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A Novel Calibration Method between a Camera and a 3D LiDAR with Infrared Images | https://ieeexplore.ieee.org/document/9196512/ | [
"Shoubin Chen",
"Jingbin Liu",
"Xinlian Liang",
"Shuming Zhang",
"Juha Hyyppä",
"Ruizhi Chen",
"Shoubin Chen",
"Jingbin Liu",
"Xinlian Liang",
"Shuming Zhang",
"Juha Hyyppä",
"Ruizhi Chen"
] | Fusions of LiDARs (light detection and ranging) and cameras have been effectively and widely employed in the communities of autonomous vehicles, virtual reality and mobile mapping systems (MMS) for different purposes, such as localization, high definition map or simultaneous location and mapping. However, the extrinsic calibration between a camera and a 3D LiDAR is a fundamental prerequisite to gu... |
Online Camera-LiDAR Calibration with Sensor Semantic Information | https://ieeexplore.ieee.org/document/9196627/ | [
"Yufeng Zhu",
"Chenghui Li",
"Yubo Zhang",
"Yufeng Zhu",
"Chenghui Li",
"Yubo Zhang"
] | As a crucial step of sensor data fusion, sensor calibration plays a vital role in many cutting-edge machine vision applications, such as autonomous vehicles and AR/VR. Existing techniques either require quite amount of manual work and complex settings, or are unrobust and prone to produce suboptimal results. In this paper, we investigate the extrinsic calibration of an RGB camera and a light detec... |
Precise 3D Calibration of Wafer Handling Robot by Visual Detection and Tracking of Elliptic-shape Wafers | https://ieeexplore.ieee.org/document/9197150/ | [
"Zining Wang",
"Masayoshi Tomizuka",
"Zining Wang",
"Masayoshi Tomizuka"
] | This work provides a framework for the 3D calibration of wafers and a wafer handling robot by monocular vision. The proposed method precisely reconstructs the 3D poses of wafers from a set of images captured by the camera mounted on the robot. In addition, it calibrates the robot kinematics simultaneously. A robust ellipse detection and tracking algorithm based on the edge arcs is developed to rec... |
Globally Optimal Relative Pose Estimation for Camera on a Selfie Stick | https://ieeexplore.ieee.org/document/9196921/ | [
"Kyungdon Joo",
"Hongdong Li",
"Tae-Hyun Oh",
"Yunsu Bok",
"In So Kweon",
"Kyungdon Joo",
"Hongdong Li",
"Tae-Hyun Oh",
"Yunsu Bok",
"In So Kweon"
] | Taking selfies has become a photographic trend nowadays. We envision the emergence of the "video selfie" capturing a short continuous video clip (or burst photography) of the user, themselves. A selfie stick is usually used, whereby a camera is mounted on a stick for taking selfie photos. In this scenario, we observe that the camera typically goes through a special trajectory along a sphere surfac... |
Online calibration of exterior orientations of a vehicle-mounted surround-view camera system | https://ieeexplore.ieee.org/document/9197127/ | [
"Zhanpeng Ouyang",
"Lan Hu",
"Yukan Lu",
"Zhirui Wang",
"Xin Peng",
"Laurent Kneip",
"Zhanpeng Ouyang",
"Lan Hu",
"Yukan Lu",
"Zhirui Wang",
"Xin Peng",
"Laurent Kneip"
] | The increasing availability of surround-view camera systems in passenger vehicles motivates their use as an exterior perception modality for intelligent vehicle behaviour. An important problem within this context is the extrinsic calibration between the cameras, which is challenging due to the often reduced overlap between the fields of view of neighbouring views. Our work is motivated by two insi... |
Learning Camera Miscalibration Detection | https://ieeexplore.ieee.org/document/9197378/ | [
"Andrei Cramariuc",
"Aleksandar Petrov",
"Rohit Suri",
"Mayank Mittal",
"Roland Siegwart",
"Cesar Cadena",
"Andrei Cramariuc",
"Aleksandar Petrov",
"Rohit Suri",
"Mayank Mittal",
"Roland Siegwart",
"Cesar Cadena"
] | Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental transients, or external disturbances. Precise calibration lies at the core of a variety of applications, due to the need to accurately perceive the world. However,... |
Robotic General Parts Feeder: Bin-picking, Regrasping, and Kitting | https://ieeexplore.ieee.org/document/9197056/ | [
"Yukiyasu Domae",
"Akio Noda",
"Tatsuya Nagatani",
"Weiwei Wan",
"Yukiyasu Domae",
"Akio Noda",
"Tatsuya Nagatani",
"Weiwei Wan"
] | The automatic parts feeding of multiple objects is an unsolved problem in the manufacturing industry. In this paper, we tackle the problem by proposing a multi-robot system. The system comprises three sub-components which perform bin-picking, regrasping, and kitting. The three subcomponents divide and conquer the automatic multiple parts feeding problem by considering a coarse-to-fine manipulation... |
Planning, Learning and Reasoning Framework for Robot Truck Unloading | https://ieeexplore.ieee.org/document/9196604/ | [
"Fahad Islam",
"Anirudh Vemula",
"Sung-Kyun Kim",
"Andrew Dornbush",
"Oren Salzman",
"Maxim Likhachev",
"Fahad Islam",
"Anirudh Vemula",
"Sung-Kyun Kim",
"Andrew Dornbush",
"Oren Salzman",
"Maxim Likhachev"
] | We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for a complex robotic system carrying two articulated mechanisms, an arm and a scooper, (2) decision-making in terms of what action to execute next given imperfect information about boxes such as their masses, (3) accounting... |
Evaluation of Perception Latencies in a Human-Robot Collaborative Environment | https://ieeexplore.ieee.org/document/9197067/ | [
"Atle Aalerud",
"Geir Hovland",
"Atle Aalerud",
"Geir Hovland"
] | The latency in vision-based sensor systems used in human-robot collaborative environments is an important safety parameter which in most cases has been neglected by researchers. The main reason for this neglect is the lack of an accurate ground-truth sensor system with a minimal delay to benchmark the vision-sensors against. In this paper the latencies of 3D vision-based sensors are experimentally... |
Assembly of randomly placed parts realized by using only one robot arm with a general parallel-jaw gripper | https://ieeexplore.ieee.org/document/9197396/ | [
"Jie Zhao",
"Xiaoman Wang",
"Shengfan Wang",
"Xin Jiang",
"Yunhui Liu",
"Jie Zhao",
"Xiaoman Wang",
"Shengfan Wang",
"Xin Jiang",
"Yunhui Liu"
] | In industry assembly lines, parts feeding machines are widely employed as the prologue of the whole procedure. They play the role of sorting the parts randomly placed in bins to the state with specified pose. With the help of the parts feeding machines, the subsequent assembly processes by robot arm can always start from the same condition. Thus it is expected that function of parting feeding mach... |
Bio-Inspired Distance Estimation using the Self-Induced Acoustic Signature of a Motor-Propeller System | https://ieeexplore.ieee.org/document/9197143/ | [
"Luke Calkins",
"Joseph Lingevitch",
"Loy McGuire",
"Jason Geder",
"Matthew Kelly",
"Michael M. Zavlanos",
"Donald Sofge",
"Daniel M. Lofaro",
"Luke Calkins",
"Joseph Lingevitch",
"Loy McGuire",
"Jason Geder",
"Matthew Kelly",
"Michael M. Zavlanos",
"Donald Sofge",
"Daniel M. Lofaro"
] | In this paper we propose an algorithm to actively control the distance of a motor-propeller system (MPS) to a large obstacle using data from a single microphone. The method is based upon a broadband constructive/destructive interference pattern across the audible frequency band that is present when the MPS is near an obstacle. By taking the difference between the power spectrum in the obstacle-fre... |
A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints | https://ieeexplore.ieee.org/document/9196589/ | [
"Benjamin Fasquelle",
"Matthieu Furet",
"Parag Khanna",
"Damien Chablat",
"Christine Chevallereau",
"Philippe Wenger",
"Benjamin Fasquelle",
"Matthieu Furet",
"Parag Khanna",
"Damien Chablat",
"Christine Chevallereau",
"Philippe Wenger"
] | This paper proposes a new kind of light-weight manipulators suitable for safe interactions. The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints. Each X-joint is remotely actuated with cables and springs in parallel, thus realizing a tensegrity one-degree-of-freedom mechanism. As compared to manipulators built with simple revolute joints in series, manipulator... |
The Lobster-inspired Antagonistic Actuation Mechanism Towards a Bending Module | https://ieeexplore.ieee.org/document/9196624/ | [
"Yaohui Chen",
"Hoam Chung",
"Bernard Chen",
"Yinjiya Bao",
"Yonghang Sun",
"Yaohui Chen",
"Hoam Chung",
"Bernard Chen",
"Yinjiya Bao",
"Yonghang Sun"
] | This paper describes a new type of bending module inspired, in part, by the musculoskeletal structure of the lobster leg joint. The bending module proposed combines enhanced torque output, reconfigurability in assembling, safe compliant actuation, and accurate control on its mechanical performance. In this module, antagonistic soft chambers are enveloped by exoskeleton shells, and the bending angl... |
Emulating duration and curvature of coral snake anti-predator thrashing behaviors using a soft-robotic platform | https://ieeexplore.ieee.org/document/9197549/ | [
"Shannon M. Danforth",
"Margaret Kohler",
"Daniel Bruder",
"Alison R. Davis Rabosky",
"Sridhar Kota",
"Ram Vasudevan",
"Talia Y. Moore",
"Shannon M. Danforth",
"Margaret Kohler",
"Daniel Bruder",
"Alison R. Davis Rabosky",
"Sridhar Kota",
"Ram Vasudevan",
"Talia Y. Moore"
] | This paper presents a soft-robotic platform for exploring the ecological relevance of non-locomotory movements via animal-robot interactions. Coral snakes (genus Micrurus) and their mimics use vigorous, non-locomotory, and arrhythmic thrashing to deter predation. There is variation across snake species in the duration and curvature of anti-predator thrashes, and it is unclear how these aspects of ... |
Directional Mechanical Impedance of the Human Ankle During Standing with Active Muscles | https://ieeexplore.ieee.org/document/9196616/ | [
"Guilherme A. Ribeiro",
"Lauren N. Knop",
"Mo Rastgaar",
"Guilherme A. Ribeiro",
"Lauren N. Knop",
"Mo Rastgaar"
] | The directional mechanical impedance of the human ankle was identified from subjects in a standing posture with varying levels of muscle activity. The impedance modeled the different torque responses to angle perturbations about different axes of rotation. This work proposed a novel impedance model that incorporated the coupling between multiple degrees of freedom of the ankle and was validated th... |
Contact Surface Estimation via Haptic Perception | https://ieeexplore.ieee.org/document/9196816/ | [
"Hsiu-Chin Lin",
"Michael Mistry",
"Hsiu-Chin Lin",
"Michael Mistry"
] | Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain, but the accuracy of the vision system degrades in harsh weather, and it cannot visualize the terrain if it is covered with water or grass. Also, the degree of fri... |
Local Policy Optimization for Trajectory-Centric Reinforcement Learning | https://ieeexplore.ieee.org/document/9197058/ | [
"Patrik Kolaric",
"Devesh K. Jha",
"Arvind U. Raghunathan",
"Frank L. Lewis",
"Mouhacine Benosman",
"Diego Romeres",
"Daniel Nikovski",
"Patrik Kolaric",
"Devesh K. Jha",
"Arvind U. Raghunathan",
"Frank L. Lewis",
"Mouhacine Benosman",
"Diego Romeres",
"Daniel Nikovski"
] | The goal of this paper is to present a method for simultaneous trajectory and local stabilizing policy optimization to generate local policies for trajectory-centric model-based reinforcement learning (MBRL). This is motivated by the fact that global policy optimization for non-linear systems could be a very challenging problem both algorithmically and numerically. However, a lot of robotic manipu... |
Automatic Snake Gait Generation Using Model Predictive Control | https://ieeexplore.ieee.org/document/9196853/ | [
"Emily Hannigan",
"Bing Song",
"Gagan Khandate",
"Maximilian Haas-Heger",
"Ji Yin",
"Matei Ciocarlie",
"Emily Hannigan",
"Bing Song",
"Gagan Khandate",
"Maximilian Haas-Heger",
"Ji Yin",
"Matei Ciocarlie"
] | In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Model Predictive Control (MPC) approach to automatically generate effective locomotion gaits via trajectory optimization. An important advantage of this approach is that the resulting gaits are automatically adapted to the ... |
On-board Deep-learning-based Unmanned Aerial Vehicle Fault Cause Detection and Identification | https://ieeexplore.ieee.org/document/9197071/ | [
"Vidyasagar Sadhu",
"Saman Zonouz",
"Dario Pompili",
"Vidyasagar Sadhu",
"Saman Zonouz",
"Dario Pompili"
] | With the increase in use of Unmanned Aerial Vehicles (UAVs)/drones, it is important to detect and identify causes of failure in real time for proper recovery from a potential crash-like scenario or post incident forensics analysis. The cause of crash could be either a fault in the sensor/actuator system, a physical damage/attack, or a cyber attack on the drone's software. In this paper, we propose... |
GOMP: Grasp-Optimized Motion Planning for Bin Picking | https://ieeexplore.ieee.org/document/9197548/ | [
"Jeffrey Ichnowski",
"Michael Danielczuk",
"Jingyi Xu",
"Vishal Satish",
"Ken Goldberg",
"Jeffrey Ichnowski",
"Michael Danielczuk",
"Jingyi Xu",
"Vishal Satish",
"Ken Goldberg"
] | Rapid and reliable robot bin picking is a critical challenge in automating warehouses, often measured in picks-per-hour (PPH). We explore increasing PPH using faster motions based on optimizing over a set of candidate grasps. The source of this set of grasps is two-fold: (1) grasp-analysis tools such as Dex-Net generate multiple candidate grasps, and (2) each of these grasps has a degree of freedo... |
Motion Planning and Task Allocation for a Jumping Rover Team | https://ieeexplore.ieee.org/document/9197268/ | [
"Kai Chuen Tan",
"Myungjin Jung",
"Isaac Shyu",
"Changhuang Wan",
"Ran Dai",
"Kai Chuen Tan",
"Myungjin Jung",
"Isaac Shyu",
"Changhuang Wan",
"Ran Dai"
] | This paper presents a cooperative robotic team composed of unmanned ground vehicles (UGVs) with hybrid operational modes to tackle the multiple traveling salesman problem (mTSP) with obstacles. The hybrid operational modes allow every UGV in the team to not only travel on a ground surface but also jump over obstacles. We name these UGVs jumping rovers. The jumping capability provides a flexible fo... |
Active 3D Modeling via Online Multi-View Stereo | https://ieeexplore.ieee.org/document/9197089/ | [
"Soohwan Song",
"Daekyum Kim",
"Sungho Jo",
"Soohwan Song",
"Daekyum Kim",
"Sungho Jo"
] | Multi-view stereo (MVS) algorithms have been commonly used to model large-scale structures. When processing MVS, image acquisition is an important issue because its reconstruction quality depends heavily on the acquired images. Recently, an explore-then-exploit strategy has been used to acquire images for MVS. This method first constructs a coarse model by exploring an entire scene using a pre-all... |
Reoriented Short-Cuts (RSC): An Adjustment Method for Locally Optimal Path Short-Cutting in High DoF Configuration Spaces | https://ieeexplore.ieee.org/document/9196532/ | [
"Alexander C. Holston",
"Jong-Hwan Kim",
"Alexander C. Holston",
"Jong-Hwan Kim"
] | This paper presents Reoriented Short-Cuts (RSC): A modification of the traditional Short-Cut technique, allowing almost sure, single homotopy class, asymptotic convergence in high degree of freedom (DoF) problems. An additional Informed Gaussian Sampling (IGS) technique is also introduced for convergence comparison. Traditionally, Short-Cut methods are used as a final technique to further optimize... |
Learning Resilient Behaviors for Navigation Under Uncertainty | https://ieeexplore.ieee.org/document/9196785/ | [
"Tingxiang Fan",
"Pinxin Long",
"Wenxi Liu",
"Jia Pan",
"Ruigang Yang",
"Dinesh Manocha",
"Tingxiang Fan",
"Pinxin Long",
"Wenxi Liu",
"Jia Pan",
"Ruigang Yang",
"Dinesh Manocha"
] | Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially in these safety-critical tasks (e.g., autonomous driving). One of the reasons is that the learned policy cannot perform flexible and resilient behaviors as trad... |
Nonlinear Vector-Projection Control for Agile Fixed-Wing Unmanned Aerial Vehicles | https://ieeexplore.ieee.org/document/9196838/ | [
"Juan Carlos Hernández Ramírez",
"Meyer Nahon",
"Juan Carlos Hernández Ramírez",
"Meyer Nahon"
] | Agile fixed-wing aircraft integrate the efficient, high-speed capabilities of conventional fixed-wing platforms with the extreme maneuverability of rotorcraft. This work presents a nonlinear control strategy that harnesses these capabilities to enable autonomous flight through aggressive, time-constrained, three-dimensional trajectories. The cascaded control structure consists of two parts; an inn... |
Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing | https://ieeexplore.ieee.org/document/9197344/ | [
"Xichen Shi",
"Patrick Spieler",
"Ellande Tang",
"Elena-Sorina Lupu",
"Phillip Tokumaru",
"Soon-Jo Chung",
"Xichen Shi",
"Patrick Spieler",
"Ellande Tang",
"Elena-Sorina Lupu",
"Phillip Tokumaru",
"Soon-Jo Chung"
] | Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving high performance flight. In this paper, we present a composite adaptive nonlinear tracking controller for a fixed- wing VTOL. The method employs online adaptati... |
The Reconfigurable Aerial Robotic Chain: Modeling and Control | https://ieeexplore.ieee.org/document/9197184/ | [
"Huan Nguyen",
"Tung Dang",
"Kostas Alexis",
"Huan Nguyen",
"Tung Dang",
"Kostas Alexis"
] | This paper overviews the system design, modeling and control of the Aerial Robotic Chain. This new design corresponds to a reconfigurable robotic system of systems consisting of multilinked micro aerial vehicles that presents the ability to cross narrow sections, morph its shape, ferry significant payloads, offer the potential of distributed sensing and processing, and enable system extendability.... |
Direct Acceleration Feedback Control of Quadrotor Aerial Vehicles | https://ieeexplore.ieee.org/document/9196557/ | [
"Mahmoud Hamandi",
"Marco Tognon",
"Antonio Franchi",
"Mahmoud Hamandi",
"Marco Tognon",
"Antonio Franchi"
] | In this paper we propose to control a quadrotor through direct acceleration feedback. The proposed method, while simple in form, alleviates the need for accurate estimation of platform parameters such as mass and propeller effectiveness. In order to use efficaciously the noisy acceleration measurements in direct feedback, we propose a novel regression-based filter that exploits the knowledge on th... |
Trajectory Tracking Nonlinear Model Predictive Control for an Overactuated MAV | https://ieeexplore.ieee.org/document/9197005/ | [
"Maximilian Brunner",
"Karen Bodie",
"Mina Kamel",
"Michael Pantic",
"Weixuan Zhang",
"Juan Nieto",
"Roland Siegwart",
"Maximilian Brunner",
"Karen Bodie",
"Mina Kamel",
"Michael Pantic",
"Weixuan Zhang",
"Juan Nieto",
"Roland Siegwart"
] | This work presents a method to control omnidirectional micro aerial vehicles (OMAVs) for the tracking of 6-DoF trajectories in free space. A rigid body model based approach is applied in a receding horizon fashion to generate optimal wrench commands that can be constrained to meet limits given by the mechanical design and actuators of the platform. Allocation of optimal actuator commands is perfor... |
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor | https://ieeexplore.ieee.org/document/9197055/ | [
"Yuri S. Sarkisov",
"Min Jun Kim",
"Andre Coelho",
"Dzmitry Tsetserukou",
"Christian Ott",
"Konstantin Kondak",
"Yuri S. Sarkisov",
"Min Jun Kim",
"Andre Coelho",
"Dzmitry Tsetserukou",
"Christian Ott",
"Konstantin Kondak"
] | This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provide full information on the system state. To overcome this difficulty, we design a controller motivate... |
TUNERCAR: A Superoptimization Toolchain for Autonomous Racing | https://ieeexplore.ieee.org/document/9197080/ | [
"Matthew O’Kelly",
"Hongrui Zheng",
"Achin Jain",
"Joseph Auckley",
"Kim Luong",
"Rahul Mangharam",
"Matthew O’Kelly",
"Hongrui Zheng",
"Achin Jain",
"Joseph Auckley",
"Kim Luong",
"Rahul Mangharam"
] | TUNERCAR is a toolchain that jointly optimizes racing strategy, planning methods, control algorithms, and vehicle parameters for an autonomous racecar. In this paper, we detail the target hardware, software, simulators, and systems infrastructure for this toolchain. Our methodology employs a parallel implementation of CMA-ES which enables simulations to proceed 6 times faster than real-world rollo... |
Risk Assessment and Planning with Bidirectional Reachability for Autonomous Driving | https://ieeexplore.ieee.org/document/9197491/ | [
"Ming-Yuan Yu",
"Ram Vasudevan",
"Matthew Johnson-Roberson",
"Ming-Yuan Yu",
"Ram Vasudevan",
"Matthew Johnson-Roberson"
] | Risk assessment to quantify the danger associated with taking a certain action is critical to navigating safely through crowded urban environments during autonomous driving. Risk assessment and subsequent planning is usually done by first tracking and predicting trajectories of other agents, such as vehicles and pedestrians, and then choosing an action to avoid future collisions. However, few exis... |
Game theoretic decision making based on real sensor data for autonomous vehicles’ maneuvers in high traffic | https://ieeexplore.ieee.org/document/9197430/ | [
"Mario Garzón",
"Anne Spalanzani",
"Mario Garzón",
"Anne Spalanzani"
] | This paper presents an approach for implementing game theoretic decision making in combination with realistic sensory data input so as to allow an autonomous vehicle to perform maneuvers, such as lane change or merge in high traffic scenarios. The main novelty of this work, is the use of realistic sensory data input to obtain the observations as input of an iterative multi-player game in a realist... |
Driving in Dense Traffic with Model-Free Reinforcement Learning | https://ieeexplore.ieee.org/document/9197132/ | [
"Dhruv Mauria Saxena",
"Sangjae Bae",
"Alireza Nakhaei",
"Kikuo Fujimura",
"Maxim Likhachev",
"Dhruv Mauria Saxena",
"Sangjae Bae",
"Alireza Nakhaei",
"Kikuo Fujimura",
"Maxim Likhachev"
] | Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios for the vehicle to drive through. However, that does not mean the task is infeasible since human drivers are known to be able to drive amongst dense traffic by le... |
Enhancing Game-Theoretic Autonomous Car Racing Using Control Barrier Functions | https://ieeexplore.ieee.org/document/9196757/ | [
"Gennaro Notomista",
"Mingyu Wang",
"Mac Schwager",
"Magnus Egerstedt",
"Gennaro Notomista",
"Mingyu Wang",
"Mac Schwager",
"Magnus Egerstedt"
] | In this paper, we consider a two-player racing game, where an autonomous ego vehicle has to be controlled to race against an opponent vehicle, which is either autonomous or human-driven. The approach to control the ego vehicle is based on a Sensitivity-ENhanced NAsh equilibrium seeking (SENNA) method, which uses an iterated best response algorithm in order to optimize for a trajectory in a two-car... |
SPRINT: Subgraph Place Recognition for INtelligent Transportation | https://ieeexplore.ieee.org/document/9196522/ | [
"Yasir Latif",
"Anh-Dzung Doan",
"Tat-Jun Chin",
"Ian Reid",
"Yasir Latif",
"Anh-Dzung Doan",
"Tat-Jun Chin",
"Ian Reid"
] | Visual place recognition is an important problem in mobile robotics which aims to localize a robot using image information alone. Recent methods have shown promising results for place recognition under varying environmental conditions by exploiting the sequential nature of the image acquisition process. We show that by using k nearest neighbours based image retrieval as the backend, and exploiting... |
OneShot Global Localization: Instant LiDAR-Visual Pose Estimation | https://ieeexplore.ieee.org/document/9197458/ | [
"Sebastian Ratz",
"Marcin Dymczyk",
"Roland Siegwart",
"Renaud Dubé",
"Sebastian Ratz",
"Marcin Dymczyk",
"Roland Siegwart",
"Renaud Dubé"
] | Globally localizing in a given map is a crucial ability for robots to perform a wide range of autonomous navigation tasks. This paper presents OneShot - a global localization algorithm that uses only a single 3D LiDAR scan at a time, while outperforming approaches based on integrating a sequence of point clouds. Our approach, which does not require the robot to move, relies on learning-based descr... |
Gershgorin Loss Stabilizes the Recurrent Neural Network Compartment of an End-to-end Robot Learning Scheme | https://ieeexplore.ieee.org/document/9196608/ | [
"Mathias Lechner",
"Ramin Hasani",
"Daniela Rus",
"Radu Grosu",
"Mathias Lechner",
"Ramin Hasani",
"Daniela Rus",
"Radu Grosu"
] | Traditional robotic control suits require profound task-specific knowledge for designing, building and testing control software. The rise of Deep Learning has enabled end-to-end solutions to be learned entirely from data, requiring minimal knowledge about the application area. We design a learning scheme to train end-to-end linear dynamical systems (LDS)s by gradient descent in imitation learning ... |
Mini-Batched Online Incremental Learning Through Supervisory Teleoperation with Kinesthetic Coupling | https://ieeexplore.ieee.org/document/9197444/ | [
"Hiba Latifee",
"Affan Pervez",
"Jee-Hwan Ryu",
"Dongheui Lee",
"Hiba Latifee",
"Affan Pervez",
"Jee-Hwan Ryu",
"Dongheui Lee"
] | We propose an online incremental learning approach through teleoperation which allows an operator to partially modify a learned model, whenever it is necessary, during task execution. Compared to conventional incremental learning approaches, the proposed approach is applicable for teleoperation-based teaching and it needs only partial demonstration without any need to obstruct the task execution. ... |
Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator | https://ieeexplore.ieee.org/document/9196984/ | [
"Chang Gao",
"Rachel Gehlhar",
"Aaron D. Ames",
"Shih-Chii Liu",
"Tobi Delbruck",
"Chang Gao",
"Rachel Gehlhar",
"Aaron D. Ames",
"Shih-Chii Liu",
"Tobi Delbruck"
] | Lower leg prostheses could improve the life quality of amputees by increasing comfort and reducing energy to locomote, but currently control methods are limited in modulating behaviors based upon the human's experience. This paper describes the first steps toward learning complex controllers for dynamical robotic assistive devices. We provide the first example of behavioral cloning to control a po... |
Cross-context Visual Imitation Learning from Demonstrations | https://ieeexplore.ieee.org/document/9196868/ | [
"Shuo Yang",
"Wei Zhang",
"Weizhi Lu",
"Hesheng Wang",
"Yibin Li",
"Shuo Yang",
"Wei Zhang",
"Weizhi Lu",
"Hesheng Wang",
"Yibin Li"
] | Imitation learning enables robots to learn a task by simply watching the demonstration of the task. Current imitation learning methods usually require the learner and demonstrator to occur in the same context. This limits their scalability to practical applications. In this paper, we propose a more general imitation learning method which allows the learner and the demonstrator to come from differe... |
Improving Generalisation in Learning Assistance by Demonstration for Smart Wheelchairs | https://ieeexplore.ieee.org/document/9197490/ | [
"Vinicius Schettino",
"Yiannis Demiris",
"Vinicius Schettino",
"Yiannis Demiris"
] | Learning Assistance by Demonstration (LAD) is concerned with using demonstrations of a human agent to teach a robot how to assist another human. The concept has previously been used with smart wheelchairs to provide customised assistance to individuals with driving difficulties. A basic premise of this technique is that the learned assistive policy should be able to generalise to environments diff... |
Analyzing the Suitability of Cost Functions for Explaining and Imitating Human Driving Behavior based on Inverse Reinforcement Learning | https://ieeexplore.ieee.org/document/9196795/ | [
"Maximilian Naumann",
"Liting Sun",
"Wei Zhan",
"Masayoshi Tomizuka",
"Maximilian Naumann",
"Liting Sun",
"Wei Zhan",
"Masayoshi Tomizuka"
] | Autonomous vehicles are sharing the road with human drivers. In order to facilitate interactive driving and cooperative behavior in dense traffic, a thorough understanding and representation of other traffic participants' behavior are necessary. Cost functions (or reward functions) have been widely used to describe the behavior of human drivers since they can not only explicitly incorporate the ra... |
Magnetic Sensor Based Topographic Localization for Automatic Dislocation of Ingested Button Battery | https://ieeexplore.ieee.org/document/9196546/ | [
"Jialun Liu",
"Hironari Sugiyama",
"Tadachika Nakayama",
"Shuhei Miyashita",
"Jialun Liu",
"Hironari Sugiyama",
"Tadachika Nakayama",
"Shuhei Miyashita"
] | A button battery accidentally ingested by a toddler or small child can cause severe damage to the stomach within a short period of time. Once a battery lands on the surface of the esophagus or stomach, it can run a current in the tissue and induce a chemical reaction resulting in injury. Following our previous work where we presented an ingestible magnetic robot for button battery retrieval, this ... |
A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection | https://ieeexplore.ieee.org/document/9197534/ | [
"Gang Li",
"Niravkumar A. Patel",
"Weiqiang Liu",
"Di Wu",
"Karun Sharma",
"Kevin Cleary",
"Jan Fritz",
"Iulian Iordachita",
"Gang Li",
"Niravkumar A. Patel",
"Weiqiang Liu",
"Di Wu",
"Karun Sharma",
"Kevin Cleary",
"Jan Fritz",
"Iulian Iordachita"
] | This paper reports the development of a fully actuated body-mounted robotic assistant for MRI-guided low back pain injection. The robot is designed with a 4-DOF needle alignment module and a 2-DOF remotely actuated needle driver module. The 6-DOF fully actuated robot can operate inside the scanner bore during imaging; hence, minimizing the need of moving the patient in or out of the scanner during... |
Fault Tolerant Control in Shape-Changing Internal Robots | https://ieeexplore.ieee.org/document/9196989/ | [
"Lavanya Balasubramanian",
"Tom Wray",
"Dana D. Damian",
"Lavanya Balasubramanian",
"Tom Wray",
"Dana D. Damian"
] | It is known that the interior of the human body is one of the most adverse environments for a foreign body, such as an in-vivo robot, and vice-versa. As robots operating in-vivo are increasingly recognized for their capabilities and potential for improved therapies, it is important to ensure their safety, especially for long term treatments when little supervision can be provided. We introduce an ... |
Evaluation of Increasing Camera Baseline on Depth Perception in Surgical Robotics | https://ieeexplore.ieee.org/document/9197235/ | [
"Apeksha Avinash",
"Alaa Eldin Abdelaal",
"Septimiu E. Salcudean",
"Apeksha Avinash",
"Alaa Eldin Abdelaal",
"Septimiu E. Salcudean"
] | In this paper, we evaluate the effect of increasing camera baselines on depth perception in robot-assisted surgery. Restricted by the diameter of the surgical trocar through which they are inserted, current clinical stereo endoscopes have a fixed baseline of 5.5 mm. To overcome this restriction, we propose using a stereoscopic "pickup" camera with a side-firing design that allows for larger baseli... |
Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning | https://ieeexplore.ieee.org/document/9196834/ | [
"Yuan Tian",
"Mark Draelos",
"Gao Tang",
"Ruobing Qian",
"Anthony Kuo",
"Joseph Izatt",
"Kris Hauser",
"Yuan Tian",
"Mark Draelos",
"Gao Tang",
"Ruobing Qian",
"Anthony Kuo",
"Joseph Izatt",
"Kris Hauser"
] | Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents a robotic suturing system that uses 3D optical coherence tomography (OCT) system for imaging feedback. Calibration of the robot-OCT and robot-needle transforms,... |
Improved Multiple Objects Tracking based Autonomous Simultaneous Magnetic Actuation & Localization for WCE | https://ieeexplore.ieee.org/document/9197142/ | [
"Yangxin Xu",
"Keyu Li",
"Ziqi Zhao",
"Max Q.-H. Meng",
"Yangxin Xu",
"Keyu Li",
"Ziqi Zhao",
"Max Q.-H. Meng"
] | Wireless Capsule Endoscopy (WCE) has the advantage of reducing the invasiveness and pain of gastrointestinal examinations. In this work, we propose a system aimed at autonomously accelerating and locating the WCE inside the intestine for clinical applications. A rotating magnet controlled by a robotic arm is placed outside the patient's body to actuate the capsule with an internal magnetic ring, a... |
Probe-before-step walking strategy for multi-legged robots on terrain with risk of collapse | https://ieeexplore.ieee.org/document/9197154/ | [
"Eranda Tennakoon",
"Thierry Peynot",
"Jonathan Roberts",
"Navinda Kottege",
"Eranda Tennakoon",
"Thierry Peynot",
"Jonathan Roberts",
"Navinda Kottege"
] | Multi-legged robots are effective at traversing rough terrain. However, terrains that include collapsible footholds (i.e. regions that can collapse when stepped on) remain a significant challenge, especially since such situations can be extremely difficult to anticipate using only exteroceptive sensing. State-of-the-art methods typically use various stabilisation techniques to regain balance and c... |
Representing Multi-Robot Structure through Multimodal Graph Embedding for the Selection of Robot Teams | https://ieeexplore.ieee.org/document/9197389/ | [
"Brian Reily",
"Christopher Reardon",
"Hao Zhang",
"Brian Reily",
"Christopher Reardon",
"Hao Zhang"
] | Multi-robot systems of increasing size and complexity are used to solve large-scale problems, such as area exploration and search and rescue. A key decision in human-robot teaming is dividing a multi-robot system into teams to address separate issues or to accomplish a task over a large area. In order to address the problem of selecting teams in a multi-robot system, we propose a new multimodal gr... |
MAMS-A: Multi-Agent Multi-Scale A* | https://ieeexplore.ieee.org/document/9197045/ | [
"Jaein Lim",
"Panagiotis Tsiotras",
"Jaein Lim",
"Panagiotis Tsiotras"
] | We present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own search space of the common environment as a multi-resolution graph, it communicates with the other agents the result of its local search, and it uses received information from other agents to refine its own graph and upd... |
Connectivity Maintenance: Global and Optimized approach through Control Barrier Functions | https://ieeexplore.ieee.org/document/9197109/ | [
"Beatrice Capelli",
"Lorenzo Sabattini",
"Beatrice Capelli",
"Lorenzo Sabattini"
] | Connectivity maintenance is an essential aspect to consider while controlling a multi-robot system. In general, a multi-robot system should be connected to obtain a certain common objective. Connectivity must be kept regardless of the control strategy or the objective of the multi-robot system. Two main methods exist for connectivity maintenance: keep the initial connections (local connectivity) o... |
Controller Synthesis for Infinitesimally Shape-Similar Formations | https://ieeexplore.ieee.org/document/9196591/ | [
"Ian Buckley",
"Magnus Egerstedt",
"Ian Buckley",
"Magnus Egerstedt"
] | The interplay between network topology and the interaction modalities of a multi-robot team fundamentally impact the types of formations that can be achieved. To explore the trade-offs between network structure and the sensing and communication capabilities of individual robots, this paper applies controller synthesis to formation control of infinitesimally shape-similar frameworks, for which main... |
A Distributed Source Term Estimation Algorithm for Multi-Robot Systems | https://ieeexplore.ieee.org/document/9196959/ | [
"Faezeh Rahbar",
"Alcherio Martinoli",
"Faezeh Rahbar",
"Alcherio Martinoli"
] | Finding sources of airborne chemicals with mobile sensing systems finds applications in safety, security, and emergency situations related to medical, domestic, and environmental domains. Given the often critical nature of all the applications, it is important to reduce the amount of time necessary to accomplish this task through intelligent systems and algorithms. In this paper, we extend a previ... |
Weighted Buffered Voronoi Cells for Distributed Semi-Cooperative Behavior | https://ieeexplore.ieee.org/document/9196686/ | [
"Alyssa Pierson",
"Wilko Schwarting",
"Sertac Karaman",
"Daniela Rus",
"Alyssa Pierson",
"Wilko Schwarting",
"Sertac Karaman",
"Daniela Rus"
] | This paper introduces the Weighted Buffered Voronoi tessellation, which allows us to define distributed, semicooperative multi-agent navigation policies with guarantees on collision avoidance. We generate the Voronoi cells with dynamic weights that bias the boundary towards the agent with the lower relative weight while always maintaining a buffered distance between two agents. By incorporating ag... |
Learning to Control Reconfigurable Staged Soft Arms | https://ieeexplore.ieee.org/document/9197516/ | [
"Austin Nicolai",
"Gina Olson",
"Yiğit Mengüç",
"Geoffrey A. Hollinger",
"Austin Nicolai",
"Gina Olson",
"Yiğit Mengüç",
"Geoffrey A. Hollinger"
] | In this work, we present a novel approach for modeling, and classifying between, the system load states introduced when constructing staged soft arm configurations. Through a two stage approach: (1) an LSTM calibration routine is used to identify the current load state then (2) a control input generation step combines a generalized quasistatic model with the learned load model. Our experiments sho... |
Modeling and Analysis of SMA Actuator Embedded in Stretchable Coolant Vascular Pursuing Artificial Muscles | https://ieeexplore.ieee.org/document/9197090/ | [
"Jaeyeon Jeong",
"Cheol Hoon Park",
"Ki-Uk Kyung",
"Jaeyeon Jeong",
"Cheol Hoon Park",
"Ki-Uk Kyung"
] | This paper proposes a muscle-like SMA (Shape Memory Alloy) actuator with an active cooling system for efficient response. An SMA coil spring is embedded into a stretchable coolant vascular for soften structure of robots. In order to design a flexible, lightweight, and fast-response soft actuator with the SMA coil spring and coolant circulation system, a modeling based approach has been conducted. ... |
Grasping Unknown Objects by Coupling Deep Reinforcement Learning, Generative Adversarial Networks, and Visual Servoing | https://ieeexplore.ieee.org/document/9197196/ | [
"Ole-Magnus Pedersen",
"Ekrem Misimi",
"François Chaumette",
"Ole-Magnus Pedersen",
"Ekrem Misimi",
"François Chaumette"
] | In this paper, we propose a novel approach for transferring a deep reinforcement learning (DRL) grasping agent from simulation to a real robot, without fine tuning in the real world. The approach utilises a CycleGAN to close the reality gap between the simulated and real environments, in a reverse real-to-sim manner, effectively "tricking" the agent into believing it is still in the simulator. Fur... |
Incorporating Motion Planning Feasibility Considerations during Task-Agent Assignment to Perform Complex Tasks Using Mobile Manipulators | https://ieeexplore.ieee.org/document/9196667/ | [
"Ariyan M. Kabir",
"Shantanu Thakar",
"Prahar M. Bhatt",
"Rishi K. Malhan",
"Pradeep Rajendran",
"Brual C. Shah",
"Satyandra K. Gupta",
"Ariyan M. Kabir",
"Shantanu Thakar",
"Prahar M. Bhatt",
"Rishi K. Malhan",
"Pradeep Rajendran",
"Brual C. Shah",
"Satyandra K. Gupta"
] | Multi-arm mobile manipulators can be represented as a combination of multiple robotic agents from the perspective of task-assignment and motion planning. Depending upon the task, agents might collaborate or work independently. Integrating motion planning with task-agent assignment is a computationally slow process as infeasible assignments can only be detected through expensive motion planning que... |
Learning to Scaffold the Development of Robotic Manipulation Skills | https://ieeexplore.ieee.org/document/9197134/ | [
"Lin Shao",
"Toki Migimatsu",
"Jeannette Bohg",
"Lin Shao",
"Toki Migimatsu",
"Jeannette Bohg"
] | Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and achieve more robust manipulation, humans actively exploit contact constraints in the environment. By adopting a similar strategy, robots can also achieve more robu... |
Online Replanning in Belief Space for Partially Observable Task and Motion Problems | https://ieeexplore.ieee.org/document/9196681/ | [
"Caelan Reed Garrett",
"Chris Paxton",
"Tomás Lozano-Pérez",
"Leslie Pack Kaelbling",
"Dieter Fox",
"Caelan Reed Garrett",
"Chris Paxton",
"Tomás Lozano-Pérez",
"Leslie Pack Kaelbling",
"Dieter Fox"
] | To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object out of the way to examine the space behind it. Upon receiving a new observation, the robot must update its belief about the world and compute a new plan of actio... |
A Code for Unscented Kalman Filtering on Manifolds (UKF-M) | https://ieeexplore.ieee.org/document/9197489/ | [
"Martin Brossard",
"Axel Barrau",
"Silvère Bonnabel",
"Martin Brossard",
"Axel Barrau",
"Silvère Bonnabel"
] | The present paper introduces a novel methodology for Unscented Kalman Filtering (UKF) on manifolds that extends previous work by the authors on UKF on Lie groups. Beyond filtering performance, the main interests of the approach are its versatility, as the method applies to numerous state estimation problems, and its simplicity of implementation for practitioners not being necessarily familiar with... |
Efficient and precise sensor fusion for non-linear systems with out-of-sequence measurements by example of mobile robotics | https://ieeexplore.ieee.org/document/9197032/ | [
"Pascal Böhmler",
"Jonathan Dziedzitz",
"Patric Hopfgarten",
"Thomas Specker",
"Ralph Lange",
"Pascal Böhmler",
"Jonathan Dziedzitz",
"Patric Hopfgarten",
"Thomas Specker",
"Ralph Lange"
] | For most applications in mobile robotics, precise state estimation is essential. Typically, the state estimation is based on the fusion of data from different sensors. In practice, these sensors differ in their characteristics and measurements are available to the sensor fusion algorithm only with delay. Based on a brief survey of sensor fusion approaches that consider delayed and out-of-sequence ... |
UNO: Uncertainty-aware Noisy-Or Multimodal Fusion for Unanticipated Input Degradation | https://ieeexplore.ieee.org/document/9197266/ | [
"Junjiao Tian",
"Wesley Cheung",
"Nathaniel Glaser",
"Yen-Cheng Liu",
"Zsolt Kira",
"Junjiao Tian",
"Wesley Cheung",
"Nathaniel Glaser",
"Yen-Cheng Liu",
"Zsolt Kira"
] | The fusion of multiple sensor modalities, especially through deep learning architectures, has been an active area of study. However, an under-explored aspect of such work is whether the methods can be robust to degradation across their input modalities, especially when they must generalize to degradation not seen during training. In this work, we propose an uncertainty-aware fusion scheme to effec... |
Intermittent GPS-aided VIO: Online Initialization and Calibration | https://ieeexplore.ieee.org/document/9197029/ | [
"Woosik Lee",
"Kevin Eckenhoff",
"Patrick Geneva",
"Guoquan Huang",
"Woosik Lee",
"Kevin Eckenhoff",
"Patrick Geneva",
"Guoquan Huang"
] | In this paper, we present an efficient and robust GPS-aided visual inertial odometry (GPS-VIO) system that fuses IMU-camera data with intermittent GPS measurements. To perform sensor fusion, spatiotemporal sensor calibration and initialization of the transform between the sensor reference frames are required. We propose an online calibration method for both the GPS-IMU extrinsics and time offset a... |
A Mathematical Framework for IMU Error Propagation with Applications to Preintegration | https://ieeexplore.ieee.org/document/9197492/ | [
"Axel Barrau",
"Silvère Bonnabel",
"Axel Barrau",
"Silvère Bonnabel"
] | To fuse information from inertial measurement units (IMU) with other sensors one needs an accurate model for IMU error propagation in terms of position, velocity and orientation, a triplet we call extended pose. In this paper we leverage a nontrivial result, namely log-linearity of inertial navigation equations based on the recently introduced Lie group SE2(3), to transpose the recent methodology ... |
Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments | https://ieeexplore.ieee.org/document/9196666/ | [
"Andrew Kramer",
"Carl Stahoviak",
"Angel Santamaria-Navarro",
"Ali-akbar Agha-mohammadi",
"Christoffer Heckman",
"Andrew Kramer",
"Carl Stahoviak",
"Angel Santamaria-Navarro",
"Ali-akbar Agha-mohammadi",
"Christoffer Heckman"
] | We present an approach for estimating the body-frame velocity of a mobile robot. We combine measurements from a millimeter-wave radar-on-a-chip sensor and an inertial measurement unit (IMU) in a batch optimization over a sliding window of recent measurements. The sensor suite employed is lightweight, low-power, and is invariant to ambient lighting conditions. This makes the proposed approach an at... |
Position-based Impedance Control of a 2-DOF Compliant Manipulator for a Facade Cleaning Operation | https://ieeexplore.ieee.org/document/9197478/ | [
"Taegyun Kim",
"Sungkeun Yoo",
"Hwa Soo Kim",
"TaeWon Seo",
"Taegyun Kim",
"Sungkeun Yoo",
"Hwa Soo Kim",
"TaeWon Seo"
] | This paper presents the design of a compliant manipulator using a series elastic actuator (SEA) and a mechanism for precisely measuring the force acting on the contact part of the manipulator without using a force sensor. It is important to maintain a constant contact force between the compliant manipulator and the wall in order to guarantee cleaning performance, and the ball screw mechanism is us... |
Robust, Locally Guided Peg-in-Hole using Impedance-Controlled Robots | https://ieeexplore.ieee.org/document/9196986/ | [
"Korbinian Nottensteiner",
"Freek Stulp",
"Alin Albu-Schäffer",
"Korbinian Nottensteiner",
"Freek Stulp",
"Alin Albu-Schäffer"
] | We present an approach for the autonomous, robust execution of peg-in-hole assembly tasks. We build on a sampling-based state estimation framework, in which samples are weighted according to their consistency with the position and joint torque measurements. The key idea is to reuse these samples in a motion generation step, where they are assigned a second task-specific weight. The algorithm there... |
Design of Spatial Admittance for Force-Guided Assembly of Polyhedral Parts in Single Point Frictional Contact | https://ieeexplore.ieee.org/document/9197075/ | [
"Shuguang Huang",
"Joseph M. Schimmels",
"Shuguang Huang",
"Joseph M. Schimmels"
] | This paper identifies conditions for designing the appropriate spatial admittance to achieve reliable force-guided assembly of polyhedral parts for cases in which a single frictional contact occurs between the two parts. This work is an extension of previous work in which frictionless contact was considered. This paper presents a way to characterize friction without solving a set of complicated no... |
Characterisation of Self-locking High-contraction Electro-ribbon Actuators | https://ieeexplore.ieee.org/document/9196849/ | [
"Majid Taghavi",
"Tim Helps",
"Jonathan Rossiter",
"Majid Taghavi",
"Tim Helps",
"Jonathan Rossiter"
] | Actuators are essential devices that exert force and do work. The contraction of an actuator (how much it can shorten) is an important property that strongly influences its applications, especially in engineering and robotics. While high contractions have been achieved by thermally- or fluidically-driven technologies, electrically-driven actuators typically cannot contract by more than 50%. Recent... |
Helically Wrapped Supercoiled Polymer (HW-SCP) Artificial Muscles: Design, Characterization, and Modeling | https://ieeexplore.ieee.org/document/9197330/ | [
"Thulani Tsabedze",
"Christopher Mullen",
"Ryan Coulter",
"Scott Wade",
"Jun Zhang",
"Thulani Tsabedze",
"Christopher Mullen",
"Ryan Coulter",
"Scott Wade",
"Jun Zhang"
] | Supercoiled polymer (SCP) artificial muscles exhibit many desirable properties such as large contractions and high power density. However, their full potential as robotic muscles is challenged by insufficient strain or force generation – non-mandrel-coiled SCP actuators produce up to 10-20% strain; mandrel-coiled SCP actuators often lift up to 10-30g of weight. It is strongly desired but difficult... |
A Variable Stiffness Soft Continuum Robot Based on Pre-charged Air, Particle Jamming, and Origami | https://ieeexplore.ieee.org/document/9196729/ | [
"Yujia Li",
"Tao Ren",
"Yonghua Chen",
"Michael Z. Q. Chen",
"Yujia Li",
"Tao Ren",
"Yonghua Chen",
"Michael Z. Q. Chen"
] | Soft continuum robots have many applications such as medical surgeries, service industries, rescue tasks, and underwater exploration. Flexibility and good accessibility of such robots are the key reasons for their popularity. However, the complexity of their structural design and control systems limit their broader applications. In this paper, a novel variable stiffness soft continuum robot based ... |
SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation | https://ieeexplore.ieee.org/document/9196972/ | [
"Martin Görner",
"Fabian Benedikt",
"Ferdinand Grimmel",
"Thomas Hulin",
"Martin Görner",
"Fabian Benedikt",
"Ferdinand Grimmel",
"Thomas Hulin"
] | SwarmRail represents a novel solution to overhead manipulation from a mobile unit that drives in an aboveground rail-structure. The concept is based on the combination of omnidirectional mobile platform and L-shaped rail profiles that form a through-going central gap. This gap makes possible mounting a robotic manipulator arm overhead at the underside of the mobile platform. Compared to existing s... |
Fast Local Planning and Mapping in Unknown Off-Road Terrain | https://ieeexplore.ieee.org/document/9196848/ | [
"Timothy Overbye",
"Srikanth Saripalli",
"Timothy Overbye",
"Srikanth Saripalli"
] | In this paper, we present a fast, on-line mapping and planning solution for operation in unknown, off-road, environments. We combine obstacle detection along with a terrain gradient map to make simple and adaptable cost map. This map can be created and updated at 10 Hz. An A* planner finds optimal paths over the map. Finally, we take multiple samples over the control input space and do a kinematic... |
Scaled Autonomy: Enabling Human Operators to Control Robot Fleets | https://ieeexplore.ieee.org/document/9196792/ | [
"Gokul Swamy",
"Siddharth Reddy",
"Sergey Levine",
"Anca D. Dragan",
"Gokul Swamy",
"Siddharth Reddy",
"Sergey Levine",
"Anca D. Dragan"
] | Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a single human operator can manage a fleet of robots by identifying and teleoperating one robot at any given time. The key challenge is that users have limited att... |
An Actor-Critic Approach for Legible Robot Motion Planner | https://ieeexplore.ieee.org/document/9197102/ | [
"Xuan Zhao",
"Tingxiang Fan",
"Dawei Wang",
"Zhe Hu",
"Tao Han",
"Jia Pan",
"Xuan Zhao",
"Tingxiang Fan",
"Dawei Wang",
"Zhe Hu",
"Tao Han",
"Jia Pan"
] | In human-robot collaboration, it is crucial for the robot to make its intentions clear and predictable to the human partners. Inspired by the mutual learning and adaptation of human partners, we suggest an actor-critic approach for a legible robot motion planner. This approach includes two neural networks and a legibility evaluator: 1) A policy network based on deep reinforcement learning (DRL); 2... |
Intuitive 3D Control of a Quadrotor in User Proximity with Pointing Gestures | https://ieeexplore.ieee.org/document/9196654/ | [
"Boris Gromov",
"Jérôme Guzzi",
"Luca M. Gambardella",
"Alessandro Giusti",
"Boris Gromov",
"Jérôme Guzzi",
"Luca M. Gambardella",
"Alessandro Giusti"
] | We present an approach for controlling the position of a quadrotor in 3D space using pointing gestures; the task is difficult because it is in general ambiguous to infer where, along the pointing ray, the robot should go. We propose and validate a pragmatic solution based on a push button acting as a simple additional input device which switches between different virtual workspace surfaces. Result... |
Joint Inference of States, Robot Knowledge, and Human (False-)Beliefs | https://ieeexplore.ieee.org/document/9197355/ | [
"Tao Yuan",
"Hangxin Liu",
"Lifeng Fan",
"Zilong Zheng",
"Tao Gao",
"Yixin Zhu",
"Song-Chun Zhu",
"Tao Yuan",
"Hangxin Liu",
"Lifeng Fan",
"Zilong Zheng",
"Tao Gao",
"Yixin Zhu",
"Song-Chun Zhu"
] | Aiming to understand how human (false-)belief— a core socio-cognitive ability—would affect human interactions with robots, this paper proposes to adopt a graphical model to unify the representation of object states, robot knowledge, and human (false-)beliefs. Specifically, a parse graph (pg) is learned from a single-view spatiotemporal parsing by aggregating various object states along the time; s... |
Audiovisual cognitive architecture for autonomous learning of face localisation by a Humanoid Robot | https://ieeexplore.ieee.org/document/9196829/ | [
"Jonas Gonzalez-Billandon",
"Alessandra Sciutti",
"Matthew Tata",
"Giulio Sandini",
"Francesco Rea",
"Jonas Gonzalez-Billandon",
"Alessandra Sciutti",
"Matthew Tata",
"Giulio Sandini",
"Francesco Rea"
] | Newborn infants are naturally attracted to human faces, a crucial source of information for social interaction. In robotics, acquisition of such information is crucial and social robots should also learn to exhibit such social skill. Deep learning algorithms are valid candidates to address the problem of face localisation. However, a major drawback of these methods is the large amount of data and ... |
Planetary Rover Exploration Combining Remote and In Situ Measurements for Active Spectroscopic Mapping | https://ieeexplore.ieee.org/document/9196973/ | [
"Alberto Candela",
"Suhit Kodgule",
"Kevin Edelson",
"Srinivasan Vijayarangan",
"David R. Thompson",
"Eldar Noe Dobrea",
"David Wettergreen",
"Alberto Candela",
"Suhit Kodgule",
"Kevin Edelson",
"Srinivasan Vijayarangan",
"David R. Thompson",
"Eldar Noe Dobrea",
"David Wettergreen"
] | Maintaining high levels of productivity for planetary rover missions is very difficult due to limited communication and heavy reliance on ground control. There is a need for autonomy that enables more adaptive and efficient actions based on real-time information. This paper presents an autonomous mapping and exploration approach for planetary rovers. We first describe a machine learning model that... |
Magnetic Docking Mechanism for Free-flying Space Robots with Spherical Surfaces | https://ieeexplore.ieee.org/document/9197423/ | [
"Keisuke WATANABE",
"Keisuke WATANABE"
] | The autonomous operation of robots in the International Space Station (ISS) is required to maximize the use of limited resources and enable astronauts to concentrate more on valuable tasks. To achieve these goals, we are developing a station where the robot approaches, docks, charges, and then undocks. In this paper, the authors propose a magnetic docking mechanism for free-flying robots with sphe... |
Barefoot Rover: a Sensor-Embedded Rover Wheel Demonstrating In-Situ Engineering and Science Extractions using Machine Learning | https://ieeexplore.ieee.org/document/9197500/ | [
"Yuliya Marchetti",
"Jack Lightholder",
"Eric Junkins",
"Matthew Cross",
"Lukas Mandrake",
"Abigail Fraeman",
"Yuliya Marchetti",
"Jack Lightholder",
"Eric Junkins",
"Matthew Cross",
"Lukas Mandrake",
"Abigail Fraeman"
] | In this work, we demonstrate an instrumented wheel concept which utilizes a 2D pressure grid, an electrochemical impedance spectroscopy (EIS) sensor and machine learning (ML) to extract meaningful metrics from the interaction between the wheel and surface terrain. These include continuous slip/skid estimation, balance, and sharpness for engineering applications. Estimates of surface hydration, tex... |
Deep Learning for Spacecraft Pose Estimation from Photorealistic Rendering | https://ieeexplore.ieee.org/document/9197244/ | [
"Pedro F. Proença",
"Yang Gao",
"Pedro F. Proença",
"Yang Gao"
] | On-orbit proximity operations in space rendezvous, docking and debris removal require precise and robust 6D pose estimation under a wide range of lighting conditions and against highly textured background, i.e., the Earth. This paper investigates leveraging deep learning and photorealistic rendering for monocular pose estimation of known uncooperative spacecraft. We first present a simulator built... |
Concurrent Parameter Identification and Control for Free-Floating Robotic Systems During On-Orbit Servicing | https://ieeexplore.ieee.org/document/9197187/ | [
"Olga-Orsalia Christidi-Loumpasefski",
"Georgios Rekleitis",
"Evangelos Papadopoulos",
"Olga-Orsalia Christidi-Loumpasefski",
"Georgios Rekleitis",
"Evangelos Papadopoulos"
] | To control a free-floating robotic system with uncertain parameters in OOS tasks with high accuracy, a fast parameter identification method, previously developed by the authors, is enhanced further and used concurrently with a controller. The method provides accurate parameter estimates, without any prior knowledge of any system dynamic properties. This control scheme compensates for the accumulat... |
A Dual Quaternion-Based Discrete Variational Approach for Accurate and Online Inertial Parameter Estimation in Free-Flying obots | https://ieeexplore.ieee.org/document/9196852/ | [
"Monica Ekal",
"Rodrigo Ventura",
"Monica Ekal",
"Rodrigo Ventura"
] | The performance of model-based motion control for free-flying robots relies on accurate estimation of their parameters. In this work, a method of rigid body inertial parameter estimation which relies on a variational approach is presented. Instead of discretizing the continuous equations of motion, discrete dual quaternion equations based on variational mechanics are used to formulate a linear par... |
Unified Intrinsic and Extrinsic Camera and LiDAR Calibration under Uncertainties | https://ieeexplore.ieee.org/document/9197496/ | [
"Julius Kümmerle",
"Tilman Kühner",
"Julius Kümmerle",
"Tilman Kühner"
] | Many approaches for camera and LiDAR calibration are presented in literature but none of them estimates all intrinsic and extrinsic parameters simultaneously and therefore optimally in a probabilistic sense.In this work, we present a method to simultaneously estimate intrinsic and extrinsic parameters of cameras and LiDARs in a unified problem. We derive a probabilistic formulation that enables fl... |
AC/DCC : Accurate Calibration of Dynamic Camera Clusters for Visual SLAM | https://ieeexplore.ieee.org/document/9197217/ | [
"Jason Rebello",
"Angus Fung",
"Steven L. Waslander",
"Jason Rebello",
"Angus Fung",
"Steven L. Waslander"
] | In order to relate information across cameras in a Dynamic Camera Cluster (DCC), an accurate time-varying set of extrinsic calibration transformations need to be determined. Previous calibration approaches rely solely on collecting measurements from a known fiducial target which limits calibration accuracy as insufficient excitation of the gimbal is achieved. In this paper, we improve DCC calibrat... |
Analytic Plane Covariances Construction for Precise Planarity-based Extrinsic Calibration of Camera and LiDAR | https://ieeexplore.ieee.org/document/9197149/ | [
"Gunhee Koo",
"Jaehyeon Kang",
"Bumchul Jang",
"Nakju Doh",
"Gunhee Koo",
"Jaehyeon Kang",
"Bumchul Jang",
"Nakju Doh"
] | Planarity of checkerboards is a widely used feature for extrinsic calibration of camera and LiDAR. In this study, we propose two analytically derived covariances of (i) plane parameters and (ii) plane measurement, for precise extrinsic calibration of camera and LiDAR. These covariances allow the graded approach in planar feature correspondences by exploiting the uncertainty of a set of given featu... |
An End-Effector Wrist Module for the Kinematically Redundant Manipulation of Arm-Type Robots | https://ieeexplore.ieee.org/document/9197258/ | [
"Yu-Hsiang Chang",
"Yen-Chun Liu",
"Chao-Chieh Lan",
"Yu-Hsiang Chang",
"Yen-Chun Liu",
"Chao-Chieh Lan"
] | Industrial arm-type robots have multiple degrees-of-freedom (DoFs) and high dexterity but the use of the roll-pitch-roll wrist configuration yields singularities inside the reachable workspace. Excessive joint velocities will occur when encountering these singularities. Arm-type robots currently don't have enough dexterity to move the end-effector path away from the wrist singularities. Robots wit... |
Online Trajectory Planning for an Industrial Tractor Towing Multiple Full Trailers | https://ieeexplore.ieee.org/document/9196656/ | [
"Hongchao Zhao",
"Wen Chen",
"Shunbo Zhou",
"Zhe Liu",
"Fan Zheng",
"Yun-Hui Liu",
"Hongchao Zhao",
"Wen Chen",
"Shunbo Zhou",
"Zhe Liu",
"Fan Zheng",
"Yun-Hui Liu"
] | This paper presents a novel solution for online trajectory planning of a full-size tractor-trailers vehicle composed of a car-like tractor and arbitrary number of passive full trailers. The motion planning problem for such systems was rarely addressed due to the complex nonlinear dynamics. A simulation-based prediction method is proposed to easily handle the complicated nonlinear dynamics and effi... |
A Bio-Inspired Transportation Network for Scalable Swarm Foraging | https://ieeexplore.ieee.org/document/9196762/ | [
"Qi Lu",
"G. Matthew Fricke",
"Takaya Tsuno",
"Melanie E. Moses",
"Qi Lu",
"G. Matthew Fricke",
"Takaya Tsuno",
"Melanie E. Moses"
] | Scalability is a significant challenge for robot swarms. Generally, larger groups of cooperating robots produce more inter-robot collisions, and in swarm robot foraging, larger search arenas result in larger travel costs. This paper demonstrates a scale-invariant swarm foraging algorithm that ensures that each robot finds and delivers targets to a central collection zone at the same rate regardles... |
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot | https://ieeexplore.ieee.org/document/9196523/ | [
"Gabriel Urbain",
"Victor Barasuol",
"Claudio Semini",
"Joni Dambre",
"Francis wyffels",
"Gabriel Urbain",
"Victor Barasuol",
"Claudio Semini",
"Joni Dambre",
"Francis wyffels"
] | Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in robotic locomotion. Despite a global endorsement of this model, physiological and functional experiments in mammals have also indicated the presence of descending s... |
Error estimation and correction in a spiking neural network for map formation in neuromorphic hardware | https://ieeexplore.ieee.org/document/9197498/ | [
"Raphaela Kreiser",
"Gabriel Waibel",
"Nuria Armengol",
"Alpha Renner",
"Yulia Sandamirskaya",
"Raphaela Kreiser",
"Gabriel Waibel",
"Nuria Armengol",
"Alpha Renner",
"Yulia Sandamirskaya"
] | Neuromorphic hardware offers computing platforms for the efficient implementation of spiking neural networks (SNNs) that can be used for robot control. Here, we present such an SNN on a neuromorphic chip that solves a number of tasks related to simultaneous localization and mapping (SLAM): forming a map of an unknown environment and, at the same time, estimating the robot's pose. In particular, we... |
Adaptive Visual Shock Absorber with Visual-based Maxwell Model Using a Magnetic Gear | https://ieeexplore.ieee.org/document/9197504/ | [
"Satoshi Tanaka",
"Keisuke Koyama",
"Taku Senoo",
"Masatoshi Ishikawa",
"Satoshi Tanaka",
"Keisuke Koyama",
"Taku Senoo",
"Masatoshi Ishikawa"
] | In this study, a visual shock absorber capable of adapting to free-fall objects with various weights and speeds is designed and realized. The key element is a magnetic gear to passively absorb shock in the moment of contact, which is difficult for traditional feedback control to deal with. The magnetic gear allows the seamless transfer of control from the non-contact state to the contact state. 10... |
Slip-Based Nonlinear Recursive Backstepping Path Following Controller for Autonomous Ground Vehicles | https://ieeexplore.ieee.org/document/9197165/ | [
"Ming Xin",
"Kai Zhang",
"David Lackner",
"Mark A. Minor",
"Ming Xin",
"Kai Zhang",
"David Lackner",
"Mark A. Minor"
] | Path following accuracy and error convergence with graceful motion in vehicle steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds. This work is founded upon slip-based kinematic and dynamic models, which allow derivation of controllers considering error due to sideslip and the mapping between steering commands and gracefu... |
Fast and Safe Path-Following Control using a State-Dependent Directional Metric | https://ieeexplore.ieee.org/document/9197377/ | [
"Zhichao Li",
"Ömür Arslan",
"Nikolay Atanasov",
"Zhichao Li",
"Ömür Arslan",
"Nikolay Atanasov"
] | This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal trajectory bounds obtained from a quadratic state-dependent distance metric. The ellipsoidal bounds are used to embed directional preference in the control design, leading to system behavior that is adapted to local environme... |
Backlash-Compensated Active Disturbance Rejection Control of Nonlinear Multi-Input Series Elastic Actuators | https://ieeexplore.ieee.org/document/9196657/ | [
"Brayden DeBoon",
"Scott Nokleby",
"Carlos Rossa",
"Brayden DeBoon",
"Scott Nokleby",
"Carlos Rossa"
] | Series elastic actuators with passive compliance have been gaining increasing popularity in force-controlled robotic manipulators. One of the reasons is the actuator's ability to infer the applied torque by measuring the deflection of the elastic element as opposed to directly with dedicated torque sensors. Proper deflection control is pinnacle to achieve a desired output torque and, therefore, sm... |
On Generalized Homogenization of Linear Quadrotor Controller | https://ieeexplore.ieee.org/document/9197116/ | [
"Siyuan Wang",
"Andrey Polyakov",
"Gang Zheng",
"Siyuan Wang",
"Andrey Polyakov",
"Gang Zheng"
] | A novel scheme for an "upgrade" of a linear control algorithm to a non-linear one is developed based on the concepts of a generalized homogeneity and an implicit homogeneous feedback design. Some tuning rules for a guaranteed improvement of a regulation quality are proposed. Theoretical results are confirmed by real experiments with the quadrotor QDrone of Quanser™. |
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