SatAOI: Delimitating Area of Interest for Swing-Arm Troweling Robot for Construction

Fuente: arXiv

Guardado en:

Detalles Bibliográficos
Autores principales:	Lin, Jia-Rui, Zhou, Shaojie, Pan, Peng, Cai, Ruijia, Chen, Gang
Formato:	Preprint
Publicado:	2025
Materias:	Robotics
Acceso en línea:	Acceder al recurso
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

_version_	1866908613535072256
author	Lin, Jia-Rui Zhou, Shaojie Pan, Peng Cai, Ruijia Chen, Gang
author_facet	Lin, Jia-Rui Zhou, Shaojie Pan, Peng Cai, Ruijia Chen, Gang
contents	In concrete troweling for building construction, robots can significantly reduce workload and improve automation level. However, as a primary task of coverage path planning (CPP) for troweling, delimitating area of interest (AOI) in complex scenes is still challenging, especially for swing-arm robots with more complex working modes. Thus, this research proposes an algorithm to delimitate AOI for swing-arm troweling robot (SatAOI algorithm). By analyzing characteristics of the robot and obstacle maps, mathematical models and collision principles are established. On this basis, SatAOI algorithm achieves AOI delimitation by global search and collision detection. Experiments on different obstacle maps indicate that AOI can be effectively delimitated in scenes under different complexity, and the algorithm can fully consider the connectivity of obstacle maps. This research serves as a foundation for CPP algorithm and full process simulation of swing-arm troweling robots.
format	Preprint
id	arxiv_https___arxiv_org_abs_2505_04871
institution	arXiv
publishDate	2025
record_format	arxiv
spellingShingle	SatAOI: Delimitating Area of Interest for Swing-Arm Troweling Robot for Construction Lin, Jia-Rui Zhou, Shaojie Pan, Peng Cai, Ruijia Chen, Gang Robotics In concrete troweling for building construction, robots can significantly reduce workload and improve automation level. However, as a primary task of coverage path planning (CPP) for troweling, delimitating area of interest (AOI) in complex scenes is still challenging, especially for swing-arm robots with more complex working modes. Thus, this research proposes an algorithm to delimitate AOI for swing-arm troweling robot (SatAOI algorithm). By analyzing characteristics of the robot and obstacle maps, mathematical models and collision principles are established. On this basis, SatAOI algorithm achieves AOI delimitation by global search and collision detection. Experiments on different obstacle maps indicate that AOI can be effectively delimitated in scenes under different complexity, and the algorithm can fully consider the connectivity of obstacle maps. This research serves as a foundation for CPP algorithm and full process simulation of swing-arm troweling robots.
title	SatAOI: Delimitating Area of Interest for Swing-Arm Troweling Robot for Construction
topic	Robotics
url	https://arxiv.org/abs/2505.04871

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"es"
ui	"standard"
VUFIND_SESSION	"78c36d52450b1118aa55afc4000efa9c"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1788882159.1425 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "78c36d52450b1118aa55afc4000efa9c" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1455}
SessionHelper	Laminas\Stdlib\ArrayObject {#1784}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=es; ui=standard; VUFIND_SESSION=78c36d52450b1118aa55afc4000efa9c"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.217.127"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"51280"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2505_04871/Details """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2505_04871/Details"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1788882159.1379
REQUEST_TIME	1788882159

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"es"
ui	"standard"
VUFIND_SESSION	"78c36d52450b1118aa55afc4000efa9c"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1788882159.1425 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "78c36d52450b1118aa55afc4000efa9c" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1455}
SessionHelper	Laminas\Stdlib\ArrayObject {#1784}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=es; ui=standard; VUFIND_SESSION=78c36d52450b1118aa55afc4000efa9c"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.217.127"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"51280"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2505_04871/Details """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2505_04871/Details"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1788882159.1379
REQUEST_TIME	1788882159

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Ejemplares similares

Environment & details:

Environment & details: