/59992 　

    ISSN： 1729-8814

    eISSN： 1729-8814

  139. Indoor Slope and Edge Detection by using Two-Dimensional EKF-SLAM with Orthogonal Assumption

    LV Jixin, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit A.

    International Journal of Advanced Robotic Systems (Web)　12　(Apr)　2015

    ISSN： 1729-8814

  140. An embarrassingly parallel hoppingwindow noise removing algorithm for lidar based robot mapping Peer-reviewed

    Ankit A. Ravankar, Yukinori Kobayashi, Jixin Lv, Takanori Emaru, Yohei Hoshino

    Proceedings of the SICE Annual Conference　307-312　2014/10/23

    DOI： 10.1109/SICE.2014.6935196 　

    ISSN： 1550-0322

  141. Straight Line Segments Extraction and EKF-SLAM in Indoor Environment Peer-reviewed

    Jixin Lv, Yukinori Kobayashi, Ankit A. Ravankar, Takanori Emaru

    Journal of Automation and Control Engineering　2　(3)　270-276　2014/09

  142. Clustering based loop closure technique for 2D robot mapping based on EKF-SLAM Peer-reviewed

    Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    Proceedings - Asia Modelling Symposium 2013: 7th Asia International Conference on Mathematical Modelling and Computer Simulation, AMS 2013　72-77　2013

    Publisher: IEEE Computer Society

    DOI： 10.1109/AMS.2013.16 　

  143. Robot Map Building in Indoor Environment Using Clustering of Laser Range Sensor Data Peer-reviewed

    Ravankar Ankit A, Hoshino Yohei, Emaru Takanori, Kobayashi Yukinori

    30th Annual Robot Society of Japan Conference (RSJ)　30th　2012

  144. Robot mapping using k-means clustering of laser range sensor data Peer-reviewed

    Ravankar Ankit A, Hoshino Yohei, Emaru Takanori, Kobayashi Yukinori

    Bulletin of Networking, Computing, Systems, and Software　1　(1)　pp　2012

  145. Map building from laser range sensor information using mixed data clustering and singular value decomposition in noisy environment Peer-reviewed

    Ankit A. Ravankar, Yohei Hoshino, Takanori Emaru, Yukinori Kobayashi

    2011 IEEE/SICE International Symposium on System Integration, SII 2011　1232-1238　2011

    DOI： 10.1109/SII.2011.6147625 　

  146. Probabilistic Approaches and Algorithms for Indoor Robot Mapping in Structured Environments Peer-reviewed

    Ravankar Ankit

Show all ︎Show first 5

Misc. 84

  1. Development of an IoT Data Set Creating System for Use in the Nursing Home

    阿部圭汰, 白鳥雅大, SALAZAR Jose, RAVANKAR Ankit A., 平田泰久

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　24th　2023

  2. Development of the Streetlight Inspection Robot Using Drone Body

    渡部澄葵, RAVANKAR Ankit, SALAZAR Jose, 平田泰久

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　24th　2023

  3. System Proposition for Office Robot with Navigation and Health Sensing Functions

    山本花, 花田紘欣, SALAZAR LUCES Jose Victorio, RAVANKAR Ankit A., 本江正茂, 平田泰久, 太田幸一, 西田稔, 前川真紀代

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　24th　2023

  4. 受動的な支援器具の移動を実現する脱着型搬送ロボットの開発

    董宗昊, ラワンカル アンキット, サラザル ホセ, 廖振宇, 寺山隼矢, 瀬戸文美, 平田泰久

    日本ロボット学会学術講演会予稿集(CD-ROM)　41st　2023

  5. 多彩な接触を実現する寄り添い型歩行支援ロボットの運動制御

    寺山隼矢, マンリケス リカード, 董宗昊, ラワンカル アンキット, サラザル ホセ, 平田泰久

    日本ロボット学会学術講演会予稿集(CD-ROM)　41st　2023

  6. Integrating Semantic Awareness and Probabilistic Priors for Object Search in Indoor Environments

    CHIKHALIKAR Akash, RAVANKAR Ankit A., SALAZAR LUCES Jose Victorio, HIRATA Yasuhisa

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2023　2023

    ISSN： 2424-3124

  7. Office Robot Navigation Using a Emotion Map

    山本花, 花田紘欣, 平田泰久, SALAZAR Jose, RAVANKAR Ankit, 本江正茂, 柳井良文, 太田幸一, 西田稔, 前川真紀代

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2023　2023

    ISSN： 2424-3124

  8. Road Detection in Snowy Forest Environment using RGB Camera

    Sirawich Vachmanus, Takanori Emaru, Ankit A. Ravankar, Yukinori Kobayashi

    2022/12/16

    More details Close

    Automated driving technology has gained a lot of momentum in the last few years. For the exploration field, navigation is the important key for autonomous operation. In difficult scenarios such as snowy environment, the road is covered with snow and road detection is impossible in this situation using only basic techniques. This paper introduces detection of snowy road in forest environment using RGB camera. The method combines noise filtering technique with morphological operation to classify the image component. By using the assumption that all road is covered by snow and the snow part is defined as road area. From the perspective image of road, the vanishing point of road is one of factor to scope the region of road. This vanishing point is found with fitting triangle technique. The performance of algorithm is evaluated by two error value: False Negative Rate and False Positive Rate. The error shows that the method has high efficiency for detect road with straight road but low performance for curved road. This road region will be applied with depth information from camera to detect for obstacle in the future work.

  9. Development of an Autonomous Mobile Robot for Passive Welfare Object Transportation

    DONG Zonghao, SALAZAR Luces Jose Victorio, RAVANKAR Ankit A., TAFRISHI Seyed Amir, HIRATA Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-B06　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2a2-b06 　

    eISSN： 2424-3124

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    In this research, we propose a novel autonomous mobile robot for transporting passive welfare objects in medical facilities. To actuate the robot, together with a welfare object, a differential wheeled robot is developed. Additionally, to combine the robot with various types of welfare objects safely, the robot can adjust its geometrical shape in the vertical direction by using a mechanism called zip chain actuator. When considering the task of transporting a welfare object, the robot must localize itself properly and detect the environmental information continuously. Furthermore, the robot must be able to handle the payload of such combined objects. To achieve this, we implement a Move Base Interface, where various kinds of sensory information including the data of IMU, wheel encoder and laser scanners are fused by using a localization algorithm called Adaptive Monte Carlo Localization (AMCL). In addition, the direction towards the robot moves is reversed during the transportation task, so that it is possible to pull the object and maintain localization simultaneously. Through experimental validation, we confirmed that the proposed mobile robot can follow the local planner trajectory ideally and reached the destination regardless the partial occlusion and unknow dynamics of passive objects.

  10. Nursing Care Teaching System Using Mixed Reality Technology

    AOKI Goro, Luces Jose Victorio Salazar, Ravankar Ankit A., Tafrishi Seyed Amir, HIRATA Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2P2-G07　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2p2-g07 　

    eISSN： 2424-3124

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    We propose a novel system for teaching nursing care movements using mixed reality technology and human pose estimation technology. This paper proposes a teaching system that guides a patient from a lying posture to a sitting posture. This nursing care operation is not easy to learn because it requires several steps to guide the patient to an appropriate posture. In this method, a mixed reality headset is attached to the caregiver, and “how-to guide the patient” is projected onto the real world to teach the caregiving operation intuitively. The system uses a camera mounted above the patient’s bed to estimate the patient’s pose and then uses a mixed reality headset mounted on the caregiver to project nursing care instructions based on the patient’s pose.

  11. Development of Non-wearable Walking Assist Robot for Preventing Falling Accident

    TERAYAMA Junya, Tafrishi Seyed Amir, Ravankar Ankit A., Luces Jose Victorio Salazar, HIRATA Yasuhisa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-C06　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2a2-c06 　

    eISSN： 2424-3124

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    In this research, we propose a novel lightweight and compact walking-assist robot to prevent users from falling accidents. We propose the concept for a new walking assist robot. A two-legged wheeled balancing robot is developed to follow the user’s walking motion based on the concept. Each leg consists of a two-link structure, including one driving wheel and two revolute joints. A base frame was connected by the base of both links. Three basic controllers were developed to keep the base frame at a specific angle, change the robot’s overall height and keep the robot’s balance for moving. We utilize a motion capture system called VIVE to keep the specific distance between humans and robots. The validation experiment shows that the proposed robot can follow user’s walking while keeping balance simultaneously.

  12. Video Stabilization Algorithm for Vineyard Robots

    RAVANKAR Abhijeet, RAVANKAR Ankit A.

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1A1-B06　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.1a1-b06 　

    eISSN： 2424-3124

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    Robots used at vineyards are either autonomous or tele-operated by a remote operator who controls the robot motion based on a live video feed from the robot’s cameras. Unlike structured environments like buildings which have smooth ground surface, the surface of vineyards are uneven. There could be jitters in the video due to a bumpy ground, or loose and vibrating mechanical frame on which the camera has been mounted. Jitters or shakes in these videos are undesired for tele-operation, and to maintain desired quality of service. In this paper, we present an algorithm to stabilize the undesired jitters in a shaky video. The algorithm works by tracking robust feature points in the successive frames of the camera, smoothing the trajectory, and generating desired transformations to output a stabilized video.

  13. Multi-robot Navigation Using Improved Pheromone Trailing

    RAVANKAR Abhijeet, RAVANKAR Ankit A.

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2A2-F10　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2a2-f10 　

    eISSN： 2424-3124

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    Virtual pheromone trailing has successfully been demonstrated for navigation of multiple robots to achieve a collective goal using a leader follower scheme. Many previous works use a pheromone deposition scheme which assumes perfect localization of the robot, however there is always some uncertainty due to sensor errors. If the leader robot gets lost, pheromones are deposited at the wrong places. Other robots trailing its pheromones will end up being in entirely wrong areas of the map. We propose a pheromone deposition algorithm which models the uncertainty of the robot’s pose. Experiments in simulated environments confirm that the proposed method models the uncertainty in pheromone deposition for multi-robot navigation.

  14. Cooperative Navigation in Multi-Robot System

    RAVANKAR Abhijeet, RAVANKAR Ankit A.

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2P2-L02　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2p2-l02 　

    eISSN： 2424-3124

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    This paper proposes a cooperative navigation system for multi-robot systems. The proposed system uses a hitchhiking based approach with a driver and follower (hitchhiking) robot. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. Experimental results shows that efficient multi-robot navigation can be performed using the proposed method.

  15. Robot Exploration Algorithm for Structured Environment

    RAVANKAR Abhijeet, RAVANKAR Ankit A.

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2P2-L01　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2p2-l01 　

    eISSN： 2424-3124

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    This paper presents a robot exploration algorithm which uses the repelling behaviour of anti-aphrodisiac pheromone mechanism. The algorithm can be used in a multi-robot system in which different robots can efficiently explore different areas of a scene while cooperating with each other through proper pheromone deposition. This eliminates the need of explicitly programming each service robot to serve particular areas of the map. The paths taken by robots are represented as nodes across which pheromones are deposited. Results show that the proposed scheme enables multiple service robots to perform cooperative tasks intelligently without any explicit programming.

  16. Distributed Docking Station System for Mobile Robots

    RAVANKAR Abhijeet, RAVANKAR Ankit A.

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　2P2-M06　2022

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2022.2p2-m06 　

    eISSN： 2424-3124

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    This paper proposes a multi-robot path planner for intelligently accessing a limited number of charging points distributed on the map. Unlike traditional path planners, which mainly consider the shortest path criterion to generate paths, the proposed planner also considers the remaining battery power of the robots, task priority, and robot’s location in the map. It allocates the most appropriate charging station to the robots, which require recharging. Simulation results show that the proposed planner can reduce trajectory re-planning, and plan efficient paths to the available charging points.

  17. Cooperation of Ai-Robot Enablers-CARE-

    SALAZAR Jose, RAVANKAR Ankit, TAFRISHI Seyed Amir, SETO Fumi, HIRATA Yasuhisa

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　22nd　2021

  18. High-precision map generation using AR makers for infrastructure maintenance

    日向涼, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会北海道支部学術講演会論文集　53rd　2021

  19. Proposal of improving scan matching method using sparse LiDAR information for high-precision SLAM

    高野睦巳, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会北海道支部学術講演会論文集　53rd　2021

  20. Proposal of Ridge Detection Method and Control System for Autonomous Weeding Robot

    井内悠介, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会北海道支部学術講演会論文集　53rd　2021

  21. Human Detection in Snowfall Environments using Low-Resolution Thermographic Camera

    高橋悠人, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会北海道支部学術講演会論文集　53rd　2021

  22. Monocular Visual SLAM using Thermographic Camera in Snowfall Environment

    中出崚太, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会北海道支部学術講演会論文集　53rd　2021

  23. Applying Visual-SLAM to manage Large Field using UAV

    竹内一真, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会北海道支部学術講演会論文集　53rd　2021

  24. Proposal of dimensional inspection method of railway car axle and wheel using visual data

    EMOTO Takeshi, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit, RAVANKAR Abhijeet

    The Proceedings of Conference of Hokkaido Branch　2020.57　55-56　2020

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmehokkaido.2020.57.55 　

    eISSN： 2424-273X

  25. Generation of Three-Dimensional Flight Paths in Automatic Spectrum Measurement System Using UAVs

    本間貫太, 江丸貴紀, RAVANKAR Ankit

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020

  26. Gimbal control in an automatic spectrum measurement system using UAV

    YANG Yanfeng, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020

  27. Improvement of Localization Performance Using Scan Matching in Snowy Environment

    小渕雅弘, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020

  28. Robust Pedestrian Detection System Using LiDAR in Snow Removal on Sidewalks

    佐々木祐太, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020

  29. Development of UAV Real-Time Navigation System in Unknown Environments

    久保共平, 江丸貴紀, RAVANKAR Ankit

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020

  30. Real-time And Robust Interpolation Method For LiDAR Point Cloud Using Thermal Camera

    長谷川智彦, 江丸貴紀, RAVANKAR Ankit A.

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　21st　2020

  31. Dynamic SLAM using Extended Kalman Filter with RGB-D and LiDAR sensors

    HAN Beomsoo, RAVANKAR Ankit A., 江丸貴紀, 小林幸徳

    計測自動制御学会北海道支部学術講演会論文集　52nd　2020

  32. Control of Manipulator for Pinpoint Weeding

    木下拓, 江丸貴紀, RAVANKAR Ankit

    計測自動制御学会北海道支部学術講演会論文集　52nd　2020

  33. Proposal of Drone Surveying and Mobile Scanning Methods by using Stereo Camera for Estimation of Tree’s Diameter at Breast Height (DBH)

    TRAIRATTANAPA Visarut, EMARU Takanori, RAVANKAR Ankit

    計測自動制御学会北海道支部学術講演会論文集　52nd　2020

  34. A Solution for Automatic Charging of Multiple Robots

    RAVANKAR Abhijeet, RAVANKAR Ankit A., WATANABE Michiko, HOSHINO Yohei

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2020　2020

    ISSN： 2424-3124

  35. A Hybrid Feature based Mapping for Indoor Service Robots

    RAVANKAR Ankit A., RAVANKAR Abhijeet, EMARU Takanori, KOBAYASHI Yukinori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2020　2P2-I07　2020

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2020.2p2-i07 　

    ISSN： 2424-3124

    eISSN： 2424-3124

    More details Close

    In this paper, we present a hybrid feature based mapping for robots operating in indoor environments. We combine environment features such as line segments and corners to construct 2D map for the purpose of robot navigation. Our method uses an extended Kalman filter algorithm for fusing the hybrid features into a single feature map. The proposed method works very well in different indoor scenarios with varying level of obstacles and provide feature rich map for the purpose of autonomous robot navigation. The algorithms in the present work is tested in simulation and real environments.

  36. Pose Graph Map Merging SLAM for Multiple Robots

    RAVANKAR Ankit A., RAVANKAR Abhijeet, EMARU Takanori, KOBAYASHI Yukinori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2020　2020

    ISSN： 2424-3124

  37. Path Planning for Mobile Robots based on Semantic Mapping

    RAVANKAR Ankit A., RAVANKAR Abhijeet, EMARU Takanori, KOBAYASHI Yukinori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2020　2020

    ISSN： 2424-3124

  38. Proposal of improvement method of tracking performance of omni-directional mobile robot on slope

    Ryohiro Yamada, Kobayashi Yukinori, Takanori Emaru, Ravankar Ankit

    第62回自動制御連合講演会　62nd　2019/12

  39. Semi- active vibration control of a double shell railway car-body model using bonded Piezo-electric Patch Configuration and an integrated shunt circuit

    Das Silabhadra, Gupta Ashish, Kobayashi Yukinori, Yamamoto Katsuya, Takigami Tadao, Asahina Mineyuki, Emaru Takanori, Ravankar Ankit

    第62回自動制御連合講演会　62nd　2019/11

  40. 原木材計測への深層学習の応用

    森井隆禎, 江丸貴紀, 小林幸徳, RAVANKAR Ankit A.

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　20th　2019

  41. Robust Landmark Detection in Vineyards Using Laser Range Sensor

    RAVANKAR Abhijeet, RAVANKAR Ankit A., HOSHINO Yohei, KOBAYASHI Yukinori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2019　2019

    ISSN： 2424-3124

  42. Efficient Robot Path Planning in Crowded Passages

    RAVANKAR Abhijeet, RAVANKAR Ankit A., HOSHINO Yohei, KOBAYASHI Yukinori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2019　2019

    ISSN： 2424-3124

  43. Vibration and Acoustic Analysis of a Railway Carbody Model with Independent Interior Structure

    小野俊太郎, 小林幸徳, 山本克也, 朝比奈峰之, 江丸貴紀, RAVANKAR Ankit

    日本機械学会交通・物流部門大会講演論文集(CD-ROM)　28th　3305　2019

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmetld.2018.27.3305 　

    ISSN： 2424-3175

    eISSN： 2424-3175

    More details Close

    Internal acoustics of railway coach is an important design factor for passenger’s comfort. It has been observed that the spectra of noise inside the train contain a considerable energy at low frequency. The low-frequency noise can be a major source of passenger fatigue. In order to reduce the vibration of a coach, a new structure that the inner shell hanged from the wall of the outer shell was proposed. The aim of this research is to analyze the vibro-acoustic behavior of the carbody in the low-frequency range. Fully coupled vibro-acoustic Finite Element Model of the structure is modelled to analyze the characteristics of sound pressure level inside the inner cavity due to the excitation force on the panel of the outer shell and natural frequency of the coupled structural-acoustical system. Further, the research aims to study the effect of various parameters of intermediate clamps which connects inner shell and outer shell on the reduction of structure born noise transmission. FE numerical analysis is performed on computation platform ANSYS to simulate the vibro-acoustic behavior of the structure. The experiment is conducted on a 1/12 size carbody model made up of stainless steel sheet resemble a railway coach without fittings. The vibro-acoustic behavior of the structure is evaluated from the result of the simulation and the experiment.

  44. 林業フィールドにおける自己位置推定を目的としたシステムの構築

    長井一弘, 江丸貴紀, ANKIT Ravankar, 小林幸徳

    自律分散システム・シンポジウム(CD-ROM)　31st　2019

  45. Application of 3D LiDAR in tree identification

    LI Baoxiang, WANG Su, EMARU Takanori, RAVANKAR Ankit A., KOBAYASHI Yukinori

    自律分散システム・シンポジウム(CD-ROM)　31st　2019

  46. Filtering Snowflake from LiDAR Point Cloud Data by Nearest Neighbor Search

    佐々木祐太, RAVANKAR Ankit A., 江丸貴紀, 小林幸徳

    計測自動制御学会北海道支部学術講演会論文集　51st　2019

  47. Rut width estimation in snowy area by sensor fusion using thermal infrared camera and 3D LiDAR

    長谷川智彦, 小林幸徳, 江丸貴紀, ANKIT Ravankar

    計測自動制御学会北海道支部学術講演会論文集　51st　2019

  48. Snowpack Detection based on Pointcloud Processing using 3D LiDAR for Developing Self-driving Car in Snowy Environment

    小渕雅弘, 小林幸徳, 江丸貴紀, ANKIT Ravankar

    計測自動制御学会北海道支部学術講演会論文集　51st　2019

  49. Development of Breakwater Inspection System using UAV

    上野貴希, 江丸貴紀, RAVANKAR Ankit A., 小林幸徳

    計測自動制御学会北海道支部学術講演会論文集　51st　2019

  50. 障害物とロボットの最小旋回半径を考慮したCoverage Pathの最適化

    小保内弘毅, 江丸貴紀, RAVANKAR Ankit, 小林幸徳

    自動制御連合講演会(CD-ROM)　61st　ROMBUNNO.9A4　2018/11/16

  51. ディープラーニングと深度情報を利用した農作物の検出・判別システムの提案

    影山藍, 江丸貴紀, 小林幸徳, RAVANKAR Ankit

    自動制御連合講演会(CD-ROM)　61st　ROMBUNNO.9A1　2018/11/16

  52. Visual LIDAR Odometry Mapping and Navigation for Mobile Robots in Indoor Environments

    RAVANKAR Ankit A, RAVANKAR Abhijeet, KOBAYASHI Yukinori, EMARU Takanori

    電気・情報関係学会北海道支部連合大会講演論文集(CD-ROM)　2018　ROMBUNNO.136　2018/10/27

  53. Collaborative Multi-Robot Navigation in Indoor Environments

    RAVANKAR Abhijeet, RAVANKAR Ankit A, HOSHINO Yohei, KOBAYASHI Yukinori

    電気・情報関係学会北海道支部連合大会講演論文集(CD-ROM)　2018　ROMBUNNO.135　2018/10/27

  54. 作物検出を目的とした深層学習のためのデータセット自動作成

    KIM Jihee, 江丸貴紀, RAVANKAR Ankit, 小林幸徳

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018

  55. Real-Time Path Smoothing for Mobile Robots in 2D and 3D Environments

    RAVANKAR Abhijeet, RAVANKAR Abhijeet, RAVANKAR Ankit, KOBAYASHI Yukinori, EMARU Takanori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2018　2018

    ISSN： 2424-3124

  56. Semantic Navigation for Indoor Service Robots

    RAVANKAR Ankit, RAVANKAR Abhijeet, RAVANKAR Abhijeet, KOBAYASHI Yukinori, EMARU Takanori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2018　2018

    ISSN： 2424-3124

  57. 構体と内装の二重シェル構造を有する鉄道車体モデルの音響解析

    小野俊太郎, 小林幸徳, 山本克也, GAUTAM Abhishek, 江丸貴紀, RAVANKAR Ankit

    Dynamics & Design Conference (CD-ROM)　2018　2018

    ISSN： 2424-2993

  58. 特徴点が疎な積雪環境における地図作成およびナビゲーションシステムの開発

    ZHU Chengru, 江丸貴紀, RAVANKAR Ankit, 小林幸徳

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　19th　2018

  59. Acoustic Analysis of a Railway Carbody Model with Independent Interior Structure in Low Frequency Region

    小野俊太郎, 小林幸徳, GAUTAM Abhishek, 山本克也, 江丸貴紀, RAVANKAR Ankit

    鉄道技術連合シンポジウム講演論文集(CD-ROM)　25th　2018

  60. Optimization of UAV Path Using Meta-heuristics

    山内統広, 小林幸徳, 江丸貴紀, ANKIT Ravankar

    計測自動制御学会北海道支部学術講演会論文集　50th　107‐110　2018

  61. Development and Motion Analysis of a 4WD Robot for Forest Surveillance and Maintenance

    藤田隼輔, 小林幸徳, 江丸貴紀, ANKIT Ravankar

    計測自動制御学会北海道支部学術講演会論文集　50th　111‐112　2018

  62. A Measurement System for Raw Wood Logs using Hough Transform and Deep Learning

    森井隆禎, 小林幸徳, 江丸貴紀, ANKIT Ravankar

    計測自動制御学会北海道支部学術講演会論文集　50th　97‐100　2018

  63. Estimation of Self-position and Slope Gradient of Omni-direction Wheel Robot on Slope

    山田涼裕, 小林幸徳, 江丸貴紀, ANKIT Ravankar

    計測自動制御学会北海道支部学術講演会論文集　50th　113‐116　2018

  64. 車輪状に変形可能なLimb型ロボットの転がり移動

    鳥居聖生, 吉田州平, 小林幸徳, 江丸貴紀, RAVANKAR Ankit

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　18th　ROMBUNNO.1D5‐01　2017/12/20

  65. Inter-Robot Learning in Multi-Robot System

    Ravankar Abhijeet, Ravankar Ankit A., Kobayashi Yukinori, Emaru Takanori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2P1-F04　2017

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.2P1-F04 　

    ISSN： 2424-3124

    eISSN： 2424-3124

    More details Close

    <p>An inter-robot learning strategy to track the dynamic changes in the environment is proposed. The robots 'teach' other robots about the changes encountered at remote locations of the map enabling them to achieve efficiency in path planning and task coordination. With the proposed method, a robot is able to learn about the obstacles in remote locations of the map and plans its path by considering the updated obstacle information. This is better than the traditional path planning in which robot has to re-plan its path upon finding obstacles.</p>

  66. 葉を特徴点として利用した実環境における農作物の検出・判別システムの提案

    影山藍, 江丸貴紀, 小林幸徳, RAVANKAR Ankit

    計測自動制御学会北海道支部学術講演会論文集　49th　105‐108　2017

  67. マルチロボットシステムにおけるグラフ理論を用いたタスク計画

    木下拓, 江丸貴紀, 小林幸徳, RAVANKAR Ankit

    計測自動制御学会北海道支部学術講演会論文集　49th　137‐138　2017

  68. UAV搭載シングルカメラによる3次元マップ構築およびスケール決定

    青山佳樹, RAVANKAR Ankit, 江丸貴紀, 小林幸徳

    計測自動制御学会北海道支部学術講演会論文集　49th　81‐82　2017

  69. 林業フィールドにおける樹木の認識と自己位置推定

    長井一弘, 江丸貴紀, 小林幸徳, RAVANKAR Ankit

    計測自動制御学会北海道支部学術講演会論文集　49th　147‐150　2017

  70. ステアリング機構を有する移動ロボット除草システムの開発

    小保内弘毅, 江丸貴紀, 小林幸徳, RAVANKAR Ankit

    計測自動制御学会北海道支部学術講演会論文集　49th　157‐158　2017

  71. Nurturing Problem-Finding Skills in Graduate Students through Problem Based Learning Approaches

    Ravankar Ankit A., Imai Shotaro, Shimamura Michiyo, Chiba Go, Takasuka Taichi, Yamanaka Yasuhiro

    IEEE Conference Proceedings　2016　(IIAI-AAI)　2016

  72. Discussion on a Method of Team-Based-Learning Style Lecture for Graduate Students in a Research University

    Imai Shotaro, Ravankar Ankit A., Shimamura Michiyo, Takasuka Taichi E., Chiba Go, Yamanaka Yasuhiro

    IEEE Conference Proceedings　2016　(IIAI-AAI)　2016

  73. How Does the English Ability of the Student Change through the Postgraduate Education? The Case Report of ”Nitobe School Program” in Hokkaido University”

    Shimamura Michiyo, Imai Shotaro, Ravankar Ankit A., Yamanaka Yasuhiro

    IEEE Conference Proceedings　2016　(IIAI-AAI)　2016

  74. A Multi-Robot Path Planning Scheme and Management based on Power Availability

    RAVANKAR Abhijeet, RAVANKAR Ankit A., KOBAYASHI Yukinori, EMARU Takanori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2016　2016

    ISSN： 2424-3124

  75. Clustering Based Line Detection in Noisy Datasets

    RAVANKAR Ankit A., RAVANKAR Abhijeet, EMARU Takanori, KOBAYASHI Yukinori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2016　2016

    ISSN： 2424-3124

  76. An Efficient Networking Scheme for Static and Dynamic Nodes in Multiple Service Robots

    RAVANKAR Abhijeet, RAVANKAR Ankit A., KOBAYASHI Yukinori, EMARU Takanori

    日本ロボット学会学術講演会予稿集(CD-ROM)　33rd　2015

  77. On Data Security in Service Robots

    RAVANKAR Abhijeet, RAVANKAR Ankit A., KOBAYASHI Yukinori, EMARU Takanori

    日本ロボット学会学術講演会予稿集(CD-ROM)　33rd　2015

  78. A Graphical Framework for Robust Indoor Mapping

    RAVANKAR Ankit A., RAVANKAR Abhijeet, KOBAYASHI Yukinori, EMARU Takanori

    日本ロボット学会学術講演会予稿集(CD-ROM)　33rd　2015

  79. Real Time Parallel Implementation of Dynamic Feature Detection on Embedded Robot Platforms

    RAVANKAR Abhijeet, KOBAYASHI Yukinori, RAVANKAR Ankit, EMARU Takanori, JIXIN Lv

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2015　2015

    ISSN： 2424-3124

  80. Recognition of 3-D Grid Structure Recognition with Fixed Camera and RGB-D Camera

    WANG Chenyu, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2015　2015

    ISSN： 2424-3124

  81. Vision based Localization and Mapping for Indoor Robots using RGBD Sensor

    RAVANKAR Ankit, RAVANKAR Abhijeet, KOBAYASHI Yukinori, JIXIN Lv, EMARU Takanori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2015　2015

    ISSN： 2424-3124

  82. 1P1-I07 A New Algorithm to Detect Lines in Noisy Environment for Indoor Robot Mapping(Localization and Mapping (2))

    Ravankar Ankit A., Hoshino Yohei, Emaru Takanori, Kobayashi Yukinori

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2013　"1P1-I07(1)"-"1P1-I07(4)"　2013/05/22

    Publisher: The Japan Society of Mechanical Engineers

    ISSN： 2424-3124

    More details Close

    In this paper, we propose a new algorithm based on Hough Transform for making 2D maps in an indoor environment. The proposed method works in two stages. The first stage involves applying clustering on laser range sensor data. The second step involves applying Hough Transform on the clustered data. We show that the proposed method works efficiently in noisy environment and generates accurate maps.

  83. Application of Singular Value Decomposition in Robot Map Building

    RAVANKAR Ankit A., HOSHINO Yohei, EMARU Takanori, KOBAYASHI Yukinori

    日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012

  84. Surveillance Mobile Robot System for Tracking and Inspection of Suspicious Entities in Indoor and Outdoor Spaces Invited Peer-reviewed

    A Ravankar, AA Ravankar, Y Kobayashi, T Emaru

    he 7th East Asia Mechanical and Aerospace Engineering (EAMAE) Workshop, Sapporo, Japan

Show all ︎Show first 5

Presentations 47

  1. Development of Robust Ridge Detection Method and Control System for Autonomous Navigation of Mobile Robot in Agricultural Farm

    Shunsuke Fujita, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar

    第62回自動制御連合講演会　2019/11/11

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    In this paper, we propose a robust ridge detection method for autonomous navigation of a mobile robot using RGB-D sensor in agricultural fields. In this system, the ridge centerline is estimated from the depth images taken by the RGB-D sensor using the least square method. We propose an autonomous driving system utilizing digital optimal control regulator for high-precision motion and robust recognition of ridge features.

  2. Semi- active vibration control of a double shell railway car-body model using bonded Piezo-electric Patch Configuration and an integrated shunt circuit

    Silabhadra Das, Ashish Gupta, Yukinori Kobayashi, Katsuya Yamamoto, Tadao Takigami, Mineyuki Asahina, Takanori Emaru, Ankit Ravankar

    第62回自動制御連合講演会　2019/11/11

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    Lighter Railway car-bodies are preferred for High Speed Rail Transport due to its fuel efficiency. Vertical bending vibrations in low frequency range of 0-10 Hz become prominent in light car-bodies. This study aims to suppress low frequency bending vibrations of a 1/12th scale car-body model by connecting a tuned multi-mode shunt circuit across the terminals of a Piezo-electric Patch Configuration (PPC) bonded to the floor of a double shell car-body. Coupled field analysis is simulated in ANSYS workbench and validated experimentally. The impact of varying the number of piezo-electric elements and its thickness, on damping performance, is further studied.

  3. Proposal of improvement method of tracking performance of omni-directional mobile robot on slope

    Ryosuke Yamada, Yukinori Kobayashi, Takanori Emaru, Ankit A. Ravankar

    第62回自動制御連合講演会　2019/11/10

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    Currently, with the aging of society and the extension of life expectancy, the number of elderly people whose physical functions have declined is increasing. Walking training is effective in preventing such decline, and a walking training machine incorporating robot technology has been proposed. In particular, omni-directional walker using omni wheels that can move in all directions have been studied, but when omni wheels are run on slopes, running stability deteriorates, for example, the straightness is impaired. Therefore, in this paper, we compare the behavior of omniwheel mobile robots on planes and slopes by applying two control methods, PID control andadaptive control.

  4. HMRP: Heat Map based Robot Path Planner for Safe Navigation in Human Centric Environments International-presentation

    A Ravankar, AA Ravankar, Y Kobayashi, Y Hoshino

    24th International Symposium on Artificial Life and Robotics (AROB 2019)　2019/01/25

  5. Real-time Visual Graph-Based Navigation for Multi-Robot System International-presentation

    AA Ravankar, A Ravankar, Y Kobayashi, T Emaru

    24th International Symposium on Artificial Life and Robotics (AROB 2019)　2019/01/25

  6. Aerial Robot Model based design and verification of the single and multi-agent inspection application development

    Seiko P. Yamaguchi, Masaru Sakuma, Takaki Ueno, Filip Karolonek, Tadeusz Uhl, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi

    2018/12/13

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    In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex environments. Furthermore, aerial robotics application with multi-agent systems are anticipated to further extend its potential. However, one of the major difficulties in aerial robotics applications is the testing of the elaborated system within safety concerns, especially when multiple agents are simultaneously applied. Thus, virtual prototyping and simulation-based development can serve in development, assessment and improvement of the aerial robot applications. In this research, two examples of the specific applications are highlighted, harbor structure and facilities inspection with UAV, and development of autonomous positioning of multi-UAVs communication relaying system. In this research, virtual prototype was designed and further simulated in multi-body simulation (MBS) feigning the sensing and actuating equipment behaviors. Simultaneous simulation of the control and application system running with software in the loop (SITL) method is utilized to assess the designed hardware behavior with modular application nodes running in Robot Operating System. Furthermore, prepared simulation environment is assessed with multi-agent system, proposed in previous research with autonomous position control of communication relaying system. Application of the virtual prototype's simulation environment enables further examination of the proposed system within comparison degree with postfield tests. The research aims to contribute through case assessment of the design process to safer, time and cost-efficient development and application design in the field of aerial robotics.

  7. Scale Aware Indoor Localization using 2D Laser Range Finder in a Weak Map from Monocular SLAM

    S Wang, AA Ravankar, A Ravankar, Y Kobayashi, T Emaru

    8th East Asia Mechanical and Aerospace Engineering Workshop, Hong Kong　2018/11/30

  8. A Collaborative Mapping and Navigation Framework for Multi-robot Systems Invited

    AA Ravankar, A Ravankar, Y Kobayashi, T Emaru

    8th East Asia Mechanical and Aerospace Workshop, Hong Kong　2018/11/30

  9. Collaborative Multi-Robot Navigation in Indoor Environments

    RAVANKAR Abhijeet, RAVANKAR Ankit A, HOSHINO Yohei, KOBAYASHI Yukinori

    電気・情報関係学会北海道支部連合大会講演論文集(CD-ROM)　2018/10/27

  10. Visual LIDAR Odometry Mapping and Navigation for Mobile Robots in Indoor Environments

    RAVANKAR Ankit A, RAVANKAR Abhijeet, KOBAYASHI Yukinori, EMARU Takanori

    電気・情報関係学会北海道支部連合大会講演論文集(CD-ROM)　2018/10/27

  11. Road Detection in Snowy Forest Environment using RGB Camera

    VACHMANUS Sirawich, EMARU Takanori, RAVANKAR Ankit, KOBAYASHI Yukinori

    日本ロボット学会学術講演会予稿集(CD-ROM)　2018/09/04

  12. Development of Port Facilities Inspection Robot Using Multi-copter

    UENO Takaki, SAKUMA Masaru, YAMAGUCHI Seiko Piotr, YAMAGUCHI Seiko Piotr, KOBAYASHI Yukinori, EMARU Takanori, RAVANKAR Ankit

    日本ロボット学会学術講演会予稿集(CD-ROM)　2018/09/04

  13. Applying Semantic Segmentation to Autonomous Cars in the Snowy Environment

    PAN Zhaoyu, EMARU Takanori, RAVANKAR Ankit, KOBAYASHI Yukinori

    日本ロボット学会学術講演会予稿集(CD-ROM)　2018/09/04

  14. 構体と内装の二重シェル構造を有する鉄道車体モデルの音響解析

    小野俊太郎, 小林幸徳, 山本克也, GAUTAM Abhishek, 江丸貴紀, RAVANKAR Ankit

    Dynamics &amp; Design Conference (CD-ROM)　2018/08/20

  15. Aerial Robot Model based design and verification of the single and multi-agent inspection application development International-presentation

    Seiko P. Yamaguchi, Masaru Sakuma, Takaki Ueno, Filip Karolonek, Tadeusz Uhl, Ankit A. Ravankar, Takanori Emaru, Yukinori Kobayashi

    The 14th International Conference on Motion and Vibration (MoViC2018)　2018/08/05

  16. Towards Better Problem Finding and Creativity in Graduate School Education

    Ankit A. Ravankar, Shotaro Imai, Abhijeet Ravankar, Tomomichi Kato, Taichi Takasuka, Teruyuki Tsuji, Kaori K. Shigetomi, Ken Saito

    2018/07/06

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    The current graduate school education system has largely been focusing on producing better learners and problem solvers. The rise of problem based learning approaches are testimonial to the importance of such skills at all levels of education from early childhood to graduate school level. However, most of the programs so far have focused primarily on producing better problem solvers neglecting problem finding at large. Problem finding, an important skill is a subset and first step in creative problem solving. Most studies on problem finding skills have only focused on industries and corporations for training employees to think out of the box for innovative product design and development. At school or university level, students are generally given a well-defined problem in most Problem Based Learning (PBL) scenarios and problem discovery or how to deal with ill-structured problems is mostly ignored. In this study, we present the Nitobe School Program and discuss our unique curriculum to teach problem finding in graduate school education. We show how introducing problem finding at graduate level increases student's ability to comprehend difficult and wicked problems in a team based learning environment. Moreover, we present how it influences creativity in graduate students resulting in better problem solvers.

  17. Autonomous Mobile Robot Mapping and Navigation using Topological and Semantic Information Invited

    Ankit A. Ravankar

    Hokkaido University- Zhejiang University Joint Symposium 2018　2018/03/27

  18. Utilization of the Student E-Portfolio in the Graduate Education: The Case Report of" Nitobe School Program" in Hokkaido University International-presentation

    Shotaro Imai, Michiyo Shimamura, Ankit A Ravankar, Hisashi Haga, Yukinori Kobayashi, Yasuhiro Yamanaka

    2017 IEEE 6th IIAI International Congress on Advanced Applied Informatics (IIAI-AAI)　2017/07/01

  19. Low-cost Mobile Platform for ROS

    A A Ravankar, A Ravankar, Y Kobayashi, T Emaru

    Japan Society of Mechanical Engineering, ROBOMECH 2017　2017/06/03

  20. Inter-Robot Learning in Multi-Robot System

    A Ravankar, A A Ravankar, Y Kobayashi, T Emaru

    Japan Society of Mechanical Engineering, ROBOMECH 2017　2017/06/03

  21. Angular Piezo Actuator Controlled Laser Resonator for Precise Sensing of Respiratory Diseases International-presentation

    A Rawankar, J Gondane, A Ravankar

    In Proceedings of the 3rd Int. Electron. Conf. Sens. Appl., 15–30 November 2016;　2016/12/12

  22. A Geometric Path Smoother for Mobile Robots

    A Ravankar, A A Ravankar, Y Kobayashi, T Emaru

    12th HU-SNU Joint Symposium on Mechanical and Aerospace Engineering　2016/12/08

  23. How does the English ability of the student change through the postgraduate education? The case report of “Nitobe School Program" in Hokkaido University International-presentation

    M Shimamura, S Imai, AA Ravankar, Y Yamanaka

    2016 IIAI 5th International Congress on Advanced Applied Informatics (IIAI-AAI), Kumamoto, Japan.　2016/07/11

  24. Discussion on a method of team based learning style lecture for graduate students in a research university International-presentation

    S Imai, AA Ravankar, M Shimamura, T Takasuka, G Chiba, Y Yamanaka

    2016 IIAI 5th International Congress on Advanced Applied Informatics (IIAI-AAI), Kumamoto, Japan　2016/07/11

  25. Nurturing Problem-Finding Skills in Graduate Students through Problem Based Learning Approaches International-presentation

    AA Ravankar, S Imai, M Shimamura, G Chiba, T Takasuka, Y Yamanaka

    2016 IEEE IIAI 5th International Congress on Advanced Applied Informatics (IIAI-AAI)　2016/07/10

  26. A Multi-Robot Path Planning Scheme and Management based on Power Availability

    A Ravankar, AA Ravankar, Y Kobayashi, T Emaru

    Proceedings of the 2016 Japan Society of Mechanical Engineering (JSME), The Robotics and Mechatronics Conference 2016 in Yokohama (Robomech2016)　2016/06/10

  27. Clustering Based Line Detection in Noisy Datasets

    AA Ravankar, A Ravankar, T Emaru, Y Kobayashi

    Proceedings of the 2016 Japan Society of Mechanical Engineering (JSME), The Robotics and Mechatronics Conference 2016 in Yokohama (Robomech2016)　2016/06/10

  28. SLAM within indoor loops by using incremental scan registration International-presentation

    L. Jixin, Y. Kobayashi, A. Ravankar, A. A. Ravankar, T. Emaru

    2015 IEEE/SICE International Symposium on System Integration (SII), Nagoya, 2015　2015/12/12

  29. Estimation of position and trajectory of a flying ball in 3-D space International-presentation

    M. Li, A. Ravankar, A. A. Ravankar, Y. Kobayashi, T. Emaru

    2015 IEEE/SICE International Symposium on System Integration (SII), Nagoya, 2015　2015/12/12

  30. An Intelligent Docking Station Manager for Multiple Mobile Service Robots International-presentation

    A. Ravankar, A. A. Ravankar, Y. Kobayashi, L. Jixin, T. Emaru, Y. Hoshino

    Control, Automation and Systems (ICCAS), 2015 15th International Conference on, Busan, 2015　2015/10/14

  31. A Graphical Framework for Robust Indoor Mapping International-presentation

    Ankit A. Ravankar, Abhijeet Ravankar, Yukinori Kobayashi, Takanori Emaru

    33rd Annual Conference of the Robotics Society of Japan (RSJ), Tokyo, 2015　2015/09/04

  32. An Efficient Networking Scheme for Static and Dynamic Nodes in Multiple Service Robots International-presentation

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    33rd Annual Conference of the Robotics Society of Japan (RSJ), Tokyo, 2015　2015/09/04

  33. On Data Security in Service Robots International-presentation

    Abhijeet Ravankar, Ankit A. Ravankar, Yukinori Kobayashi, Takanori Emaru

    33rd Annual Conference of the Robotics Society of Japan (RSJ), Tokyo, 2015　2015/09/04

  34. Solution to estimate robot motion with large rotation by matching laser scans International-presentation

    J. Lv, K. Yukinori, A. A. Ravankar, A. Ravankar, T. Emaru

    Society of Instrument and Control Engineers of Japan (SICE), 2015 54th Annual Conference of the, Hangzhou, 2015　2015/07/29

  35. A novel vision based adaptive transmission power control algorithm for energy efficiency in wireless sensor networks employing mobile robots International-presentation

    A. Ravankar, A. A. Ravankar, Y. Kobayashi, L. Jixin, T. Emaru, Y. Hoshino

    Ubiquitous and Future Networks (ICUFN), 2015 Seventh International Conference on, Sapporo, 2015, pp. 300-305　2015/07/08

  36. Real Time Parallel Implementation of Dynamic Feature Detection on Embedded Robot Platform

    A. Ravankar, A.A. Ravankar, Y. Kobayashi, T. Emaru

    Proceedings of the 2015 Japan Society of Mechanical Engineering (JSME), The Robotics and Mechatronics Conference 2015 in Kyoto (Robomech2015)　2015/05/18

  37. Recognition of 3D Grid Structure with Fixed Camera and RGB-D Camera

    C. Wang, Y. Kobayashi, T. Emaru, A.A. Ravankar

    Proceedings of the 2015 Japan Society of Mechanical Engineering (JSME), The Robotics and Mechatronics Conference 2015 in Kyoto (Robomech2015)　2015/05/18

  38. Vision based Localization and Mapping for Indoor Robots using RGBD Sensor

    A. A. Ravankar, Y. Kobayashi, T. Emaru, A. Ravankar, L. Jixin

    Proceedings of the 2015 Japan Society of Mechanical Engineering (JSME) The Robotics and Mechatronics Conference 2015 in Kyoto (Robomech2015)　2015/05/18

  39. A connected component labeling algorithm for sparse Lidar data segmentation International-presentation

    A. Ravankar, Y. Kobayashi, A. Ravankar, T. Emaru

    Automation, Robotics and Applications (ICARA), 2015 6th International Conference on, Queenstown, 2015, pp. 437-442　2015/02/18

  40. 2D Mobile Robot Mapping based on EKF-SLAM - Simulation and Results

    A. A. Ravankar, Y. Kobayashi, T. Emaru, A. Ravankar

    Hokkaido University-Seoul National University Annual Symposium, 2014　2014/11

  41. An embarrassingly parallel hoppingwindow noise removing algorithm for lidar based robot mapping International-presentation

    A. A. Ravankar, Y. Kobayashi, J. Lv, T. Emaru, Y. Hoshino

    SICE Annual Conference (SICE), 2014 Proceedings of the, Sapporo, 2014, pp. 307-312　2014/09/13

  42. Clustering Based Loop Closure Technique for 2D Robot Mapping Based on EKF-SLAM International-presentation

    A. A. Ravankar, Y. Kobayashi, T. Emaru

    Modelling Symposium (AMS), 2013 7th Asia, Hong Kong, 2013, pp. 72-77.　2013/07/23

  43. A New Algorithm To Detect Lines in Noisy Environment for Indoor Robot Mapping

    Ankit A. Ravankar, Yohei Hoshino, Takanori Emaru, Yukinori Kobayashi

    Proceedings of the 2013 JSME Conference on Robotics and Mechatronics(Robomec2013), Kyoto　2013/05/23

  44. A Mixed Clustering Algorithm for Robot Mapping

    A. A. Ravankar, Y. Hoshino, T. Emaru, Y. Kobayashi

    Hokkaido University-Seoul National University Annual Symposium, Sapporo, 2012　2012/11/17

  45. Application of Singular Value Decomposition in Robot Map Building International-presentation

    A. A. Ravankar, Y. Hoshino, T. Emaru, Y. Kobayashi

    31st Annual Conference of the Robotics Society of Japan (RSJ), 2012, Sapporo　2012/09/18

  46. Robot Map Building in Indoor Environment Using Clustering of Laser Range Sensor Data International-presentation

    A. A. Ravankar, Y. Hoshino, T. Emaru, Y. Kobayashi

    31st Annual Conference of the Robotics Society of Japan (RSJ), 2012, Sapporo　2012/09/18

  47. Map building from laser range sensor information using mixed data clustering and singular value decomposition in noisy environment International-presentation

    A. A. Ravankar, Y. Hoshino, T. Emaru, Y. Kobayashi

    System Integration (SII), 2011 IEEE/SICE International Symposium on, Kyoto, 2011, pp. 1232-1238　2011/12/23

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Research Projects 5

  1. Integrating Large Language Models for Long Horizon Task Planning in Multi-robot Scenarios

    Ravankar Ankit

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業

    Category: 基盤研究(C)

    Institution: 東北大学

    2024/04/01 - 2028/03/31

  2. Development of Lifelong SLAM System for Service Robots using Deep Semantic Information

    Ravankar Ankit

    Offer Organization: 日本学術振興会

    System: 科学研究費助成事業 若手研究

    Category: 若手研究

    Institution: 東北大学

    2021/04 - 2024/03

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    This study aims to realize a lifelong navigation system for mobile robots in dynamic environments by considering semantic information. Trials were conducted using several sensors in simulation and real environments. In the simulation, modeling of everyday household items and essential features using computer vision were studied and applied to the simulation environment for feature extraction and deep learning training. Several datasets in dynamic scenarios were collected and tested using sensor fusion algorithms. Sensor selection and assembly of actual robot hardware was completed. Deep learning training for detecting and extracting semantic information from the scene graph is currently being studied. Moreover, tests in real-environment have started. Several results were published in conferences and journals.

  3. Inspection system for railway vehicles using image diagnosis and CAD data Competitive

    Ankit A. Ravankar

    Offer Organization: Kawasaki Heavy Industries

    2018/04 - 2023/03

  4. Long Term Autonomous Navigation of Multi-robot Systems considering Semantic Features Competitive

    Offer Organization: Hokkaido University

    System: SOUSEI Support Program for Young Researchers in FY 2020

    Institution: Hokkaido University

    2020/04 - 2021/03

  5. ロバスト公募：Development of a Deep Learning based Knowledge Sharing Cloud System for Robust Agriculture Competitive

    Abhijeet Ravankar, Ankit A Ravankar, Yukinori Kobayashi

    Offer Organization: Hokkaido University Research and Education Center for Robust Agriculture, Forestry and Fisheries

    2018/08 - 2019/08

Teaching Experience 14

  1. STSI (Sustainable Transportation and Smart Infrastructure Project - IIT India) Fundamentals　Faculty of Engineering, Hokkaido University

  2. Project Management　Faculty of Engineering/ Institute for the advancement of higher education, Hokkaido University

  3. ラボゼミ（制御工学実習）　北海道大学工学部

  4. Problem Finding　北海道大学高等教育推進機構

  5. メカトロニクス実習　北海道大学工学部

  6. 制御工学演習　北海道大学工学部

  7. 工業英語演習　北海道大学工学部

  8. 応用数学演習１　北海道大学工学部

  9. （メカトロニクス実習）Mechatronics　School of Engineering, Hokkaido University

  10. Problem Finding　Institute for the Advancement of Higher Education, Hokkaido University

  11. （制御工学ラボゼミ）Control Engineering (Experiment and Lab Seminar)　Graduate School of Engineering, Hokkaido University

  12. Introduction to Robotics　School of Engineering, Hokkaido University

  13. (工業英語演習)Technical English for Undergraduate　School of Engineering, Hokkaido University

  14. （応用数学演習１）Applied Mathematics Practice1　School of Engineering, Hokkaido University

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