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Learn-to-Recover: Retrofitting UAVs with Reinforcement Learning-Assisted Flight Control Under Cyber-Physical Attacks | https://ieeexplore.ieee.org/document/9196611/ | [
"Fan Fei",
"Zhan Tu",
"Dongyan Xu",
"Xinyan Deng",
"Fan Fei",
"Zhan Tu",
"Dongyan Xu",
"Xinyan Deng"
] | In this paper, we present a generic fault-tolerant control (FTC) strategy via reinforcement learning (RL). We demonstrate the effectiveness of this method on quadcopter unmanned aerial vehicles (UAVs). The fault-tolerant control policy is trained to handle actuator and sensor fault/attack. Unlike traditional FTC, this policy does not require fault detection and diagnosis (FDD) nor tailoring the co... |
Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction | https://ieeexplore.ieee.org/document/9197001/ | [
"Tristan Laidlow",
"Jan Czarnowski",
"Andrea Nicastro",
"Ronald Clark",
"Stefan Leutenegger",
"Tristan Laidlow",
"Jan Czarnowski",
"Andrea Nicastro",
"Ronald Clark",
"Stefan Leutenegger"
] | The best way to combine the results of deep learning with standard 3D reconstruction pipelines remains an open problem. While systems that pass the output of traditional multi-view stereo approaches to a network for regularisation or refinement currently seem to get the best results, it may be preferable to treat deep neural networks as separate components whose results can be probabilistically fu... |
Model Reference Adaptive Control of Multirotor for Missions with Dynamic Change of Payloads During Flight | https://ieeexplore.ieee.org/document/9196861/ | [
"Toshiya Maki",
"Moju Zhao",
"Fan Shi",
"Kei Okada",
"Masayuki Inaba",
"Toshiya Maki",
"Moju Zhao",
"Fan Shi",
"Kei Okada",
"Masayuki Inaba"
] | Carrying payloads in air is a major mission for multirotor aerial robot. However, the presence of payloads on multirotor aerial robot has a risk of degrading the performance of the flight controller. This concern becomes obvious especially when carrying objects not securely attached to the body or performing aerial manipulation. Therefore, controller with the ability to adapt itself to the effects... |
The Tiercel: A novel autonomous micro aerial vehicle that can map the environment by flying into obstacles | https://ieeexplore.ieee.org/document/9197269/ | [
"Yash Mulgaonkar",
"Wenxin Liu",
"Dinesh Thakur",
"Kostas Daniilidis",
"Camillo J. Taylor",
"Vijay Kumar",
"Yash Mulgaonkar",
"Wenxin Liu",
"Dinesh Thakur",
"Kostas Daniilidis",
"Camillo J. Taylor",
"Vijay Kumar"
] | Autonomous flight through unknown environments in the presence of obstacles is a challenging problem for micro aerial vehicles (MAVs). A majority of the current state-of-art research assumes obstacles as opaque objects that can be easily sensed by optical sensors such as cameras or LiDARs. However in indoor environments with glass walls and windows, or scenarios with smoke and dust, robots (even b... |
Adaptive Control of Variable-Pitch Propellers: Pursuing Minimum-Effort Operation | https://ieeexplore.ieee.org/document/9197208/ | [
"Travis Henderson",
"Nikolaos Papanikolopoulos",
"Travis Henderson",
"Nikolaos Papanikolopoulos"
] | As Unmanned Aerial Vehicles (UAVs) become more commonly used in industry, their performance will continue to be challenged. A performance bottleneck that is crucial to overcome is the design of electric propulsion systems for UAVs that operate in disparate flight modes (e.g., hovering and forward-moving flight). While flight mode dissimilarity presents a fundamental design challenge for fixed-geom... |
On Simple Reactive Neural Networks for Behaviour-Based Reinforcement Learning | https://ieeexplore.ieee.org/document/9197262/ | [
"Ameya Pore",
"Gerardo Aragon-Camarasa",
"Ameya Pore",
"Gerardo Aragon-Camarasa"
] | We present a behaviour-based reinforcement learning approach, inspired by Brook's subsumption architecture, in which simple fully connected networks are trained as reactive behaviours. Our working assumption is that a pick and place robotic task can be simplified by leveraging domain knowledge of a robotics developer to decompose and train reactive behaviours; namely, approach, grasp, and retract.... |
Predicting optimal value functions by interpolating reward functions in scalarized multi-objective reinforcement learning | https://ieeexplore.ieee.org/document/9197456/ | [
"Arpan Kusari",
"Jonathan P. How",
"Arpan Kusari",
"Jonathan P. How"
] | A common approach for defining a reward function for multi-objective reinforcement learning (MORL) problems is the weighted sum of the multiple objectives. The weights are then treated as design parameters dependent on the expertise (and preference) of the person performing the learning, with the typical result that a new solution is required for any change in these settings. This paper investigat... |
Integrated moment-based LGMD and deep reinforcement learning for UAV obstacle avoidance | https://ieeexplore.ieee.org/document/9197152/ | [
"Lei He",
"Nabil Aouf",
"James F. Whidborne",
"Bifeng Song",
"Lei He",
"Nabil Aouf",
"James F. Whidborne",
"Bifeng Song"
] | In this paper, a bio-inspired monocular vision perception method combined with a learning-based reaction local planner for obstacle avoidance of micro UAVs is presented. The system is more computationally efficient than other vision-based perception and navigation methods such as SLAM and optical flow because it does not need to calculate accurate distances. To improve the robustness of perception... |
Interactive Reinforcement Learning with Inaccurate Feedback | https://ieeexplore.ieee.org/document/9197219/ | [
"Taylor A. Kessler Faulkner",
"Elaine Schaertl Short",
"Andrea L. Thomaz",
"Taylor A. Kessler Faulkner",
"Elaine Schaertl Short",
"Andrea L. Thomaz"
] | Interactive Reinforcement Learning (RL) enables agents to learn from two sources: rewards taken from observations of the environment, and feedback or advice from a secondary critic source, such as human teachers or sensor feedback. The addition of information from a critic during the learning process allows the agents to learn more quickly than non-interactive RL. There are many methods that allow... |
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning | https://ieeexplore.ieee.org/document/9197125/ | [
"Michelle A. Lee",
"Carlos Florensa",
"Jonathan Tremblay",
"Nathan Ratliff",
"Animesh Garg",
"Fabio Ramos",
"Dieter Fox",
"Michelle A. Lee",
"Carlos Florensa",
"Jonathan Tremblay",
"Nathan Ratliff",
"Animesh Garg",
"Fabio Ramos",
"Dieter Fox"
] | Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning approaches can operate directly from raw sensory inputs with only a reward signal to describe the task, but are extremely sampleinefficient and brittle. In this wo... |
Benchmark for Skill Learning from Demonstration: Impact of User Experience, Task Complexity, and Start Configuration on Performance | https://ieeexplore.ieee.org/document/9197470/ | [
"M. Asif Rana",
"Daphne Chen",
"Jacob Williams",
"Vivian Chu",
"S. Reza Ahmadzadeh",
"Sonia Chernova",
"M. Asif Rana",
"Daphne Chen",
"Jacob Williams",
"Vivian Chu",
"S. Reza Ahmadzadeh",
"Sonia Chernova"
] | We contribute a study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical studies be performed comparing the relative strengths of these techniques. In particular, we evaluate four approaches based on properties an end user may desire for real-world tasks. To pe... |
Robot Programming without Coding | https://ieeexplore.ieee.org/document/9196904/ | [
"Gianluca Lentini",
"Giorgio Grioli",
"Manuel G. Catalano",
"Antonio Bicchi",
"Gianluca Lentini",
"Giorgio Grioli",
"Manuel G. Catalano",
"Antonio Bicchi"
] | An approach toward intuitive and easy robot programming, consists to transfer skills from humans to machines, through demonstration. A vast literature exists on learning from multiple demonstrations. This paper, on the other hand, tackles the problem of providing all needed information to execute a certain task by resorting to one single demonstration - hence, a problem closer to programming than ... |
Predictive Modeling of Periodic Behavior for Human-Robot Symbiotic Walking | https://ieeexplore.ieee.org/document/9196676/ | [
"Geoffrey Clark",
"Joseph Campbell",
"Seyed Mostafa Rezayat Sorkhabadi",
"Wenlong Zhang",
"Heni Ben Amor",
"Geoffrey Clark",
"Joseph Campbell",
"Seyed Mostafa Rezayat Sorkhabadi",
"Wenlong Zhang",
"Heni Ben Amor"
] | We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement regimes, i.e., walking. We show that this model is particularly well-suited for learning data-driven, customized models of human walking, which can then be used f... |
Agile 3D-Navigation of a Helical Magnetic Swimmer | https://ieeexplore.ieee.org/document/9197323/ | [
"Julien Leclerc",
"Haoran Zhao",
"Daniel Z. Bao",
"Aaron T. Becker",
"Mohamad Ghosn",
"Dipan J. Shah",
"Julien Leclerc",
"Haoran Zhao",
"Daniel Z. Bao",
"Aaron T. Becker",
"Mohamad Ghosn",
"Dipan J. Shah"
] | Rotating miniature magnetic swimmers are de-vices that could navigate within the bloodstream to access remote locations of the body and perform minimally invasive procedures. The rotational movement could be used, for example, to abrade a pulmonary embolus. Some regions, such as the heart, are challenging to navigate. Cardiac and respiratory motions of the heart combined with a fast and variable b... |
Inferring the Geometric Nullspace of Robot Skills from Human Demonstrations | https://ieeexplore.ieee.org/document/9197174/ | [
"Caixia Cai",
"Ying Siu Liang",
"Nikhil Somani",
"Wu Yan",
"Caixia Cai",
"Ying Siu Liang",
"Nikhil Somani",
"Wu Yan"
] | In this paper we present a framework to learn skills from human demonstrations in the form of geometric nullspaces, which can be executed using a robot. We collect data of human demonstrations, fit geometric nullspaces to them, and also infer their corresponding geometric constraint models. These geometric constraints provide a powerful mathematical model as well as an intuitive representation of ... |
A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots | https://ieeexplore.ieee.org/document/9197038/ | [
"Nadia Figueroa",
"Salman Faraji",
"Mikhail Koptev",
"Aude Billard",
"Nadia Figueroa",
"Salman Faraji",
"Mikhail Koptev",
"Aude Billard"
] | We present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and drive the robots hands (in both position and orientation) to grasp an object using an intermediate virtual object, and (ii) drive the robot's base while walking/n... |
Subspace Projectors for State-Constrained Multi-Robot Consensus | https://ieeexplore.ieee.org/document/9196758/ | [
"Fabio Morbidi",
"Fabio Morbidi"
] | In this paper, we study the state-constrained consensus problem and introduce a new family of distributed algorithms based on subspace projection methods which are simple to implement and which preserve, under some suitable conditions, the consensus value of the original discrete-time agreement protocol. The proposed theory is supported by extensive numerical experiments for the constrained 2D ren... |
Multi-Agent Task Allocation using Cross-Entropy Temporal Logic Optimization | https://ieeexplore.ieee.org/document/9197066/ | [
"Christopher Banks",
"Sean Wilson",
"Samuel Coogan",
"Magnus Egerstedt",
"Christopher Banks",
"Sean Wilson",
"Samuel Coogan",
"Magnus Egerstedt"
] | In this paper, we propose a graph-based search method to optimally allocate tasks to a team of robots given a global task specification. In particular, we define these agents as discrete transition systems. In order to allocate tasks to the team of robots, we decompose finite linear temporal logic (LTL) specifications and consider agent specific cost functions. We propose to use the stochastic opt... |
Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities | https://ieeexplore.ieee.org/document/9197283/ | [
"Yousef Emam",
"Siddharth Mayya",
"Gennaro Notomista",
"Addison Bohannon",
"Magnus Egerstedt",
"Yousef Emam",
"Siddharth Mayya",
"Gennaro Notomista",
"Addison Bohannon",
"Magnus Egerstedt"
] | For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in real-world deployments of robot teams, the suitability of a robot might be unknown prior to deployment, or might vary due to changing environmental conditions. This p... |
Mobile Wireless Network Infrastructure on Demand | https://ieeexplore.ieee.org/document/9197460/ | [
"Daniel Mox",
"Miguel Calvo-Fullana",
"Mikhail Gerasimenko",
"Jonathan Fink",
"Vijay Kumar",
"Alejandro Ribeiro",
"Daniel Mox",
"Miguel Calvo-Fullana",
"Mikhail Gerasimenko",
"Jonathan Fink",
"Vijay Kumar",
"Alejandro Ribeiro"
] | In this work, we introduce Mobile Wireless Infrastructure on Demand: a framework for providing wireless connectivity to multi-robot teams via autonomously reconfiguring ad-hoc networks. In many cases, previous multi-agent systems either assumed the availability of existing communication infrastructure or were required to create a network in addition to completing their objective. Instead our syste... |
Monitoring Over the Long Term: Intermittent Deployment and Sensing Strategies for Multi-Robot Teams | https://ieeexplore.ieee.org/document/9196826/ | [
"Jun Liu",
"Ryan K. Williams",
"Jun Liu",
"Ryan K. Williams"
] | In this paper, we formulate and solve the intermittent deployment problem, which yields strategies that couple when heterogeneous robots should sense an environmental process, with where a deployed team should sense in the environment. As a motivation, suppose that a spatiotemporal process is slowly evolving and must be monitored by a multi-robot team, e.g., unmanned aerial vehicles monitoring pas... |
Multi-Robot Coordination for Estimation and Coverage of Unknown Spatial Fields | https://ieeexplore.ieee.org/document/9197487/ | [
"Alessia Benevento",
"María Santos",
"Giuseppe Notarstefano",
"Kamran Paynabar",
"Matthieu Bloch",
"Magnus Egerstedt",
"Alessia Benevento",
"María Santos",
"Giuseppe Notarstefano",
"Kamran Paynabar",
"Matthieu Bloch",
"Magnus Egerstedt"
] | We present an algorithm for multi-robot coverage of an initially unknown spatial scalar field characterized by a density function, whereby a team of robots simultaneously estimates and optimizes its coverage of the density function over the domain. The proposed algorithm borrows powerful concepts from Bayesian Optimization with Gaussian Processes that, when combined with control laws to achieve ce... |
Learning Robotic Assembly Tasks with Lower Dimensional Systems by Leveraging Physical Softness and Environmental Constraints | https://ieeexplore.ieee.org/document/9197327/ | [
"Masashi Hamaya",
"Robert Lee",
"Kazutoshi Tanaka",
"Felix von Drigalski",
"Chisato Nakashima",
"Yoshiya Shibata",
"Yoshihisa Ijiri",
"Masashi Hamaya",
"Robert Lee",
"Kazutoshi Tanaka",
"Felix von Drigalski",
"Chisato Nakashima",
"Yoshiya Shibata",
"Yoshihisa Ijiri"
] | In this study, we present a novel control framework for assembly tasks with a soft robot. Typically, existing hard robots require high frequency controllers and precise force/torque sensors for assembly tasks. The resulting robot system is complex, entailing large amounts of engineering and maintenance. Physical softness allows the robot to interact with the environment easily. We expect soft robo... |
Titan: A Parallel Asynchronous Library for Multi-Agent and Soft-Body Robotics using NVIDIA CUDA | https://ieeexplore.ieee.org/document/9196808/ | [
"Jacob Austin",
"Rafael Corrales-Fatou",
"Sofia Wyetzner",
"Hod Lipson",
"Jacob Austin",
"Rafael Corrales-Fatou",
"Sofia Wyetzner",
"Hod Lipson"
] | While most robotics simulation libraries are built for low-dimensional and intrinsically serial tasks, soft-body and multi-agent robotics have created a demand for simulation environments that can model many interacting bodies in parallel. Despite the increasing interest in these fields, no existing simulation library addresses the challenge of providing a unified, highly-parallelized, GPU-acceler... |
Motion Planning with Competency-Aware Transition Models for Underactuated Adaptive Hands | https://ieeexplore.ieee.org/document/9196564/ | [
"Avishai Sintov",
"Andrew Kimmel",
"Kostas E. Bekris",
"Abdeslam Boularias",
"Avishai Sintov",
"Andrew Kimmel",
"Kostas E. Bekris",
"Abdeslam Boularias"
] | Underactuated adaptive hands simplify grasping tasks but it is difficult to model their interactions with objects during in-hand manipulation. Learned data-driven models have been recently shown to be efficient in motion planning and control of such hands. Still, the accuracy of the models is limited even with the addition of more data. This becomes important for long horizon predictions, where er... |
Human-like Planning for Reaching in Cluttered Environments | https://ieeexplore.ieee.org/document/9196665/ | [
"Mohamed Hasan",
"Matthew Warburton",
"Wisdom C. Agboh",
"Mehmet R. Dogar",
"Matteo Leonetti",
"He Wang",
"Faisal Mushtaq",
"Mark Mon-Williams",
"Anthony G. Cohn",
"Mohamed Hasan",
"Matthew Warburton",
"Wisdom C. Agboh",
"Mehmet R. Dogar",
"Matteo Leonetti",
"He Wang",
"Faisal Mushtaq",
"Mark Mon-Williams",
"Anthony G. Cohn"
] | Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space- which becomes excessively high-dimensional with large number of objects. Consequently, most planners often fail to efficiently find object manipulation plans in such environments. We addressed this problem by ... |
Where to relocate?: Object rearrangement inside cluttered and confined environments for robotic manipulation | https://ieeexplore.ieee.org/document/9197485/ | [
"Sang Hun Cheong",
"Brian Y. Cho",
"Jinhwi Lee",
"ChangHwan Kim",
"Changjoo Nam",
"Sang Hun Cheong",
"Brian Y. Cho",
"Jinhwi Lee",
"ChangHwan Kim",
"Changjoo Nam"
] | We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the placement of removed objects inside a workspace has not received much attention. Rather, removed objects are often placed outside the workspace, which incurs additi... |
Autonomous Modification of Unstructured Environments with Found Material | https://ieeexplore.ieee.org/document/9197372/ | [
"Vivek Thangavelu",
"Maíra Saboia da Silva",
"Jiwon Choi",
"Nils Napp",
"Vivek Thangavelu",
"Maíra Saboia da Silva",
"Jiwon Choi",
"Nils Napp"
] | The ability to autonomously modify their environment dramatically increases the capability of robots to operate in unstructured environments. We develop a specialized construction algorithm and robotic system that can autonomously build motion support structures with previously unseen objects. The approach is based on our prior work on adaptive ramp building algorithms, but it eliminates the assum... |
LiStereo: Generate Dense Depth Maps from LIDAR and Stereo Imagery | https://ieeexplore.ieee.org/document/9196628/ | [
"Junming Zhang",
"Manikandasriram Srinivasan Ramanagopal",
"Ram Vasudevan",
"Matthew Johnson-Roberson",
"Junming Zhang",
"Manikandasriram Srinivasan Ramanagopal",
"Ram Vasudevan",
"Matthew Johnson-Roberson"
] | An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information. However, a high-resolution LIDAR is expensive and produces sparse depth map at large range; stereo matching algorithms are able to generate denser depth maps but ... |
Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach | https://ieeexplore.ieee.org/document/9196881/ | [
"Alexander Hardt-Stremayr",
"Stephan Weiss",
"Alexander Hardt-Stremayr",
"Stephan Weiss"
] | State of the art visual-inertial odometry approaches suffer from the requirement of high gradients and sufficient visual texture. Even direct photometric approaches select a subset of the image with high-gradient areas and ignore smooth gradients or generally low-textured areas. In this work, we show that taking all image information (i.e. every single pixel) enables visual-inertial odometry even ... |
Interaction Stability Analysis from the Input-Output Viewpoints | https://ieeexplore.ieee.org/document/9196643/ | [
"Yuancan Huang",
"Qiang Huang",
"Yuancan Huang",
"Qiang Huang"
] | Interaction with the environment is arguably one of the necessary actions for many robot applications such as haptic devices, manipulation, parts assembly, cooperation with humans, and the use of tools. Taxonomy of interaction behaviours is classified into three categories: cooperation, collaboration, and competition. In theory, interaction dynamics may be modelled by D'Alembert's principle or non... |
Improving the contact instant detection of sensing antennae using a Super-Twisting algorithm | https://ieeexplore.ieee.org/document/9197107/ | [
"Daniel Feliu-Talegon",
"Ricardo Cortez-Vega",
"Vicente Feliu-Batlle",
"Daniel Feliu-Talegon",
"Ricardo Cortez-Vega",
"Vicente Feliu-Batlle"
] | Sensing antenna devices, that mimic insect antennae or mammal whiskers, is an active field of research that still needs new developments in order to become efficient and reliable components of robotic systems. This work reports a new result in the area of signal processing of these devices that allows to detect the instant of the impact of a flexible antenna with an object faster than other report... |
6DFC: Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones | https://ieeexplore.ieee.org/document/9197293/ | [
"Jingyi Xu",
"Michael Danielczuk",
"Eckehard Steinbach",
"Ken Goldberg",
"Jingyi Xu",
"Michael Danielczuk",
"Eckehard Steinbach",
"Ken Goldberg"
] | Analytic grasp planning algorithms typically approximate compliant contacts with soft point contact models to compute grasp quality, but these models are overly conservative and do not capture the full range of grasps available. While area contact models can reduce the number of false negatives predicted by point contact models, they have been restricted to a 3D analysis of the wrench applied at t... |
Long-Horizon Prediction and Uncertainty Propagation with Residual Point Contact Learners | https://ieeexplore.ieee.org/document/9196511/ | [
"Nima Fazeli",
"Anurag Ajay",
"Alberto Rodriguez",
"Nima Fazeli",
"Anurag Ajay",
"Alberto Rodriguez"
] | The ability to simulate and predict the outcome of contacts is paramount to the successful execution of many robotic tasks. Simulators are powerful tools for the design of robots and their behaviors, yet the discrepancy between their predictions and observed data limit their usability. In this paper, we propose a self-supervised approach to learning residual models for rigid-body simulators that e... |
Versatile Trajectory Optimization Using a LCP Wheel Model for Dynamic Vehicle Maneuvers | https://ieeexplore.ieee.org/document/9197541/ | [
"Guillaume Bellegarda",
"Katie Byl",
"Guillaume Bellegarda",
"Katie Byl"
] | Car models have been extensively studied at varying levels of abstraction, and planning and executing motions under ideal conditions is well researched and understood. For more aggressive maneuvers, for example when drifting or skidding, empirical and/or discontinuous friction models have been used to explain and approximate real world contact behavior. Separately, contact dynamics have been exten... |
Highly Parallelizable Plane Extraction for Organized Point Clouds Using Spherical Convex Hulls | https://ieeexplore.ieee.org/document/9197139/ | [
"Hannes Möls",
"Kailai Li",
"Uwe D. Hanebeck",
"Hannes Möls",
"Kailai Li",
"Uwe D. Hanebeck"
] | We present a novel region growing algorithm for plane extraction of organized point clouds using the spherical convex hull. Instead of explicit plane parameterization, our approach interprets potential underlying planes as a series of geometric constraints on the sphere that are refined during region growing. Unlike existing schemes relying on downsampling for sequential execution in real time, ou... |
View-Invariant Loop Closure with Oriented Semantic Landmarks | https://ieeexplore.ieee.org/document/9196886/ | [
"Jimmy Li",
"Karim Koreitem",
"David Meger",
"Gregory Dudek",
"Jimmy Li",
"Karim Koreitem",
"David Meger",
"Gregory Dudek"
] | Recent work on semantic simultaneous localization and mapping (SLAM) have shown the utility of natural objects as landmarks for improving localization accuracy and robustness. In this paper we present a monocular semantic SLAM system that uses object identity and inter-object geometry for view-invariant loop detection and drift correction. Our system's ability to recognize an area of the scene eve... |
Active Acoustic Contact Sensing for Soft Pneumatic Actuators | https://ieeexplore.ieee.org/document/9196916/ | [
"Gabriel Zöller",
"Vincent Wall",
"Oliver Brock",
"Gabriel Zöller",
"Vincent Wall",
"Oliver Brock"
] | We present an active acoustic sensor that turns soft pneumatic actuators into contact sensors. The whole surface of the actuator becomes a sensor, rendering the question of where best to place a contact sensor unnecessary. At the same time, the compliance of the soft actuator remains unaffected. A small, embedded speaker emits a frequency sweep which travels through the actuator before it is recor... |
A Bidirectional 3D-printed Soft Pneumatic Actuator and Graphite-based Flex Sensor for Versatile Grasping | https://ieeexplore.ieee.org/document/9196837/ | [
"J. H. Low",
"J. Y. Goh",
"N. Cheng",
"P. M. Khin",
"Q. Q. Han",
"C. H. Yeow",
"J. H. Low",
"J. Y. Goh",
"N. Cheng",
"P. M. Khin",
"Q. Q. Han",
"C. H. Yeow"
] | THIS paper presents a bidirectional 3D-printed soft pneumatic actuator that is capable of inward and outward bending. A direct 3D-printing approach is adopted to fabricate the actuator, which reduces fabrication complexity and allows for easy customization of actuator dimensions for various applications. To illustrate the applicability of the bidirectional actuators, four of these actuators were i... |
Simultaneous Learning from Human Pose and Object Cues for Real-Time Activity Recognition | https://ieeexplore.ieee.org/document/9196632/ | [
"Brian Reily",
"Qingzhao Zhu",
"Christopher Reardon",
"Hao Zhang",
"Brian Reily",
"Qingzhao Zhu",
"Christopher Reardon",
"Hao Zhang"
] | Real-time human activity recognition plays an essential role in real-world human-centered robotics applications, such as assisted living and human-robot collaboration. Although previous methods based on skeletal data to encode human poses showed promising results on real-time activity recognition, they lacked the capability to consider the context provided by objects within the scene and in use by... |
Demonstration of Hospital Receptionist Robot with Extended Hybrid Code Network to Select Responses and Gestures | https://ieeexplore.ieee.org/document/9197160/ | [
"Eui Jun Hwang",
"Byeong Kyu Ahn",
"Bruce A. Macdonald",
"Ho Seok Ahn",
"Eui Jun Hwang",
"Byeong Kyu Ahn",
"Bruce A. Macdonald",
"Ho Seok Ahn"
] | Task-oriented dialogue system has a vital role in Human-Robot Interaction (HRI). However, it has been developed based on conventional pipeline approach which has several drawbacks; expensive, time-consuming, and so on. Based on this approach, developers manually define a robot's behaviour such as gestures and facial expressions on the corresponding dialogue states. Recently, end-to-end learning of... |
Can I Trust You? A User Study of Robot Mediation of a Support Group | https://ieeexplore.ieee.org/document/9196875/ | [
"Chris Birmingham",
"Zijian Hu",
"Kartik Mahajan",
"Eli Reber",
"Maja J Matarić",
"Chris Birmingham",
"Zijian Hu",
"Kartik Mahajan",
"Eli Reber",
"Maja J Matarić"
] | Socially assistive robots have the potential to improve group dynamics when interacting with groups of people in social settings. This work contributes to the understanding of those dynamics through a user study of trust dynamics in the novel context of a robot mediated support group. For this study, a novel framework for robot mediation of a support group was developed and validated. To evaluate ... |
Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation | https://ieeexplore.ieee.org/document/9197026/ | [
"J. Diego Caporale",
"Benjamin W. McInroe",
"Chenze Ning",
"Thomas Libby",
"Robert J. Full",
"Daniel E. Koditschek",
"J. Diego Caporale",
"Benjamin W. McInroe",
"Chenze Ning",
"Thomas Libby",
"Robert J. Full",
"Daniel E. Koditschek"
] | Despite substantial evidence for the crucial role played by an active backbone or spine in animal locomotion, its adoption in legged robots remains limited because the added mechanical complexity and resulting dynamical challenges pose daunting obstacles to characterizing even a partial range of potential performance benefits. This paper takes a next step toward such a characterization by explorin... |
Motion Design for a Snake Robot Negotiating Complicated Pipe Structures of a Constant Diameter | https://ieeexplore.ieee.org/document/9197224/ | [
"Mariko Inazawa",
"Tatsuya Takemori",
"Motoyasu Tanaka",
"Fumitoshi Matsuno",
"Mariko Inazawa",
"Tatsuya Takemori",
"Motoyasu Tanaka",
"Fumitoshi Matsuno"
] | A method for designing the motion of a snake robot negotiating complicated pipe structures having a constant diameter is presented. For such robots moving inside pipes, there are various "obstacles" such as junctions, bends, shears, and blockages. To surmount these obstacles, we propose a method that enables the robot to adapt to multiple pipe structures of a constant diameter. We designed the tar... |
Single Actuator Peristaltic Robot for Subsurface Exploration and Device Emplacement | https://ieeexplore.ieee.org/document/9196823/ | [
"Juan De la Fuente",
"Roman Shor",
"Steve Larter",
"Juan De la Fuente",
"Roman Shor",
"Steve Larter"
] | In this work, we present the concept, design, and initial testing of a single actuator peristaltic motion robot for subsurface geological exploration and device emplacement. We are researching unconventional methods, including robotics, for the production of energy from oil reservoirs that do not liberate carbon to the atmosphere. For such application, we are developing autonomous robots for data ... |
Dynamic modeling of robotic manipulators for accuracy evaluation | https://ieeexplore.ieee.org/document/9197304/ | [
"Stefanie A. Zimmermann",
"Tobias F. C. Berninger",
"Jeroen Derkx",
"Daniel J. Rixen",
"Stefanie A. Zimmermann",
"Tobias F. C. Berninger",
"Jeroen Derkx",
"Daniel J. Rixen"
] | In order to fulfill conflicting requirements in the development of industrial robots, such as increased accuracy of a weightreduced manipulator with lower mechanical stiffness, the robot's dynamical behavior must be evaluated early in the development process. This leads to the need of accurate multibody models of the manipulator under development.This paper deals with multibody models that include... |
A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models | https://ieeexplore.ieee.org/document/9197392/ | [
"Diego Agudelo-España",
"Andrii Zadaianchuk",
"Philippe Wenk",
"Aditya Garg",
"Joel Akpo",
"Felix Grimminger",
"Julian Viereck",
"Maximilien Naveau",
"Ludovic Righetti",
"Georg Martius",
"Andreas Krause",
"Bernhard Schölkopf",
"Stefan Bauer",
"Manuel Wüthrich",
"Diego Agudelo-España",
"Andrii Zadaianchuk",
"Philippe Wenk",
"Aditya Garg",
"Joel Akpo",
"Felix Grimminger",
"Julian Viereck",
"Maximilien Naveau",
"Ludovic Righetti",
"Georg Martius",
"Andreas Krause",
"Bernhard Schölkopf",
"Stefan Bauer",
"Manuel Wüthrich"
] | In the context of model-based reinforcement learning and control, a large number of methods for learning system dynamics have been proposed in recent years. The purpose of these learned models is to synthesize new control policies. An important open question is how robust current dynamics-learning methods are to shifts in the data distribution due to changes in the control policy. We present a rea... |
MagNet: Discovering Multi-agent Interaction Dynamics using Neural Network | https://ieeexplore.ieee.org/document/9196846/ | [
"Priyabrata Saha",
"Arslan Ali",
"Burhan A. Mudassar",
"Yun Long",
"Saibal Mukhopadhyay",
"Priyabrata Saha",
"Arslan Ali",
"Burhan A. Mudassar",
"Yun Long",
"Saibal Mukhopadhyay"
] | We present the MagNet, a neural network-based multi-agent interaction model to discover the governing dynamics and predict evolution of a complex multi-agent system from observations. We formulate a multi-agent system as a coupled non-linear network with a generic ordinary differential equation (ODE) based state evolution, and develop a neural network-based realization of its time-discretized mode... |
Development of a Robotic System for Automated Decaking of 3D-Printed Parts | https://ieeexplore.ieee.org/document/9197110/ | [
"Huy Nguyen",
"Nicholas Adrian",
"Joyce Lim Xin Yan",
"Jonathan M. Salfity",
"William Allen",
"Quang-Cuong Pham",
"Huy Nguyen",
"Nicholas Adrian",
"Joyce Lim Xin Yan",
"Jonathan M. Salfity",
"William Allen",
"Quang-Cuong Pham"
] | With the rapid rise of 3D-printing as a competitive mass manufacturing method, manual "decaking" – i.e. removing the residual powder that sticks to a 3D-printed part – has become a significant bottleneck. Here, we introduce, for the first time to our knowledge, a robotic system for automated decaking of 3D-printed parts. Combining Deep Learning for 3D perception, smart mechanical design, motion pl... |
A Novel Solar Tracker Driven by Waves: From Idea to Implementation | https://ieeexplore.ieee.org/document/9196998/ | [
"Ruoyu Xu",
"Hengli Liu",
"Chongfeng Liu",
"Zhenglong Sun",
"Tin Lun Lam",
"Huihuan Qian",
"Ruoyu Xu",
"Hengli Liu",
"Chongfeng Liu",
"Zhenglong Sun",
"Tin Lun Lam",
"Huihuan Qian"
] | Traditional solar trackers often adopt motors to automatically adjust the attitude of the solar panels towards the sun for maximum power efficiency. In this paper, a novel design of solar tracker for the ocean environment is introduced. Utilizing the fluctuations due to the waves, electromagnetic brakes are utilized instead of motors to adjust the attitude of the solar panels. Compared with the tr... |
Design and Implementation of Hydraulic-Cable driven Manipulator for Disaster Response Operation | https://ieeexplore.ieee.org/document/9196554/ | [
"Jungyeong Kim",
"Jaehong Seo",
"Sangshin Park",
"Sangchul Han",
"Jungsan Cho",
"Jungyeong Kim",
"Jaehong Seo",
"Sangshin Park",
"Sangchul Han",
"Jungsan Cho"
] | This paper introduces a new hydraulic manipulator with hydraulic-cable driven actuation (HCA) modules for disaster response mobile-manipulation. The hydraulic actuation system has the potential to apply disaster-response application, because it has a higher power-to-weight ratio and robustness to external impacts than electric motor actuation. However, using a conventional hydraulic manipulators i... |
Designs for an Expressive Mechatronic Chordophone | https://ieeexplore.ieee.org/document/9197255/ | [
"Juan Pablo Yepez Placencia",
"Dale A. Carnegie",
"Jim W. Murphy",
"Juan Pablo Yepez Placencia",
"Dale A. Carnegie",
"Jim W. Murphy"
] | Plucked strings are an exciting sound generation model for technical and timbral exploration. Mechatronic chordophones take advantage of this model and have been the focus of extensive research and exploration in musical robotics, often used as stand-alone instruments or as part of sound art installations. However, no existing chordophone designs have utilised the expressive potential of plucked s... |
OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel | https://ieeexplore.ieee.org/document/9196927/ | [
"Junjie Shen",
"Dennis Hong",
"Junjie Shen",
"Dennis Hong"
] | A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility mechanisms that satisfy all these conditions well. Here we introduce Omnidirectional Balancing Unicycle Robot (OmBURo), a novel unicycle robot with active omnidirectiona... |
Recognition and Reconfiguration of Lattice-Based Cellular Structures by Simple Robots | https://ieeexplore.ieee.org/document/9196700/ | [
"Eike Niehs",
"Arne Schmidt",
"Christian Scheffer",
"Daniel E. Biediger",
"Michael Yannuzzi",
"Benjamin Jenett",
"Amira Abdel-Rahman",
"Kenneth C. Cheung",
"Aaron T. Becker",
"Sándor P. Fekete",
"Eike Niehs",
"Arne Schmidt",
"Christian Scheffer",
"Daniel E. Biediger",
"Michael Yannuzzi",
"Benjamin Jenett",
"Amira Abdel-Rahman",
"Kenneth C. Cheung",
"Aaron T. Becker",
"Sándor P. Fekete"
] | We consider recognition and reconfiguration of lattice-based cellular structures by very simple robots with only basic functionality. The underlying motivation is the construction and modification of space facilities of enormous dimensions, where the combination of new materials with extremely simple robots promises structures of previously unthinkable size and flexibility; this is also closely re... |
A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots | https://ieeexplore.ieee.org/document/9196880/ | [
"Chao Liu",
"Sencheng Yu",
"Mark Yim",
"Chao Liu",
"Sencheng Yu",
"Mark Yim"
] | The Variable Topology Truss (VTT) is a new class of self-reconfigurable robot that can reconfigure its truss shape and topology depending on the task or environment requirements. Motion planning and avoiding self-collision are difficult as these systems usually have dozens of degrees-of-freedom with complex intersecting parallel actuation. There are two different types of shape changing actions fo... |
ModQuad-DoF: A Novel Yaw Actuation for Modular Quadrotors | https://ieeexplore.ieee.org/document/9196735/ | [
"Bruno Gabrich",
"Guanrui Li",
"Mark Yim",
"Bruno Gabrich",
"Guanrui Li",
"Mark Yim"
] | In this work we introduce ModQuad-DoF, a modular flying robotic structure with enhanced capabilities for yaw actuation. We propose a new module design that allows a one degree of freedom relative motion between the flying robot and the cage, with a docking mechanism allowing rigid connections between cages. A novel method of yaw actuation that increases the structure control authority is also pres... |
An Actuation Fault Tolerance Approach to Reconfiguration Planning of Modular Self-folding Robots | https://ieeexplore.ieee.org/document/9196574/ | [
"Meibao Yao",
"Xueming Xiao",
"Yang Tian",
"Hutao Cui",
"Jamie Paik",
"Meibao Yao",
"Xueming Xiao",
"Yang Tian",
"Hutao Cui",
"Jamie Paik"
] | This paper presents a novel approach to fault tolerant reconfiguration of modular self-folding robots. Among various types of faults that probably occur in the modular system, we focus on the tolerance of complete actuation failure of active modules that might cause imprecise robotic motion and even reconfiguration failure. Our approach is to utilize the reconfigurability of modular self-folding r... |
Parallel Permutation for Linear Full-resolution Reconfiguration of Heterogeneous Sliding-only Cubic Modular Robots | https://ieeexplore.ieee.org/document/9197033/ | [
"Hiroshi Kawano",
"Hiroshi Kawano"
] | This paper presents a parallel permutation algorithm that achieves linear full-resolution reconfiguration of sliding-only cubic modular robots. We assume the use of a cubic module that can only slide across other modules' surfaces. The idea of a cubic modular robot with sliding-only motion primitive is a new concept that has advantages in simplifying the mechanisms of module hardware and space sav... |
Determining and Improving the Localization Accuracy of AprilTag Detection | https://ieeexplore.ieee.org/document/9197427/ | [
"Jan Kallwies",
"Bianca Forkel",
"Hans-Joachim Wuensche",
"Jan Kallwies",
"Bianca Forkel",
"Hans-Joachim Wuensche"
] | Fiducial markers like AprilTags play an important role in robotics, e.g., for the calibration of cameras or the localization of robots. One of the most important properties of an algorithm for detecting such tags is its localization accuracy.In this paper, we present the results of an extensive comparison of four freely available libraries capable of detecting AprilTags, namely AprilTag 3, AprilTa... |
Change of Optimal Values: A Pre-calculated Metric | https://ieeexplore.ieee.org/document/9197163/ | [
"Fang Bai",
"Fang Bai"
] | A variety of optimization problems takes the form of a minimum norm optimization. In this paper, we study the change of optimal values between two incrementally constructed least norm optimization problems, with new measurements included in the second one. We prove an exact equation to calculate the change of optimal values in the linear least norm optimization problem. With the result in this pap... |
A Flexible Method for Performance Evaluation of Robot Localization | https://ieeexplore.ieee.org/document/9197275/ | [
"Sean Scheideman",
"Nilanjan Ray",
"Hong Zhang",
"Sean Scheideman",
"Nilanjan Ray",
"Hong Zhang"
] | An important research issue in mobile robotics is performance assessment of robot SLAM algorithms in terms of their localization accuracy. Typically, SLAM algorithms are evaluated with the help of benchmark datasets or expensive equipment such as motion capture. Benchmark datasets however, are environment-specific, and use of motion capture constrains spatial coverage and affordability. In this pa... |
Quantifying Good Seamanship For Autonomous Surface Vessel Performance Evaluation | https://ieeexplore.ieee.org/document/9197572/ | [
"Paul Stankiewicz",
"Michael Heistand",
"Marin Kobilarov",
"Paul Stankiewicz",
"Michael Heistand",
"Marin Kobilarov"
] | The current state-of-the-art for testing and evaluation of autonomous surface vehicle (ASV) decision-making is currently limited to one-versus-one vessel interactions by determining compliance with the International Regulations for Prevention of Collisions at Sea, referred to as COLREGS. Strict measurement of COLREGS compliance, however, loses value in multi-vessel encounters, as there can be conf... |
Action-conditioned Benchmarking of Robotic Video Prediction Models: a Comparative Study | https://ieeexplore.ieee.org/document/9196839/ | [
"Manuel Serra Nunes",
"Atabak Dehban",
"Plinio Moreno",
"José Santos-Victor",
"Manuel Serra Nunes",
"Atabak Dehban",
"Plinio Moreno",
"José Santos-Victor"
] | A defining characteristic of intelligent systems is the ability to make action decisions based on the anticipated outcomes. Video prediction systems have been demonstrated as a solution for predicting how the future will unfold visually, and thus, many models have been proposed that are capable of predicting future frames based on a history of observed frames (and sometimes robot actions). However... |
LyRN (Lyapunov Reaching Network): A Real-Time Closed Loop approach from Monocular Vision | https://ieeexplore.ieee.org/document/9196781/ | [
"Zheyu Zhuang",
"Xin Yu",
"Robert Mahony",
"Zheyu Zhuang",
"Xin Yu",
"Robert Mahony"
] | We propose a closed-loop, multi-instance control algorithm for visually guided reaching based on novel learning principles. A control Lyapunov function methodology is used to design a reaching action for a complex multi-instance task in the case where full state information (poses of all potential reaching points) is available. The proposed algorithm uses monocular vision and manipulator joint ang... |
Object Finding in Cluttered Scenes Using Interactive Perception | https://ieeexplore.ieee.org/document/9197101/ | [
"Tonci Novkovic",
"Remi Pautrat",
"Fadri Furrer",
"Michel Breyer",
"Roland Siegwart",
"Juan Nieto",
"Tonci Novkovic",
"Remi Pautrat",
"Fadri Furrer",
"Michel Breyer",
"Roland Siegwart",
"Juan Nieto"
] | Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the environment, and vice versa use perception to guide the next action. Scene interactions are difficult to model, therefore, most of the current systems use prede... |
CCAN: Constraint Co-Attention Network for Instance Grasping | https://ieeexplore.ieee.org/document/9197182/ | [
"Junhao Cai",
"Xuefeng Tao",
"Hui Cheng",
"Zhanpeng Zhang",
"Junhao Cai",
"Xuefeng Tao",
"Hui Cheng",
"Zhanpeng Zhang"
] | Instance grasping is a challenging robotic grasping task when a robot aims to grasp a specified target object in cluttered scenes. In this paper, we propose a novel end-to-end instance grasping method using only monocular workspace and query images, where the workspace image includes several objects and the query image only contains the target object. To effectively extract discriminative features... |
3D Object Detection and Tracking Based on Streaming Data | https://ieeexplore.ieee.org/document/9197183/ | [
"Xusen Guo",
"Jianfeng Gu",
"Silu Guo",
"Zixiao Xu",
"Chengzhang Yang",
"Shanghua Liu",
"Long Cheng",
"Kai Huang",
"Xusen Guo",
"Jianfeng Gu",
"Silu Guo",
"Zixiao Xu",
"Chengzhang Yang",
"Shanghua Liu",
"Long Cheng",
"Kai Huang"
] | Recent approaches for 3D object detection have made tremendous progresses due to the development of deep learning. However, previous researches are mostly based on individual frames, leading to limited exploitation of information between frames. In this paper, we attempt to leverage the temporal information in streaming data and explore 3D streaming based object detection as well as tracking. Towa... |
Object-Centric Stereo Matching for 3D Object Detection | https://ieeexplore.ieee.org/document/9196660/ | [
"Alex D. Pon",
"Jason Ku",
"Chengyao Li",
"Steven L. Waslander",
"Alex D. Pon",
"Jason Ku",
"Chengyao Li",
"Steven L. Waslander"
] | Safe autonomous driving requires reliable 3D object detection-determining the 6 DoF pose and dimensions of objects of interest. Using stereo cameras to solve this task is a cost-effective alternative to the widely used LiDAR sensor. The current state-of-the-art for stereo 3D object detection takes the existing PSMNet stereo matching network, with no modifications, and converts the estimated dispar... |
The Relative Confusion Matrix, a Tool to Assess Classifiablility in Large Scale Picking Applications | https://ieeexplore.ieee.org/document/9197540/ | [
"Alexander Balasch",
"Maximilian Beinhofer",
"Gerald Zauner",
"Alexander Balasch",
"Maximilian Beinhofer",
"Gerald Zauner"
] | For bin picking robots in real logistics installations, the certainty of picking the correct product out of a mixed-product bin is essential. This paper proposes an approach for the robot to efficiently decide whether it can robustly distinguish the product to pick from the others in the bin. If not, the pick has to be routed not to the robot workstation but to a manual picking station. For this, ... |
Pose-guided Auto-Encoder and Feature-Based Refinement for 6-DoF Object Pose Regression | https://ieeexplore.ieee.org/document/9196953/ | [
"Zhigang Li",
"Xiangyang Ji",
"Zhigang Li",
"Xiangyang Ji"
] | Accurately estimating the 6-DoF object pose from a single RGB image is a challenging task in computer vision. Though pose regression approaches have achieved great progress, the performance is still limited. In this work, we propose Pose-guided Auto-Encoder (PAE), which can distill better pose-related features from the image by utilizing a suitable pose representation, 3D Location Field (3DLF), to... |
PrimiTect: Fast Continuous Hough Voting for Primitive Detection | https://ieeexplore.ieee.org/document/9196988/ | [
"Christiane Sommer",
"Yumin Sun",
"Erik Bylow",
"Daniel Cremers",
"Christiane Sommer",
"Yumin Sun",
"Erik Bylow",
"Daniel Cremers"
] | This paper tackles the problem of data abstraction in the context of 3D point sets. Our method classifies points into different geometric primitives, such as planes and cones, leading to a compact representation of the data. Being based on a semi-global Hough voting scheme, the method does not need initialization and is robust, accurate, and efficient. We use a local, low-dimensional parameterizat... |
FarSee-Net: Real-Time Semantic Segmentation by Efficient Multi-scale Context Aggregation and Feature Space Super-resolution | https://ieeexplore.ieee.org/document/9196599/ | [
"Zhanpeng Zhang",
"Kaipeng Zhang",
"Zhanpeng Zhang",
"Kaipeng Zhang"
] | Real-time semantic segmentation is desirable in many robotic applications with limited computation resources. One challenge of semantic segmentation is to deal with the object scale variations and leverage the context. How to perform multi-scale context aggregation within limited computation budget is important. In this paper, firstly, we introduce a novel and efficient module called Cascaded Fact... |
Learning 3D-aware Egocentric Spatial-Temporal Interaction via Graph Convolutional Networks | https://ieeexplore.ieee.org/document/9197057/ | [
"Chengxi Li",
"Yue Meng",
"Stanley H. Chan",
"Yi-Ting Chen",
"Chengxi Li",
"Yue Meng",
"Stanley H. Chan",
"Yi-Ting Chen"
] | To enable intelligent automated driving systems, a promising strategy is to understand how human drives and interacts with road users in complicated driving situations. In this paper, we propose a 3D-aware egocentric spatial-temporal interaction framework for automated driving applications. Graph convolution networks (GCN) is devised for interaction modeling. We introduce three novel concepts into... |
C-3PO: Cyclic-Three-Phase Optimization for Human-Robot Motion Retargeting based on Reinforcement Learning | https://ieeexplore.ieee.org/document/9196948/ | [
"Taewoo Kim",
"Joo-Haeng Lee",
"Taewoo Kim",
"Joo-Haeng Lee"
] | Motion retargeting between heterogeneous polymorphs with different sizes and kinematic configurations requires a comprehensive knowledge of (inverse) kinematics. Moreover, it is non-trivial to provide a kinematic independent general solution. In this study, we developed a cyclic three-phase optimization method based on deep reinforcement learning for human-robot motion retargeting. The motion reta... |
AP-MTL: Attention Pruned Multi-task Learning Model for Real-time Instrument Detection and Segmentation in Robot-assisted Surgery | https://ieeexplore.ieee.org/document/9196905/ | [
"Mobarakol Islam",
"V. S. Vibashan",
"Hongliang Ren",
"Mobarakol Islam",
"V. S. Vibashan",
"Hongliang Ren"
] | Surgical scene understanding and multi-tasking learning are crucial for image-guided robotic surgery. Training a real-time robotic system for the detection and segmentation of high-resolution images provides a challenging problem with the limited computational resource. The perception drawn can be applied in effective real-time feedback, surgical skill assessment, and human-robot collaborative sur... |
Automatic Gesture Recognition in Robot-assisted Surgery with Reinforcement Learning and Tree Search | https://ieeexplore.ieee.org/document/9196674/ | [
"Xiaojie Gao",
"Yueming Jin",
"Qi Dou",
"Pheng-Ann Heng",
"Xiaojie Gao",
"Yueming Jin",
"Qi Dou",
"Pheng-Ann Heng"
] | Automatic surgical gesture recognition is fundamental for improving intelligence in robot-assisted surgery, such as conducting complicated tasks of surgery surveillance and skill evaluation. However, current methods treat each frame individually and produce the outcomes without effective consideration on future information. In this paper, we propose a framework based on reinforcement learning and ... |
ACNN: a Full Resolution DCNN for Medical Image Segmentation | https://ieeexplore.ieee.org/document/9197328/ | [
"Xiao-Yun Zhou",
"Jian-Qing Zheng",
"Peichao Li",
"Guang-Zhong Yang",
"Xiao-Yun Zhou",
"Jian-Qing Zheng",
"Peichao Li",
"Guang-Zhong Yang"
] | Deep Convolutional Neural Networks (DCNNs) are used extensively in medical image segmentation and hence 3D navigation for robot-assisted Minimally Invasive Surgeries (MISs). However, current DCNNs usually use down sampling layers for increasing the receptive field and gaining abstract semantic information. These down sampling layers decrease the spatial dimension of feature maps, which can be detr... |
Hyperproperties for Robotics: Planning via HyperLTL | https://ieeexplore.ieee.org/document/9196874/ | [
"Yu Wang",
"Siddhartha Nalluri",
"Miroslav Pajic",
"Yu Wang",
"Siddhartha Nalluri",
"Miroslav Pajic"
] | There is a growing interest on formal methods-based robotic planning for temporal logic objectives. In this work, we extend the scope of existing synthesis methods to hyper-temporal logics. We are motivated by the fact that important planning objectives, such as optimality, robustness, and privacy, (maybe implicitly) involve the interrelation between multiple paths. Such objectives are thus hyperp... |
Abstractions for computing all robotic sensors that suffice to solve a planning problem | https://ieeexplore.ieee.org/document/9196812/ | [
"Yulin Zhang",
"Dylan A. Shell",
"Yulin Zhang",
"Dylan A. Shell"
] | Whether a robot can perform some specific task depends on several aspects, including the robot’s sensors and the plans it possesses. We are interested in search algorithms that treat plans and sensor designs jointly, yielding solutions—i.e., plan and sensor characterization pairs—if and only if they exist. Such algorithms can help roboticists explore the space of sensors to aid in making design tr... |
T: A Heuristic Search Based Path Planning Algorithm for Temporal Logic Specifications | https://ieeexplore.ieee.org/document/9196928/ | [
"Danish Khalidi",
"Dhaval Gujarathi",
"Indranil Saha",
"Danish Khalidi",
"Dhaval Gujarathi",
"Indranil Saha"
] | The fundamental path planning problem for a mobile robot involves generating a trajectory for point-to-point navigation while avoiding obstacles. Heuristic-based search algorithms like A* have been shown to be efficient in solving such planning problems. Recently, there has been an increased interest in specifying complex path planning problem using temporal logic. In the state-of-the-art algorith... |
Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for Autonomous Surgical Robots | https://ieeexplore.ieee.org/document/9197525/ | [
"Narcís Sayols",
"Alessio Sozzi",
"Nicola Piccinelli",
"Albert Hernansanz",
"Alicia Casals",
"Marcello Bonfè",
"Riccardo Muradore",
"Narcís Sayols",
"Alessio Sozzi",
"Nicola Piccinelli",
"Albert Hernansanz",
"Alicia Casals",
"Marcello Bonfè",
"Riccardo Muradore"
] | This paper addresses the generation of collision-free trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the final target and the presence of moving obstacles. The developed motion planner is structured as a ... |
Deep Imitative Reinforcement Learning for Temporal Logic Robot Motion Planning with Noisy Semantic Observations | https://ieeexplore.ieee.org/document/9197297/ | [
"Qitong Gao",
"Miroslav Pajic",
"Michael M. Zavlanos",
"Qitong Gao",
"Miroslav Pajic",
"Michael M. Zavlanos"
] | In this paper, we propose a Deep Imitative Q-learning (DIQL) method to synthesize control policies for mobile robots that need to satisfy Linear Temporal Logic (LTL) specifications using noisy semantic observations of their surroundings. The robot sensing error is modeled using probabilistic labels defined over the states of a Labeled Transition System (LTS) and the robot mobility is modeled using... |
Minimal 3D Dubins Path with Bounded Curvature and Pitch Angle | https://ieeexplore.ieee.org/document/9197084/ | [
"Petr Váňa",
"Armando Alves Neto",
"Jan Faigl",
"Douglas G. Macharet",
"Petr Váňa",
"Armando Alves Neto",
"Jan Faigl",
"Douglas G. Macharet"
] | In this paper, we address the problem of finding cost-efficient three-dimensional paths that satisfy the maximum allowed curvature and the pitch angle of the vehicle. For any given initial and final configurations, the problem is decoupled into finding the horizontal and vertical parts of the path separately. Although the individual paths are modeled as two-dimensional Dubins curves using closed-f... |
AU-AIR: A Multi-modal Unmanned Aerial Vehicle Dataset for Low Altitude Traffic Surveillance | https://ieeexplore.ieee.org/document/9196845/ | [
"Ilker Bozcan",
"Erdal Kayacan",
"Ilker Bozcan",
"Erdal Kayacan"
] | Unmanned aerial vehicles (UAVs) with mounted cameras have the advantage of capturing aerial (bird-view) images. The availability of aerial visual data and the recent advances in object detection algorithms led the computer vision community to focus on object detection tasks on aerial images. As a result of this, several aerial datasets have been introduced, including visual data with object annota... |
Design and Autonomous Stabilization of a Ballistically-Launched Multirotor | https://ieeexplore.ieee.org/document/9197542/ | [
"Amanda Bouman",
"Paul Nadan",
"Matthew Anderson",
"Daniel Pastor",
"Jacob Izraelevitz",
"Joel Burdick",
"Brett Kennedy",
"Amanda Bouman",
"Paul Nadan",
"Matthew Anderson",
"Daniel Pastor",
"Jacob Izraelevitz",
"Joel Burdick",
"Brett Kennedy"
] | Aircraft that can launch ballistically and convert to autonomous, free-flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically-launched, autonomously-stabilizing multirotor prototype (SQUID - Streamlined Quick Unfolding Investigation Drone) wi... |
Asynchronous event-based clustering and tracking for intrusion monitoring in UAS | https://ieeexplore.ieee.org/document/9197341/ | [
"J.P. Rodríguez-Gomez",
"A. Gómez Eguíluz",
"J.R. Martínez-de Dios",
"A. Ollero",
"J.P. Rodríguez-Gomez",
"A. Gómez Eguíluz",
"J.R. Martínez-de Dios",
"A. Ollero"
] | Automatic surveillance and monitoring using Unmanned Aerial Systems (UAS) require the development of perception systems that robustly work under different illumination conditions. Event cameras are neuromorphic sensors that capture the illumination changes in the scene with very low latency and high dynamic range. Although recent advances in eventbased vision have explored the use of event cameras... |
SHIFT: Selective Heading Image for Translation An onboard monocular optical flow estimator for fast constantly rotating UAVs | https://ieeexplore.ieee.org/document/9197073/ | [
"Matthew Ng",
"Emmanuel Tang",
"Gim Song Soh",
"Shaohui Foong",
"Matthew Ng",
"Emmanuel Tang",
"Gim Song Soh",
"Shaohui Foong"
] | Pose estimation is of paramount importance for flight control as well as localization and navigation of Unmanned Aerial Vehicles (UAVs) to enable autonomous operations. In environments without GPS, such estimation can only be determined using onboard sensors; optical flow using a monocular camera is a popular approach. Monocopters are a class of nature inspired UAVs known as free rotors where thei... |
Flydar: Magnetometer-based High Angular Rate Estimation during Gyro Saturation for SLAM | https://ieeexplore.ieee.org/document/9197486/ | [
"Chee How Tan",
"Danial Sufiyan bin Shaiful",
"Emmanuel Tang",
"Jien-Yi Khaw",
"Gim Song Soh",
"Shaohui Foong",
"Chee How Tan",
"Danial Sufiyan bin Shaiful",
"Emmanuel Tang",
"Jien-Yi Khaw",
"Gim Song Soh",
"Shaohui Foong"
] | In this paper, the high angular rate estimation for simultaneous localisation and mapping (SLAM) of a Flying Li-DAR (Flydar) is presented. The proposed EKF-based algorithm exploits the sinusoidal magnetometer measurement generated by the continuously rotating airframe for estimation of the robot hovering angular velocity. Significantly, the proposed method does not rely on additional sensors other... |
Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight | https://ieeexplore.ieee.org/document/9196690/ | [
"Dimos Tzoumanikas",
"Qingyue Yan",
"Stefan Leutenegger",
"Dimos Tzoumanikas",
"Qingyue Yan",
"Stefan Leutenegger"
] | Safe and precise reference tracking is a crucial characteristic of Micro Aerial Vehicles (MAVs) that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a Nonlinear Model Predictive Control (NMPC) that exploits the fully physics based non-linear dynamics of the system. We furthermore show how the moment and thrust control inputs can be ... |
Temporal information integration for video semantic segmentation | https://ieeexplore.ieee.org/document/9197204/ | [
"G. Guarino",
"T. Chateau",
"C. Teulière",
"V. Antoine",
"G. Guarino",
"T. Chateau",
"C. Teulière",
"V. Antoine"
] | We present a temporal Bayesian filter for semantic segmentation of a video sequence. Each pixel is a random variable following a discrete probabilistic distribution function representing possible semantic classes. Bayesian filtering consists in two main steps: 1) a prediction model and 2) an observation model (likelihood). We propose to use a datadriven prediction function derived from a dense opt... |
Map-Predictive Motion Planning in Unknown Environments | https://ieeexplore.ieee.org/document/9197522/ | [
"Amine Elhafsi",
"Boris Ivanovic",
"Lucas Janson",
"Marco Pavone",
"Amine Elhafsi",
"Boris Ivanovic",
"Lucas Janson",
"Marco Pavone"
] | Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on heuristic methods to choose intermediate objectives along frontiers. We present a unified method that combines map prediction and motion planning for safe, time-effic... |
Using multiple short hops for multicopter navigation with only inertial sensors | https://ieeexplore.ieee.org/document/9196610/ | [
"Xiangyu Wu",
"Mark W. Mueller",
"Xiangyu Wu",
"Mark W. Mueller"
] | In certain challenging environments, such as inside buildings on fire, the main sensors (e.g. cameras, LiDARs and GPS systems) used for multicopter localization can become unavailable. Direct integration of the inertial navigation sensors (the accelerometer and rate gyroscope), is however unaffected by external disturbances, but the rapid error accumulation quickly makes a naive application of suc... |
An Efficient and Continuous Approach to Information-Theoretic Exploration | https://ieeexplore.ieee.org/document/9196592/ | [
"Theia Henderson",
"Vivienne Sze",
"Sertac Karaman",
"Theia Henderson",
"Vivienne Sze",
"Sertac Karaman"
] | Exploration of unknown environments is embedded and essential in many robotics applications. Traditional algorithms, that decide where to explore by computing the expected information gain of an incomplete map from future sensor measurements, are limited to very powerful computational platforms. In this paper, we describe a novel approach for computing this expected information gain efficiently, a... |
A Feature-Based Underwater Path Planning Approach using Multiple Perspective Prior Maps | https://ieeexplore.ieee.org/document/9196680/ | [
"Daniel Cagara",
"Matthew Dunbabin",
"Paul Rigby",
"Daniel Cagara",
"Matthew Dunbabin",
"Paul Rigby"
] | This paper presents a path planning methodology which enables Autonomous Underwater Vehicles (AUVs) to navigate in shallow complex environments such as coral reefs. The approach leverages prior information from an aerial photographic survey, and derived bathymetric information of the corresponding area. From these prior maps, a set of features is obtained which define an expected arrangement of ob... |
Automatic LiDAR-Camera Calibration of Extrinsic Parameters Using a Spherical Target | https://ieeexplore.ieee.org/document/9197316/ | [
"Tekla Tóth",
"Zoltán Pusztai",
"Levente Hajder",
"Tekla Tóth",
"Zoltán Pusztai",
"Levente Hajder"
] | This paper investigates a novel calibration process of devices with different modalities, which is a critical step of computer vision applications. We propose a fully automatic extrinsic calibration of a LiDAR-camera system. Our approach applies sphere as their surfaces and contours can be accurately detected on point clouds and camera images, respectively. Experiments on synthetic and real data e... |
Motion Estimation in Occupancy Grid Maps in Stationary Settings Using Recurrent Neural Networks | https://ieeexplore.ieee.org/document/9196702/ | [
"Marcel Schreiber",
"Vasileios Belagiannis",
"Claudius Gläser",
"Klaus Dietmayer",
"Marcel Schreiber",
"Vasileios Belagiannis",
"Claudius Gläser",
"Klaus Dietmayer"
] | In this work, we tackle the problem of modeling the vehicle environment as dynamic occupancy grid map in complex urban scenarios using recurrent neural networks. Dynamic occupancy grid maps represent the scene in a bird's eye view, where each grid cell contains the occupancy prob-ability and the two dimensional velocity. As input data, our approach relies on measurement grid maps, which contain oc... |
A Divide and Conquer Method for 3D Registration of Inhomogeneous, Partially Overlapping Scans with Fourier Mellin SOFT (FMS) | https://ieeexplore.ieee.org/document/9197453/ | [
"Heiko Bülow",
"Christian A. Mueller",
"Arturo Gomez Chavez",
"Frederike Buda",
"Andreas Birk",
"Heiko Bülow",
"Christian A. Mueller",
"Arturo Gomez Chavez",
"Frederike Buda",
"Andreas Birk"
] | High-end laser range-finders provide accurate 3D data over long ranges. But their scans are inhomogeneous, i.e., the environment is non-uniformly sampled, as there is denser data in the near range than in the far range. Furthermore, the generation of a scan is time-consuming. Thus, it is desirable to cover an area by as few scans as possible, i.e., scanning is more time-efficient if the overlap be... |
Estimating Motion Uncertainty with Bayesian ICP | https://ieeexplore.ieee.org/document/9197085/ | [
"Fahira Afzal Maken",
"Fabio Ramos",
"Lionel Ott",
"Fahira Afzal Maken",
"Fabio Ramos",
"Lionel Ott"
] | Accurate uncertainty estimation associated with the pose transformation between two 3D point clouds is critical for autonomous navigation, grasping, and data fusion. Iterative closest point (ICP) is widely used to estimate the transformation between point cloud pairs by iteratively performing data association and motion estimation. Despite its success and popularity, ICP is effectively a determini... |
Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot | https://ieeexplore.ieee.org/document/9197153/ | [
"Yiduo Wang",
"Milad Ramezani",
"Maurice Fallon",
"Yiduo Wang",
"Milad Ramezani",
"Maurice Fallon"
] | In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control modules needed to scan and reconstruct an object of interest, without requiring a prior model. The system builds a voxel representation of the object, and iteratively determines the Next-Best-View (NBV) to extend th... |
Efficient Covisibility-based Image Matching for Large-Scale SfM | https://ieeexplore.ieee.org/document/9197383/ | [
"Zhichao Ye",
"Guofeng Zhang",
"Hujun Bao",
"Zhichao Ye",
"Guofeng Zhang",
"Hujun Bao"
] | Obtaining accurate and sufficient feature matches is crucial for robust large-scale Structure-from-Motion. For unordered image collections, a traditional feature matching method with geometric verification requires a huge cost to find sufficient feature matches. Although several methods have been proposed to speed up this stage, none of them makes full use of existing matches. In this paper, we pr... |
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