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Forward Kinematics and Control of a Segmented Tunable-Stiffness 3-D Continuum Manipulator | https://ieeexplore.ieee.org/document/9812098/ | [
"Shivangi Misra",
"Cynthia Sung",
"Shivangi Misra",
"Cynthia Sung"
] | In this work, we consider the problem of controlling the end effector position of a continuum manipulator through local stiffness changes. Continuum manipulators offer the advantage of continuous deformation along their lengths, and recent advances in smart material actuators further enable local compliance changes, which can affect the manipulator's bulk motion. However, leveraging local stiffnes... |
Online Assistance Control of a Pneumatic Gait Assistive Suit Using Physical Reservoir Computing Exploiting Air Dynamics | https://ieeexplore.ieee.org/document/9812377/ | [
"Hiroyuki Hayashi",
"Toshihiro Kawase",
"Tetsuro Miyazaki",
"Maina Sogabe",
"Yoshikazu Nakajima",
"Kenji Kawashima",
"Hiroyuki Hayashi",
"Toshihiro Kawase",
"Tetsuro Miyazaki",
"Maina Sogabe",
"Yoshikazu Nakajima",
"Kenji Kawashima"
] | Wearable gait assistive devices have been im-proved by soft robotics in terms of safety and physical burden of the wearer. Currently, electrical sensors and computers around the wearer are bottlenecks in enhancing the wearer's activities. In this paper, we present a wearable gait assistive system using soft pneumatic system for all the actuation, sensing, and computation. Pneumatic artifical muscl... |
Modeling of viscoelastic dielectric elastomer actuators based on the sparse identification method | https://ieeexplore.ieee.org/document/9811609/ | [
"Jisen Li",
"Hao Wang",
"Jian Zhu",
"Jisen Li",
"Hao Wang",
"Jian Zhu"
] | Dielectric elastomer actuators (DEAs) have been widely employed to drive various soft robots, due to their quiet fast muscle-like behavior. It is significant but challenging to model and control these soft actuators, due to their viscoelastic property, irregular geometry, complex structure, etc. In this paper, we propose a data-driven sparse identification method to discover the hidden governing e... |
Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators | https://ieeexplore.ieee.org/document/9811715/ | [
"Amirhossein Kazemipour",
"Oliver Fischer",
"Yasunori Toshimitsu",
"Ki Wan Wong",
"Robert K. Katzschmann",
"Amirhossein Kazemipour",
"Oliver Fischer",
"Yasunori Toshimitsu",
"Ki Wan Wong",
"Robert K. Katzschmann"
] | Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based control scheme for soft continuum robots. Our dynamic model is based on the Euler-Lagrange approach, but it uses a more accurate description of the robot's inertia a... |
Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals | https://ieeexplore.ieee.org/document/9811608/ | [
"Jitske de Vries",
"Elia Trevisan",
"Jules van der Toorn",
"Tuhin Das",
"Bruno Brito",
"Javier Alonso-Mora",
"Jitske de Vries",
"Elia Trevisan",
"Jules van der Toorn",
"Tuhin Das",
"Bruno Brito",
"Javier Alonso-Mora"
] | In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans sati... |
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots | https://ieeexplore.ieee.org/document/9812401/ | [
"Mihir Kulkarni",
"Mihir Dharmadhikari",
"Marco Tranzatto",
"Samuel Zimmermann",
"Victor Reijgwart",
"Paolo De Petris",
"Huan Nguyen",
"Nikhil Khedekar",
"Christos Papachristos",
"Lionel Ott",
"Roland Siegwart",
"Marco Hutter",
"Kostas Alexis",
"Mihir Kulkarni",
"Mihir Dharmadhikari",
"Marco Tranzatto",
"Samuel Zimmermann",
"Victor Reijgwart",
"Paolo De Petris",
"Huan Nguyen",
"Nikhil Khedekar",
"Christos Papachristos",
"Lionel Ott",
"Roland Siegwart",
"Marco Hutter",
"Kostas Alexis"
] | This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve complex, large-scale and multi-branched topologies, while wireless communication within them can be particularly challenging, this work is structured around the... |
ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time | https://ieeexplore.ieee.org/document/9811814/ | [
"Francesco Grothe",
"Valentin N. Hartmann",
"Andreas Orthey",
"Marc Toussaint",
"Francesco Grothe",
"Valentin N. Hartmann",
"Andreas Orthey",
"Marc Toussaint"
] | We present a motion planner for planning through space-time with dynamic obstacles, velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT*(ST-RRT*), is a probabilistically complete, bidirectional motion planning algorithm, which is asymptotically optimal with respect to the shortest arrival time. We experimentally evaluate ST-RRT* in both abstract (2D disk, 8D disk in clutt... |
Speed Planning in Dynamic Environments over a Fixed Path for Autonomous Vehicles | https://ieeexplore.ieee.org/document/9812136/ | [
"Wenda Xu",
"John M. Dolan",
"Wenda Xu",
"John M. Dolan"
] | In this paper, we present a novel convex optimization approach to address the minimum-time speed planning problem over a fixed path with dynamic obstacle constraints and point-wise speed and acceleration constraints. The contributions of this paper are three-fold. First, we formulate the speed planning as an iterative convex optimization problem based on space discretization. Our formulation allow... |
Coverage Path Planning in Large-scale Multi-floor Urban Environments with Applications to Autonomous Road Sweeping | https://ieeexplore.ieee.org/document/9811941/ | [
"Daniel Engelsons",
"Mattias Tiger",
"Fredrik Heintz",
"Daniel Engelsons",
"Mattias Tiger",
"Fredrik Heintz"
] | Coverage Path Planning is the work horse of contemporary service task automation, powering autonomous floor cleaning robots and lawn mowers in households and office sites. While steady progress has been made on indoor cleaning and outdoor mowing, these environments are small and with simple geometry compared to general urban environments such as city parking garages, highway bridges or city crossi... |
Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem | https://ieeexplore.ieee.org/document/9811719/ | [
"Steve Tonneau",
"Steve Tonneau"
] | Non-linear trajectory optimisation methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to be complete. However for unstable dynamical systems such as humanoid robots, this quasi-static assumption does not always hold. We propose a conservative formulation of the trajectory pro... |
Oriented Surface Reachability Maps for Robot Placement | https://ieeexplore.ieee.org/document/9811600/ | [
"Timo Birr",
"Christoph Pohl",
"Tamim Asfour",
"Timo Birr",
"Christoph Pohl",
"Tamim Asfour"
] | For a robot to perform a grasping and manipulation task, it has to determine possible robot placements in the workspace, from which target objects or environmental elements relevant to the given task are reachable. This work presents a novel approach for finding placements for the mobile base of a humanoid robot in an unknown environment with multiple support planes. We propose a novel type of rea... |
COP: Control & Observability-aware Planning | https://ieeexplore.ieee.org/document/9812373/ | [
"Christoph Böhm",
"Pascal Brault",
"Quentin Delamare",
"Paolo Robuffo Giordano",
"Stephan Weiss",
"Christoph Böhm",
"Pascal Brault",
"Quentin Delamare",
"Paolo Robuffo Giordano",
"Stephan Weiss"
] | In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly op-posite optimization objectives can be used to improve trajectory control tracking and, at the same time, estimation performance. Our proposed novel Control & Observability-aware Planning (COP) framework is the first that uses ... |
AMRA*: Anytime Multi-Resolution Multi-Heuristic A* | https://ieeexplore.ieee.org/document/9812359/ | [
"Dhruv Mauria Saxena",
"Tushar Kusnur",
"Maxim Likhachev",
"Dhruv Mauria Saxena",
"Tushar Kusnur",
"Maxim Likhachev"
] | Heuristic search-based motion planning algorithms typically discretise the search space in order to solve the shortest path problem. Their performance is closely related to this discretisation. A fine discretisation allows for better approximations of the continuous search space, but makes the search for a solution more computationally costly. A coarser resolution might allow the algorithms to fin... |
Real-Time Multi-Contact Model Predictive Control via ADMM | https://ieeexplore.ieee.org/document/9811957/ | [
"Alp Aydinoglu",
"Michael Posa",
"Alp Aydinoglu",
"Michael Posa"
] | We propose a hybrid model predictive control algorithm, consensus complementarity control (C3), for systems that make and break contact with their environment. Many state-of-the-art controllers for tasks which require initiating contact with the environment, such as locomotion and manipulation, require a priori mode schedules or are so computationally complex that they cannot run at real-time rate... |
Maximum Entropy Differential Dynamic Programming | https://ieeexplore.ieee.org/document/9812228/ | [
"Oswin So",
"Ziyi Wang",
"Evangelos A. Theodorou",
"Oswin So",
"Ziyi Wang",
"Evangelos A. Theodorou"
] | In this paper, we present a novel maximum entropy formulation of the Differential Dynamic Programming algorithm and derive two variants using unimodal and multimodal value functions parameterizations. By combining the maximum entropy Bellman equations with a particular approximation of the cost function, we are able to obtain a new formulation of Differential Dynamic Programming which is able to e... |
Optimal Control via Combined Inference and Numerical Optimization | https://ieeexplore.ieee.org/document/9811908/ | [
"Daniel Layeghi",
"Steve Tonneau",
"Michael Mistry",
"Daniel Layeghi",
"Steve Tonneau",
"Michael Mistry"
] | Derivative based optimization methods are efficient at solving optimal control problems near local optima. However, their ability to converge halts when derivative information vanishes. The inference approach to optimal control does not have strict requirements on the objective landscape. However, sampling, the primary tool for solving such problems, tends to be much slower in computation time. We... |
Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions | https://ieeexplore.ieee.org/document/9811969/ | [
"Suiyi He",
"Jun Zeng",
"Koushil Sreenath",
"Suiyi He",
"Jun Zeng",
"Koushil Sreenath"
] | This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model predictive control (MPC) trajectory planner is used to guarantee that the ego vehicle achieves better lap timing performance. When the ego vehicle is competing... |
Pose Estimation based on a Dual Quaternion Feedback Particle Filter | https://ieeexplore.ieee.org/document/9812437/ | [
"Wenjie Li",
"Wasif Naeem",
"Wenhao Ji",
"Jia Liu",
"Wei Hao",
"Lijun Chen",
"Wenjie Li",
"Wasif Naeem",
"Wenhao Ji",
"Jia Liu",
"Wei Hao",
"Lijun Chen"
] | Fast and accurate pose estimation is essential for many robotic applications such as SLAM, manipulation, and 3D point registration. Existing solutions to this problem suffer from either high computation overhead due to the nonlinear features or accuracy loss due to linear approximation. In this paper, we propose a dual quaternion feedback particle filter (DQFPF) that can capture the nonlinear fact... |
Robust Control Under Uncertainty via Bounded Rationality and Differential Privacy | https://ieeexplore.ieee.org/document/9811557/ | [
"Vincent Pacelli",
"Anirudha Majumdar",
"Vincent Pacelli",
"Anirudha Majumdar"
] | The rapid development of affordable and compact high-fidelity sensors (e.g., cameras and LIDAR) allows robots to construct detailed estimates of their states and environments. However, the availability of such rich sensor information introduces two challenges: (i) the lack of analytic sensing models, which makes it difficult to design controllers that are robust to sensor failures, and (ii) the co... |
Uncertainty-based Exploring Strategy in Densely Cluttered Scenes for Vacuum Cup Grasping | https://ieeexplore.ieee.org/document/9811599/ | [
"Kimwa Tung",
"Jingcheng Su",
"Junhao Cai",
"Zhaoliang Wan",
"Hui Cheng",
"Kimwa Tung",
"Jingcheng Su",
"Junhao Cai",
"Zhaoliang Wan",
"Hui Cheng"
] | Grasping a wide range of novel objects in densely cluttered scenes is difficult due to irregular shapes of objects and the uncertainty in sensing. In this paper, a novel vacuum cup grasping method, based on uncertainty modeling of perception data and grasp geometric heuristics, is proposed to grasp unknown objects in densely cluttered scenes. The probabilistic signed distance function is proposed ... |
Grounding Predicates through Actions | https://ieeexplore.ieee.org/document/9812016/ | [
"Toki Migimatsu",
"Jeannette Bohg",
"Toki Migimatsu",
"Jeannette Bohg"
] | Symbols representing abstract states such as “dish in dishwasher” or “cup on table” allow robots to reason over long horizons by hiding details unnecessary for high-level planning. Current methods for learning to identify symbolic states in visual data require large amounts of labeled training data, but manually annotating such datasets is prohibitively expensive due to the combinatorial number of... |
Detection of Slip from Vision and Touch | https://ieeexplore.ieee.org/document/9811589/ | [
"Gang Yan",
"Alexander Schmitz",
"Tito Pradhono Tomo",
"Sophon Somlor",
"Satoshi Funabashi",
"Shigeki Sugano",
"Gang Yan",
"Alexander Schmitz",
"Tito Pradhono Tomo",
"Sophon Somlor",
"Satoshi Funabashi",
"Shigeki Sugano"
] | Detecting the onset/ongoing of slip, i.e. if a grasped object is slipping or will slip from the gripper while being lifted, is crucial. Conventionally, it is regarded as a tactile sensing related problem. However, recently multi-modal robotic learning has become popular and is expected to boost the performance. In this paper we propose a novel CNN-TCN model to fuse tactile and visual information f... |
Learning to Navigate Intersections with Unsupervised Driver Trait Inference | https://ieeexplore.ieee.org/document/9811635/ | [
"Shuijing Liu",
"Peixin Chang",
"Haonan Chen",
"Neeloy Chakraborty",
"Katherine Driggs-Campbell",
"Shuijing Liu",
"Peixin Chang",
"Haonan Chen",
"Neeloy Chakraborty",
"Katherine Driggs-Campbell"
] | Navigation through uncontrolled intersections is one of the key challenges for autonomous vehicles. Identifying the subtle differences in hidden traits of other drivers can bring significant benefits when navigating in such environments. We propose an unsupervised method for inferring driver traits such as driving styles from observed vehicle trajectories. We use a variational autoencoder with rec... |
VIRDO: Visio-tactile Implicit Representations of Deformable Objects | https://ieeexplore.ieee.org/document/9812097/ | [
"Youngsun Wi",
"Pete Florence",
"Andy Zeng",
"Nima Fazeli",
"Youngsun Wi",
"Pete Florence",
"Andy Zeng",
"Nima Fazeli"
] | Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO: an implicit, multi-modal, and continuous representation for deformable-elastic objects. VIRDO operates directly on visual (point cloud) and tactile (reaction forces) modalities and learns rich latent embeddings of contact locations ... |
Seeking Visual Discomfort: Curiosity-driven Representations for Reinforcement Learning | https://ieeexplore.ieee.org/document/9811663/ | [
"Elie Aljalbout",
"Maximilian Ulmer",
"Rudolph Triebel",
"Elie Aljalbout",
"Maximilian Ulmer",
"Rudolph Triebel"
] | Vision-based reinforcement learning (RL) is a promising approach to solve control tasks involving images as the main observation. State-of-the-art RL algorithms still struggle in terms of sample efficiency, especially when using image observations. This has led to increased attention on integrating state representation learning (SRL) techniques into the RL pipeline. Work in this field demonstrates... |
Topologically-Informed Atlas Learning | https://ieeexplore.ieee.org/document/9812311/ | [
"Thomas Cohn",
"Nikhil Devraj",
"Odest Chadwicke Jenkins",
"Thomas Cohn",
"Nikhil Devraj",
"Odest Chadwicke Jenkins"
] | We present a new technique that enables manifold learning to accurately embed data manifolds that contain holes, without discarding any topological information. Manifold learning aims to embed high-dimensional data into a lower dimensional Euclidean space by learning a coordinate chart, but it requires that the entire manifold can be embedded in a single chart. This is impossible for manifolds wit... |
Intrinsically Motivated Self-supervised Learning in Reinforcement Learning | https://ieeexplore.ieee.org/document/9812213/ | [
"Yue Zhao",
"Chenzhuang Du",
"Hang Zhao",
"Tiejun Li",
"Yue Zhao",
"Chenzhuang Du",
"Hang Zhao",
"Tiejun Li"
] | In vision-based reinforcement learning (RL) tasks, it is prevalent to assign auxiliary tasks with a surrogate self-supervised loss so as to obtain more semantic representations and improve sample efficiency. However, abundant information in self-supervised auxiliary tasks has been disregarded, since the representation learning part and the decision-making part are separated. To sufficiently utiliz... |
Offline Learning of Counterfactual Predictions for Real-World Robotic Reinforcement Learning | https://ieeexplore.ieee.org/document/9811963/ | [
"Jun Jin",
"Daniel Graves",
"Cameron Haigh",
"Jun Luo",
"Martin Jagersand",
"Jun Jin",
"Daniel Graves",
"Cameron Haigh",
"Jun Luo",
"Martin Jagersand"
] | We consider real-world reinforcement learning (RL) of robotic manipulation tasks that involve both visuomotor skills and contact-rich skills. We aim to train a policy that maps multimodal sensory observations (vision and force) to a manipulator's joint velocities under practical considerations. We propose to use offline samples to learn a set of general value functions (GVFs) that make counterfact... |
Generalizing to New Domains by Mapping Natural Language to Lifted LTL | https://ieeexplore.ieee.org/document/9812169/ | [
"Eric Hsiung",
"Hiloni Mehta",
"Junchi Chu",
"Xinyu Liu",
"Roma Patel",
"Stefanie Tellex",
"George Konidaris",
"Eric Hsiung",
"Hiloni Mehta",
"Junchi Chu",
"Xinyu Liu",
"Roma Patel",
"Stefanie Tellex",
"George Konidaris"
] | Recent work on using natural language to specify commands to robots has grounded that language to LTL. However, mapping natural language task specifications to LTL task specifications using language models require probability distributions over finite vocabulary. Existing state-of-the-art methods have extended this finite vocabulary to include unseen terms from the input sequence to improve output... |
Exploiting Abstract Symmetries in Reinforcement Learning for Complex Environments | https://ieeexplore.ieee.org/document/9811652/ | [
"Kashish Gupta",
"Homayoun Najjaran",
"Kashish Gupta",
"Homayoun Najjaran"
] | Reinforcement Learning is rapidly establishing itself as the foremost choice for optimization of sequential autonomous decision-making problems. Encumbered by its sample inefficiency, the extension of the field to large state space and dynamic environments remains an open problem. We present a novel concept that exploits abstract spatial symmetry in complex environments for extending the skills of... |
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation | https://ieeexplore.ieee.org/document/9812293/ | [
"Eric Heiden",
"Christopher E. Denniston",
"David Millard",
"Fabio Ramos",
"Gaurav S. Sukhatme",
"Eric Heiden",
"Christopher E. Denniston",
"David Millard",
"Fabio Ramos",
"Gaurav S. Sukhatme"
] | Reproducing real world dynamics in simulation is critical for the development of new control and perception methods. This task typically involves the estimation of simu-lation parameter distributions from observed rollouts through an inverse inference problem characterized by multi-modality and skewed distributions. We address this challenging problem through a novel Bayesian inference approach th... |
Sampling Over Riemannian Manifolds Using Kernel Herding | https://ieeexplore.ieee.org/document/9811951/ | [
"Sandesh Adhikary",
"Byron Boots",
"Sandesh Adhikary",
"Byron Boots"
] | Kernel herding is a deterministic sampling algorithm designed to draw ‘super samples' from probability distributions when provided with their kernel mean embeddings in a reproducing kernel Hilbert space (RKHS). Empirical expectations of functions in the RKHS formed using these super samples tend to converge even faster than random sampling from the true distribution itself. Standard implementation... |
Collaborative Robot Mapping using Spectral Graph Analysis | https://ieeexplore.ieee.org/document/9812102/ | [
"Lukas Bernreiter",
"Shehryar Khattak",
"Lionel Ott",
"Roland Siegwart",
"Marco Hutter",
"Cesar Cadena",
"Lukas Bernreiter",
"Shehryar Khattak",
"Lionel Ott",
"Roland Siegwart",
"Marco Hutter",
"Cesar Cadena"
] | In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then communicated to a central server to build an optimized global map. However, inconsistencies between onboard and server estimates can occur due to onboard odometr... |
Ensemble Kalman Filter Based LiDAR Odometry for Skewed Point Clouds Using Scan Slicing | https://ieeexplore.ieee.org/document/9811710/ | [
"Yeongkwon Choe",
"Jae Hyung Jung",
"Chan Gook Park",
"Yeongkwon Choe",
"Jae Hyung Jung",
"Chan Gook Park"
] | In the presence of fast motion, point clouds obtained from mechanical spinning LiDAR can be easily distorted due to the slow scanning speed of the LiDAR. Existing LiDAR-only odometry algorithms generally ignore this distortion or compensate by linearly interpolating the estimated relative motion between scans. However, when there are abrupt and nonlinear motion changes, the linear interpolation me... |
Next-Best-View Prediction for Active Stereo Cameras and Highly Reflective Objects | https://ieeexplore.ieee.org/document/9811917/ | [
"Jun Yang",
"Steven L. Waslander",
"Jun Yang",
"Steven L. Waslander"
] | Depth acquisition with the active stereo camera is a challenging task for highly reflective objects. When setup permits, multi-view fusion can provide increased levels of depth completion. However, due to the slow acquisition speed of high-end active stereo cameras, collecting a large number of viewpoints for a single scene is generally not practical. In this work, we propose a next-best-view fram... |
Learning to Listen and Move: An Implementation of Audio-Aware Mobile Robot Navigation in Complex Indoor Environment | https://ieeexplore.ieee.org/document/9812193/ | [
"Pratyaksh P. Rao",
"Abhra Roy Chowdhury",
"Pratyaksh P. Rao",
"Abhra Roy Chowdhury"
] | Sound is an essential navigation cue that intelligent robots can leverage for localizing sound-emitting targets. This work introduces a framework for the audio-aware navigation task of mobile robots equipped with a microphone array in a complex indoor environment. The robot initialized at a random starting position has to accurately localize a distant sound source and plan an optimal path towards ... |
Ada-Detector: Adaptive Frontier Detector for Rapid Exploration | https://ieeexplore.ieee.org/document/9811614/ | [
"Zezhou Sun",
"Banghe Wu",
"Chengzhong Xu",
"Hui Kong",
"Zezhou Sun",
"Banghe Wu",
"Chengzhong Xu",
"Hui Kong"
] | In this paper, we propose an efficient frontier detector method based on adaptive Rapidly-exploring Random Tree (RRT) for autonomous robot exploration. Robots can achieve real-time incremental frontier detection when they are exploring unknown environments. First, our detector adaptively adjusts the sampling space of RRT by sensing the surrounding environment structure. The adaptive sampling space... |
CATs: Task Planning for Shared Control of Assistive Robots with Variable Autonomy | https://ieeexplore.ieee.org/document/9811360/ | [
"Samuel Bustamante",
"Gabriel Quere",
"Daniel Leidner",
"Jörn Vogel",
"Freek Stulp",
"Samuel Bustamante",
"Gabriel Quere",
"Daniel Leidner",
"Jörn Vogel",
"Freek Stulp"
] | From robotic space assistance to healthcare robotics, there is increasing interest in robots that offer adaptable levels of autonomy. In this paper, we propose an action representation and planning framework that is able to generate plans that can be executed with both shared control and supervised autonomy, even switching between them during task execution. The action representation - Constraint ... |
Robotically-Aligned Optical Coherence Tomography with Gaze Tracking for Live Image Montaging of the Retina | https://ieeexplore.ieee.org/document/9812428/ | [
"Pablo Ortiz",
"Mark Draelos",
"Amit Narawane",
"Ryan P. McNabb",
"Anthony N. Kuo",
"Joseph A. Izatt",
"Pablo Ortiz",
"Mark Draelos",
"Amit Narawane",
"Ryan P. McNabb",
"Anthony N. Kuo",
"Joseph A. Izatt"
] | Optical coherence tomography (OCT) has revolutionized diagnostics in ophthalmology. However, it requires pa-tient cooperation to fixate on multiple targets and stabilize their head utilizing both chin and forehead rests. Patient cooperation is particularly important for image montaging, where patients are asked to fixate on multiple targets to sequentially image different regions of interest on th... |
Generalized 3D Rigid Point Set Registration with Anisotropic Positional Error Based on Bayesian Coherent Point Drift | https://ieeexplore.ieee.org/document/9812395/ | [
"Ang Zhang",
"Zhe Min",
"Xing Yang",
"Zhengyan Zhang",
"Jin Pan",
"Max Q.-H. Meng",
"Ang Zhang",
"Zhe Min",
"Xing Yang",
"Zhengyan Zhang",
"Jin Pan",
"Max Q.-H. Meng"
] | This paper presents a novel, robust, and accurate three-dimensional (3D) rigid point set registration (PSR) method, which is achieved by generalizing the state-of-the-art (SOTA) Bayesian coherent point drift (BCPD) theory to the scenario that high-dimensional point sets(PSs) are aligned and that the anisotropic positional noise is considered. Our contributions in this paper are three folds. First,... |
Runtime Detection of Executional Errors in Robot-Assisted Surgery | https://ieeexplore.ieee.org/document/9812034/ | [
"Zongyu Li",
"Kay Hutchinson",
"Homa Alemzadeh",
"Zongyu Li",
"Kay Hutchinson",
"Homa Alemzadeh"
] | Despite significant developments in the design of surgical robots and automated techniques for objective evaluation of surgical skills, there are still challenges in ensuring safety in robot-assisted minimally-invasive surgery (RMIS). This paper presents a runtime monitoring system for the detection of executional errors during surgical tasks through the analysis of kinematic data. The proposed sy... |
Large-scale Network Traffic Prediction With LSTM and Temporal Convolutional Networks | https://ieeexplore.ieee.org/document/9812427/ | [
"Jing Bi",
"Haitao Yuan",
"Kangyuan Xu",
"Haisen Ma",
"MengChu Zhou",
"Jing Bi",
"Haitao Yuan",
"Kangyuan Xu",
"Haisen Ma",
"MengChu Zhou"
] | Real-time and precise prediction for traffic of networks is critically important for allocating the optimal computing/network resources based on users' business requirements, analyzing the network performance, and realizing intelligent congestion control and high-accuracy anomaly detection. The dramatic growth of users' applications significantly increases the volume, uncertainty, and complexity o... |
Online State-Time Trajectory Planning Using Timed-ESDF in Highly Dynamic Environments | https://ieeexplore.ieee.org/document/9812436/ | [
"Delong Zhu",
"Tong Zhou",
"Jiahui Lin",
"Yuqi Fang",
"Max Q.-H. Meng",
"Delong Zhu",
"Tong Zhou",
"Jiahui Lin",
"Yuqi Fang",
"Max Q.-H. Meng"
] | Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the curse of dimensionality of the state-time space. Existing state-time planners are typically implemented based on randomized sampling approaches or path searching on discrete graphs. The smoothness, path clearance, or planning efficiency is sometimes not satisfying. In this work, we propose a... |
Towards Time-Optimal Tunnel-Following for Quadrotors | https://ieeexplore.ieee.org/document/9811764/ | [
"Jon Arrizabalaga",
"Markus Ryll",
"Jon Arrizabalaga",
"Markus Ryll"
] | Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles, such as quadrotors. State-of-the-art approaches, either assume bounds to be static and generate time-optimal trajectories offline, or compromise time-optimalit... |
Bang-bang Control with Constant Thrust of a Spherical Blimp Propelled by Ultrasound Beam | https://ieeexplore.ieee.org/document/9812012/ | [
"Takuro Furumoto",
"Masahiro Fujiwara",
"Yasutoshi Makino",
"Hiroyuki Shinoda",
"Takuro Furumoto",
"Masahiro Fujiwara",
"Yasutoshi Makino",
"Hiroyuki Shinoda"
] | Ultrasound beam propulsion, a propulsion system that uses airborne ultrasound phased arrays (AUPAs) to propel a blimp in an indoor environment to propel a blimp, has advantages for operations near humans such as no audible noises and no risk of propeller strike. To achieve the high mobility with limited actuation force of AUPAs, the dynamics should be fully exploited. In this paper, we propose a t... |
CineMPC: Controlling Camera Intrinsics and Extrinsics for Autonomous Cinematography | https://ieeexplore.ieee.org/document/9811827/ | [
"Pablo Pueyo",
"Eduardo Montijano",
"Ana C. Murillo",
"Mac Schwager",
"Pablo Pueyo",
"Eduardo Montijano",
"Ana C. Murillo",
"Mac Schwager"
] | We present CineMPC, an algorithm to autonomously control a UAV-borne video camera in a nonlinear Model Predicted Control (MPC) loop. CineMPC controls both the position and orientation of the camera-the camera extrinsics-as well as the lens focal length, focal distance, and aperture-the camera intrinsics. While some existing solutions autonomously control the position and orientation of the camera,... |
GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot | https://ieeexplore.ieee.org/document/9812008/ | [
"Gerry Chen",
"Sereym Baek",
"Juan-Diego Florez",
"Wanli Qian",
"Sang-Won Leigh",
"Seth Hutchinson",
"Frank Dellaert",
"Gerry Chen",
"Sereym Baek",
"Juan-Diego Florez",
"Wanli Qian",
"Sang-Won Leigh",
"Seth Hutchinson",
"Frank Dellaert"
] | We present GTGraffiti, a graffiti painting system from Georgia Tech that tackles challenges in art, hardware, and human-robot collaboration. The problem of painting graffiti in a human style is particularly challenging and requires a system-level approach because the robotics and art must be designed around each other. The robot must be highly dynamic over a large workspace while the artist must w... |
Neural Style Transfer with Twin-Delayed DDPG for Shared Control of Robotic Manipulators | https://ieeexplore.ieee.org/document/9812245/ | [
"Raul Fernandez-Fernandez",
"Marco Aggravi",
"Paolo Robuffo Giordano",
"Juan G. Victores",
"Claudio Pacchierotti",
"Raul Fernandez-Fernandez",
"Marco Aggravi",
"Paolo Robuffo Giordano",
"Juan G. Victores",
"Claudio Pacchierotti"
] | Neural Style Transfer (NST) refers to a class of algorithms able to manipulate an element, most often images, to adopt the appearance or style of another one. Each element is defined as a combination of Content and Style: the Content can be conceptually defined as the “what” and the Style as the “how” of said element. In this context, we propose a custom NST framework for transferring a set of sty... |
A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase | https://ieeexplore.ieee.org/document/9812067/ | [
"Ria Vijayan",
"Marco De Stefano",
"Christian Ott",
"Ria Vijayan",
"Marco De Stefano",
"Christian Ott"
] | In this paper, we propose a detumbling strategy that stabilizes the motion of a tumbling client satellite using an orbital servicing manipulator, which is the goal of the post-grasp phase. One of the critical aspects in this phase is ensuring that excessive contact forces are not generated at the grasp interface. In addition, space mission requirements might demand a nominal manipulator configurat... |
Autonomy and Perception for Space Mining | https://ieeexplore.ieee.org/document/9811661/ | [
"Ragav Sachdeva",
"Ravi Hammond",
"James Bockman",
"Alec Arthur",
"Brandon Smart",
"Dustin Craggs",
"Anh-Dzung Doan",
"Thomas Rowntree",
"Elijah Schutz",
"Adrian Orenstein",
"Andy Yu",
"Tat-Jun Chin",
"Ian Reid",
"Ragav Sachdeva",
"Ravi Hammond",
"James Bockman",
"Alec Arthur",
"Brandon Smart",
"Dustin Craggs",
"Anh-Dzung Doan",
"Thomas Rowntree",
"Elijah Schutz",
"Adrian Orenstein",
"Andy Yu",
"Tat-Jun Chin",
"Ian Reid"
] | Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using collaborative robots with a high degree of autonomy. In this paper, we describe our solution for Phase 2 of the NASA Space Robotics Challenge, which provided a... |
AstroLoc: An Efficient and Robust Localizer for a Free-flying Robot | https://ieeexplore.ieee.org/document/9811919/ | [
"Ryan Soussan",
"Varsha Kumar",
"Brian Coltin",
"Trey Smith",
"Ryan Soussan",
"Varsha Kumar",
"Brian Coltin",
"Trey Smith"
] | We present AstroLoc, an efficient and robust monocular visual-inertial graph-based localization system used by the Astrobee free-flying robots onboard the International Space Station (ISS). We provide a novel localization system that limits the traditionally higher computation times for graph-based localization systems and enables the resource constrained Astrobee robots to benefit from their incr... |
Robust Semantic Mapping and Localization on a Free-Flying Robot in Microgravity | https://ieeexplore.ieee.org/document/9811862/ | [
"Ian D. Miller",
"Ryan Soussan",
"Brian Coltin",
"Trey Smith",
"Vijay Kumar",
"Ian D. Miller",
"Ryan Soussan",
"Brian Coltin",
"Trey Smith",
"Vijay Kumar"
] | We propose a system that uses semantic object detections to localize a microgravity free-flyer. Many applications require absolute localization in a known reference frame, such as the execution of waypoint trajectories defined by human operators. Classical geometric methods build a map of point features, which may not be able to be associated after lighting or environmental changes. By contrast, s... |
DC-Loc: Accurate Automotive Radar Based Metric Localization with Explicit Doppler Compensation | https://ieeexplore.ieee.org/document/9811561/ | [
"Pengen Gao",
"Shengkai Zhang",
"Wei Wang",
"Chris Xiaoxuan Lu",
"Pengen Gao",
"Shengkai Zhang",
"Wei Wang",
"Chris Xiaoxuan Lu"
] | Automotive mmWave radar has been widely used in the automotive industry due to its small size, low cost, and complementary advantages to optical sensors (e.g., cameras, LiDAR, etc.) in adverse weathers, e.g., fog, raining, and snowing. On the other side, its large wavelength also poses fundamental challenges to perceive the environment. Recent advances have made breakthroughs on its inherent drawb... |
SemLoc: Accurate and Robust Visual Localization with Semantic and Structural Constraints from Prior Maps | https://ieeexplore.ieee.org/document/9811925/ | [
"Shiwen Liang",
"Yunzhou Zhang",
"Rui Tian",
"Delong Zhu",
"Linghao Yang",
"Zhenzhong Cao",
"Shiwen Liang",
"Yunzhou Zhang",
"Rui Tian",
"Delong Zhu",
"Linghao Yang",
"Zhenzhong Cao"
] | Semantic information and geometrical structures of a prior map can be leveraged in visual localization to bound drift errors and improve accuracy. In this paper, we propose SemLoc, a pure visual localization system, for accurate localization in a prior semantic map. To tightly couple semantic and structure information from prior maps, a hybrid constraint is presented by using the Dirichlet distrib... |
FP-Loc: Lightweight and Drift-free Floor Plan-assisted LiDAR Localization | https://ieeexplore.ieee.org/document/9812361/ | [
"Ling Gao",
"Laurent Kneip",
"Ling Gao",
"Laurent Kneip"
] | We present a novel framework for floor plan-based, full six degree-of-freedom LiDAR localization. Our approach relies on robust ceiling and ground plane detection, which solves part of the pose and supports the segmentation of vertical structure elements such as walls and pillars. Our core contribution is a novel nearest neighbour data structure for an efficient look-up of nearest vertical structu... |
LLOL: Low-Latency Odometry for Spinning Lidars | https://ieeexplore.ieee.org/document/9811605/ | [
"Chao Qu",
"Shreyas S. Shivakumar",
"Wenxin Liu",
"Camillo J. Taylor",
"Chao Qu",
"Shreyas S. Shivakumar",
"Wenxin Liu",
"Camillo J. Taylor"
] | In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large delay between the first laser firing and its pose estimate. To reduce this latency, we treat the spinning lidar as a streaming sensor and process packets as they arrive. This effectivel... |
PixSelect: Less but Reliable Pixels for Accurate and Efficient Localization | https://ieeexplore.ieee.org/document/9812345/ | [
"Mohammad Altillawi",
"Mohammad Altillawi"
] | Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from a single RGB image in a given environment. Previous works consider every part of the image valuable for localization. However, many image regions such as the s... |
Robust Monocular Localization in Sparse HD Maps Leveraging Multi-Task Uncertainty Estimation | https://ieeexplore.ieee.org/document/9812266/ | [
"Kürsat Petek",
"Kshitij Sirohi",
"Daniel Büscher",
"Wolfram Burgard",
"Kürsat Petek",
"Kshitij Sirohi",
"Daniel Büscher",
"Wolfram Burgard"
] | Robust localization in dense urban scenarios using a low-cost sensor setup and sparse HD maps is highly relevant for the current advances in autonomous driving, but remains a challenging topic in research. We present a novel monocular localization approach based on a sliding-window pose graph that leverages predicted uncertainties for increased precision and robustness against challenging scenario... |
TrussBot: Modeling, Design, and Control of a Compliant, Helical Truss of Tetrahedral Modules | https://ieeexplore.ieee.org/document/9812295/ | [
"Yuhong Qin",
"Linda Ting",
"Celestina Saven",
"Yumika Amemiya",
"Michael Tanis",
"Randall D. Kamien",
"Cynthia Sung",
"Yuhong Qin",
"Linda Ting",
"Celestina Saven",
"Yumika Amemiya",
"Michael Tanis",
"Randall D. Kamien",
"Cynthia Sung"
] | Modular and truss robots offer the potential of high reconfigurability and great functional flexibility, but common implementations relying on rigid components often lead to highly complex actuation and control requirements. This paper introduces a new type of modular, compliant robot: TrussBot. TrussBot is composed of 3D-printed tetrahedral modules connected at the corners with compliant joints. ... |
Self-Reconfiguring Robotic Gantries Powered by Modular Magnetic Lead Screws | https://ieeexplore.ieee.org/document/9811863/ | [
"John Romanishin",
"James M. Bern",
"Daniela Rus",
"John Romanishin",
"James M. Bern",
"Daniela Rus"
] | This paper outlines the design, specifications, and algorithms for a new modular self-reconfigurable robotic system; at its foundation is a novel modular magnetically geared linear actuator paired with a kinematic coupling connector. Motivating this work is the core idea that high performance actuators as well as inexpensive, precise and repeatable connectors are the key ingredients required for u... |
Energy Sharing Mechanism for a Freeform Robotic System - FreeBOT | https://ieeexplore.ieee.org/document/9811860/ | [
"Guanqi Liang",
"Yuxiao Tu",
"Lijun Zong",
"Junfeng Chen",
"Tin Lun Lam",
"Guanqi Liang",
"Yuxiao Tu",
"Lijun Zong",
"Junfeng Chen",
"Tin Lun Lam"
] | Energy sharing in modular self-reconfigurable robots ensures the energy balance of the modules, thus allowing the system to work sustainably. This paper proposes an energy sharing mechanism for a novel modular self-reconfigurable robot that allows free connections among modules, termed as FreeBOT, such that each FreeBOT can share energy with peers through surface contact. Corresponding energy shar... |
FreeSN: A Freeform Strut-node Structured Modular Self-reconfigurable Robot - Design and Implementation | https://ieeexplore.ieee.org/document/9811583/ | [
"Yuxiao Tu",
"Guanqi Liang",
"Tin Lun Lam",
"Yuxiao Tu",
"Guanqi Liang",
"Tin Lun Lam"
] | This paper proposes a novel freeform strut-node structured modular self-reconfigurable robot (MSRR) called FreeSN, consisting of strut and node modules. A node module is mainly a low-carbon steel spherical shell. A strut module contains two freeform connectors, which provide strong magnetic connections and flexible spherical motions. The FreeSN system shares the benefits of freeform connection and... |
ElectroVoxel: Electromagnetically Actuated Pivoting for Scalable Modular Self-Reconfigurable Robots | https://ieeexplore.ieee.org/document/9811746/ | [
"Martin Nisser",
"Leon Cheng",
"Yashaswini Makaram",
"Ryo Suzuki",
"Stefanie Mueller",
"Martin Nisser",
"Leon Cheng",
"Yashaswini Makaram",
"Ryo Suzuki",
"Stefanie Mueller"
] | This paper introduces a cube-based reconfigurable robot that utilizes an electromagnet-based actuation framework to reconfigure in three dimensions via pivoting. While a variety of actuation mechanisms for self-reconfigurable robots have been explored, they often suffer from cost, complexity, assembly and sizing requirements that prevent scaled production of such robots. To address this challenge,... |
SnailBot: A Continuously Dockable Modular Self-reconfigurable Robot Using Rocker-bogie Suspension | https://ieeexplore.ieee.org/document/9811779/ | [
"Da Zhao",
"Tin Lun Lam",
"Da Zhao",
"Tin Lun Lam"
] | This paper proposes a novel modular self-assembling, self-reconfiguring robot with the 3D continuous dock called “SnailBot”. SnailBot mainly consists of a spherical ferromagnetic shell and a six-wheel rocker chassis with embedded magnets. Unlike many other existing modular self-reconfigurable robots with fixed docking locations, SnailBot uses the 3D continuous dock to attach to its peers regardles... |
Configuration Control for Physical Coupling of Heterogeneous Robot Swarms | https://ieeexplore.ieee.org/document/9812115/ | [
"Sha Yi",
"Zeynep Temel",
"Katia Sycara",
"Sha Yi",
"Zeynep Temel",
"Katia Sycara"
] | In this paper, we present a heterogeneous robot swarm system that can physically couple with each other to form functional structures and dynamically decouple to perform individual tasks. The connection between robots can be formed with a passive coupling mechanism, ensuring minimum energy consumption during coupling and decoupling behavior. The heterogeneity of the system enables the robots to pe... |
Modular Robot Design Optimization with Generative Adversarial Networks | https://ieeexplore.ieee.org/document/9812091/ | [
"Jiaheng Hu",
"Julian Whitman",
"Matthew Travers",
"Howie Choset",
"Jiaheng Hu",
"Julian Whitman",
"Matthew Travers",
"Howie Choset"
] | Modular robots are made up of a set of components which can be configured and reconfigured to form customized robots for a wide range of tasks. Fully utilizing the flexibility of modular robots is challenging, as it requires the identification of optimal modular designs for each given task, often with limited computation and time. Previous works in design automation achieve efficient run-times by ... |
Temporal Logic Guided Motion Primitives for Complex Manipulation Tasks with User Preferences | https://ieeexplore.ieee.org/document/9811707/ | [
"Hao Wang",
"Haoyuan He",
"Weiwei Shang",
"Zhen Kan",
"Hao Wang",
"Haoyuan He",
"Weiwei Shang",
"Zhen Kan"
] | Dynamic movement primitives (DMPs) are a flexible trajectory learning scheme widely used in motion generation of robotic systems. However, existing DMP-based methods mainly focus on simple go-to-goal tasks. Motivated to handle tasks beyond point-to-point motion planning, this work presents temporal logic guided optimization of motion primitives, namely $\mathbf{PI}^{\mathbf{BB}-\mathbf{TL}}$ algor... |
SaRA: A Tool for Safe Human-Robot Coexistence and Collaboration through Reachability Analysis | https://ieeexplore.ieee.org/document/9811952/ | [
"Sven R. Schepp",
"Jakob Thumm",
"Stefan B. Liu",
"Matthias Althoff",
"Sven R. Schepp",
"Jakob Thumm",
"Stefan B. Liu",
"Matthias Althoff"
] | Current safety mechanisms implementing industry standards for human-robot coexistence separate humans and robots through caging. Other approaches allowing humans to enter the workspace of manipulators do not provide formal safety guarantees. Thus, this study aims to facilitate the widespread adoption of collaborative robots by presenting SaRA, an extensible tool that performs set-based reachabilit... |
Computing Funnels Using Numerical Optimization Based Falsifiers | https://ieeexplore.ieee.org/document/9811730/ | [
"Jiří Fejlek",
"Stefan Ratschan",
"Jiří Fejlek",
"Stefan Ratschan"
] | In this paper, we present an algorithm that computes funnels along trajectories of systems of ordinary differential equations. A funnel is a time-varying set of states containing the given trajectory, for which the evolution from within the set at any given time stays in the funnel. Hence it generalizes the behavior of single trajectories to sets around them, which is an important task, for exampl... |
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases | https://ieeexplore.ieee.org/document/9811778/ | [
"Alessandro Fornasier",
"Yonhon Ng",
"Robert Mahony",
"Stephan Weiss",
"Alessandro Fornasier",
"Yonhon Ng",
"Robert Mahony",
"Stephan Weiss"
] | Inertial Navigation Systems (INS) are a key technology for autonomous vehicles applications. Recent advances in estimation and filter design for the INS problem have exploited geometry and symmetry to overcome limitations of the classical Extended Kalman Filter (EKF) approach that formed the mainstay of INS systems since the mid-twentieth century. The industry standard INS filter, the Multiplicati... |
Let's Collaborate: Regret-based Reactive Synthesis for Robotic Manipulation | https://ieeexplore.ieee.org/document/9812298/ | [
"Karan Muvvala",
"Peter Amorese",
"Morteza Lahijanian",
"Karan Muvvala",
"Peter Amorese",
"Morteza Lahijanian"
] | As robots gain capabilities to enter our humancentric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially for robotic manipulators with complex tasks that may require collaboration with humans. Prior works approach this problem through reactive synthesis and generate strategies for the robot that guarantee task completion by as... |
Planning via model checking with decision-tree controllers | https://ieeexplore.ieee.org/document/9811980/ | [
"Jonis Kiesbye",
"Kush Grover",
"Pranav Ashok",
"Jan Křetínský",
"Jonis Kiesbye",
"Kush Grover",
"Pranav Ashok",
"Jan Křetínský"
] | Planning problems can be solved not only by planners, but also by model checkers. While the former yield a plan that requires replanning as soon as any fault occurs, the latter provide a “universal” plan (a.k.a. strategy, policy, or controller) able to make decisions under all circumstances. One of the prohibitive aspects of the latter approach is stemming from this very advantage: since it is def... |
Automated Task Updates of Temporal Logic Specifications for Heterogeneous Robots | https://ieeexplore.ieee.org/document/9812045/ | [
"Amy Fang",
"Hadas Kress-Gazit",
"Amy Fang",
"Hadas Kress-Gazit"
] | Given a heterogeneous group of robots executing a complex task represented in Linear Temporal Logic, and a new set of tasks for the group, we define the task update problem and propose a framework for automatically updating individual robot tasks given their respective existing tasks and capabilities. Our heuristic, token-based, conflict resolution task allocation algorithm generates a near-optima... |
On nondeterminism in combinatorial filters | https://ieeexplore.ieee.org/document/9812371/ | [
"Yulin Zhang",
"Dylan A. Shell",
"Yulin Zhang",
"Dylan A. Shell"
] | The problem of combinatorial filter reduction arises from resource optimization in robots; it is one specific way in which automation can help to achieve minimalism, to build better robots. This paper contributes a new definition of filter minimization that is broader than its antecedents, allowing filters (input, output, or both) to be nondeterministic. This changes the problem considerably. Nond... |
Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data | https://ieeexplore.ieee.org/document/9811565/ | [
"Abhinav Agarwal",
"Sushant Veer",
"Allen Z. Ren",
"Anirudha Majumdar",
"Abhinav Agarwal",
"Sushant Veer",
"Allen Z. Ren",
"Anirudha Majumdar"
] | We are motivated by the problem of learning policies for robotic systems with rich sensory inputs (e.g., vision) in a manner that allows us to guarantee generalization to environments unseen during training. We provide a framework for providing such generalization guarantees by leveraging a finite dataset of real-world environments in combination with a (potentially inaccurate) generative model of... |
Speeding up deep neural network-based planning of local car maneuvers via efficient B-spline path construction | https://ieeexplore.ieee.org/document/9812313/ | [
"Piotr Kicki",
"Piotr Skrzypczyński",
"Piotr Kicki",
"Piotr Skrzypczyński"
] | This paper demonstrates how an efficient repre-sentation of the planned path using B-splines, and a construction procedure that takes advantage of the neural network's inductive bias, speed up both the inference and training of a DNN-based motion planner. We build upon our recent work on learning local car maneuvers from past experience using a DNN architecture, introducing a novel B-spline path c... |
Learning-Guided Exploration for Efficient Sampling-Based Motion Planning in High Dimensions | https://ieeexplore.ieee.org/document/9812184/ | [
"Liam Schramm",
"Abdeslam Boularias",
"Liam Schramm",
"Abdeslam Boularias"
] | Optimal motion planning is a long-studied problem with a wide range of applications in robotics, from grasping to navigation. While sampling-based motion planning methods have made solving such problems significantly more feasible, these methods still often struggle in high-dimensional spaces wherein exploration is computationally costly. In this paper, we propose a new motion planning algorithm t... |
Control-Aware Prediction Objectives for Autonomous Driving | https://ieeexplore.ieee.org/document/9811884/ | [
"Rowan McAllister",
"Blake Wulfe",
"Jean Mercat",
"Logan Ellis",
"Sergey Levine",
"Adrien Gaidon",
"Rowan McAllister",
"Blake Wulfe",
"Jean Mercat",
"Logan Ellis",
"Sergey Levine",
"Adrien Gaidon"
] | Autonomous vehicle software is typically structured as a modular pipeline of individual components (e.g., perception, prediction, and planning) to help separate concerns into interpretable sub-tasks. Even when end-to-end training is possible, each module has its own set of objectives used for safety assurance, sample efficiency, regularization, or interpretability. However, intermediate objectives... |
Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments | https://ieeexplore.ieee.org/document/9811540/ | [
"Nitish Dashora",
"Daniel Shin",
"Dhruv Shah",
"Henry Leopold",
"David Fan",
"Ali Agha-Mohammadi",
"Nicholas Rhinehart",
"Sergey Levine",
"Nitish Dashora",
"Daniel Shin",
"Dhruv Shah",
"Henry Leopold",
"David Fan",
"Ali Agha-Mohammadi",
"Nicholas Rhinehart",
"Sergey Levine"
] | Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments that violate their assumptions (e.g., tall grass). Learning-based methods can directly learn collision-free behavior from raw observations, but are difficult to integrate with standard geometry-based pipelines. This create... |
ReDUCE: Reformulation of Mixed Integer Programs Using Data from Unsupervised Clusters for Learning Efficient Strategies | https://ieeexplore.ieee.org/document/9811566/ | [
"Xuan Lin",
"Gabriel I. Fernandez",
"Dennis W. Hong",
"Xuan Lin",
"Gabriel I. Fernandez",
"Dennis W. Hong"
] | Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines learning methods on solver heuristics has shown potential to overcome this issue allowing for applications on larger scale practical problems. Gathering sufficient training data to employ these methods still present a challenge since getting data from traditional so... |
Where to Look Next: Learning Viewpoint Recommendations for Informative Trajectory Planning | https://ieeexplore.ieee.org/document/9812190/ | [
"Max Lodel",
"Bruno Brito",
"Álvaro Serra-Gómez",
"Laura Ferranti",
"Robert Babuška",
"Javier Alonso-Mora",
"Max Lodel",
"Bruno Brito",
"Álvaro Serra-Gómez",
"Laura Ferranti",
"Robert Babuška",
"Javier Alonso-Mora"
] | Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree Search, are capable of reasoning over long horizons, but they are computationally expensive. An alternative for fast online execution is to train, offline, an info... |
Adaptive Informative Path Planning Using Deep Reinforcement Learning for UAV-based Active Sensing | https://ieeexplore.ieee.org/document/9812025/ | [
"Julius Rückin",
"Liren Jin",
"Marija Popović",
"Julius Rückin",
"Liren Jin",
"Marija Popović"
] | Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently planning paths to maximize the information value of acquired data as an initially unknown environment is explored. To address this, we propose a new approach for informative path planning based on deep reinforcement learning (RL). Combining recent advances in RL and r... |
Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control | https://ieeexplore.ieee.org/document/9812455/ | [
"Anxing Xiao",
"Hao Luan",
"Ziqi Zhao",
"Yue Hong",
"Jieting Zhao",
"Weinan Chen",
"Jiankun Wang",
"Max Q.-H. Meng",
"Anxing Xiao",
"Hao Luan",
"Ziqi Zhao",
"Yue Hong",
"Jieting Zhao",
"Weinan Chen",
"Jiankun Wang",
"Max Q.-H. Meng"
] | Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on spe-cific marks and lack the formal design of planning algorithms. In this paper, we present a novel mobile manipulation system with applications in luggage trolley ... |
Learning to Rock-and-Walk: Dynamic, Non-Prehensile, and Underactuated Object Locomotion Through Reinforcement Learning | https://ieeexplore.ieee.org/document/9811554/ | [
"Abdullah Nazir",
"Xu Pu",
"Juan Rojas",
"Jungwon Seo",
"Abdullah Nazir",
"Xu Pu",
"Juan Rojas",
"Jungwon Seo"
] | When moving objects that are too bulky or heavy to be grasped or lifted, robotic manipulation can benefit from the object's interaction with the support surface and its natural dynamics under gravity. In this work, we show that such dynamic, underactuated manipulation capability can be acquired through reinforcement learning and deployed on real robot systems. First, we present a framework to lear... |
Modular End-Effector System for Autonomous Robotic Maintenance & Repair | https://ieeexplore.ieee.org/document/9812152/ | [
"Juncheng Li",
"Clark Teeple",
"Robert J. Wood",
"David J. Cappelleri",
"Juncheng Li",
"Clark Teeple",
"Robert J. Wood",
"David J. Cappelleri"
] | This paper describes the development of a modular end-effector system (MEES) for autonomous robotic maintenance and repair tasks. The design consists of the following major components: Robot Side Mating Socket Module (RSMS), End-Effector Side Mating Socket Module (EEMS), the Modular Camera System (MCS), and Tool Holder/Changer unit. Multiple prototypes for each component have been manufactured, te... |
ReachBot: A Small Robot with Exceptional Reach for Rough Terrain | https://ieeexplore.ieee.org/document/9811949/ | [
"Tony G. Chen",
"Becky Miller",
"Crystal Winston",
"Stephanie Schneider",
"Andrew Bylard",
"Marco Pavone",
"Mark R. Cutkosky",
"Tony G. Chen",
"Becky Miller",
"Crystal Winston",
"Stephanie Schneider",
"Andrew Bylard",
"Marco Pavone",
"Mark R. Cutkosky"
] | ReachBot is a new concept for planetary exploration, consisting of a small body and long, lightweight extending arms loaded primarily in tension. The arms are equipped with spined grippers for anchoring on rock surfaces. The design and testing of a planar prototype is presented here. Experiments with rock grasping and coordinated locomotion illustrate the advantages of low inertia passive grippers... |
Traffic Context Aware Data Augmentation for Rare Object Detection in Autonomous Driving | https://ieeexplore.ieee.org/document/9811724/ | [
"Naifan Li",
"Fan Song",
"Ying Zhang",
"Pengpeng Liang",
"Erkang Cheng",
"Naifan Li",
"Fan Song",
"Ying Zhang",
"Pengpeng Liang",
"Erkang Cheng"
] | Detection of rare objects (e.g., traffic cones, traffic barrels and traffic warning triangles) is an important perception task to improve the safety of autonomous driving. Training of such models typically requires a large number of annotated data which is expensive and time consuming to obtain. To address the above problem, an emerging approach is to apply data augmentation to automatically gener... |
Self-supervised Transparent Liquid Segmentation for Robotic Pouring | https://ieeexplore.ieee.org/document/9812000/ | [
"Gautham Narasimhan",
"Kai Zhang",
"Ben Eisner",
"Xingyu Lin",
"David Held",
"Gautham Narasimhan",
"Kai Zhang",
"Ben Eisner",
"Xingyu Lin",
"David Held"
] | Liquid state estimation is important for robotics tasks such as pouring; however, estimating the state of transparent liquids is a challenging problem. We propose a novel segmentation pipeline that can segment transparent liquids such as water from a static, RGB image without requiring any manual annotations or heating of the liquid for training. Instead, we use a generative model that is capable ... |
Semi-Supervised Learning with Mutual Distillation for Monocular Depth Estimation | https://ieeexplore.ieee.org/document/9811802/ | [
"Jongbeom Baek",
"Gyeongnyeon Kim",
"Seungryong Kim",
"Jongbeom Baek",
"Gyeongnyeon Kim",
"Seungryong Kim"
] | We propose a semi-supervised learning framework for monocular depth estimation. Compared to existing semi-supervised learning methods, which inherit limitations of both sparse supervised and unsupervised loss functions, we achieve the complementary advantages of both loss functions, by building two separate network branches for each loss and distilling each other through the mutual distillation lo... |
OpenSceneVLAD: Appearance Invariant, Open Set Scene Classification | https://ieeexplore.ieee.org/document/9812248/ | [
"William H. B. Smith",
"Michael Milford",
"Klaus D. McDonald-Maier",
"Shoaib Ehsan",
"R. B. Fisher",
"William H. B. Smith",
"Michael Milford",
"Klaus D. McDonald-Maier",
"Shoaib Ehsan",
"R. B. Fisher"
] | Scene classification is a well-established area of computer vision research that aims to classify a scene image into pre-defined categories such as playground, beach and airport. Recent work has focused on increasing the variety of pre-defined categories for classification, but so far failed to consider two major challenges: changes in scene appearance due to lighting and open set classification (... |
Multi-Agent Variational Occlusion Inference Using People as Sensors | https://ieeexplore.ieee.org/document/9811774/ | [
"Masha Itkina",
"Ye-Ji Mun",
"Katherine Driggs-Campbell",
"Mykel J. Kochenderfer",
"Masha Itkina",
"Ye-Ji Mun",
"Katherine Driggs-Campbell",
"Mykel J. Kochenderfer"
] | Autonomous vehicles must reason about spatial occlusions in urban environments to ensure safety without being overly cautious. Prior work explored occlusion inference from observed social behaviors of road agents, hence treating people as sensors. Inferring occupancy from agent behaviors is an inherently multimodal problem; a driver may behave similarly for different occupancy patterns ahead of th... |
Semantic-aware Texture-Structure Feature Collaboration for Underwater Image Enhancement | https://ieeexplore.ieee.org/document/9812457/ | [
"Di Wang",
"Long Ma",
"Risheng Liu",
"Xin Fan",
"Di Wang",
"Long Ma",
"Risheng Liu",
"Xin Fan"
] | Underwater image enhancement has become an attractive topic as a significant technology in marine engi-neering and aquatic robotics. However, the limited number of datasets and imperfect hand-crafted ground truth weaken its robustness to unseen scenarios, and hamper the application to high-level vision tasks. To address the above limitations, we develop an efficient and compact enhancement network... |
Conditioned Human Trajectory Prediction using Iterative Attention Blocks | https://ieeexplore.ieee.org/document/9812404/ | [
"Aleksey Postnikov",
"Aleksander Gamayunov",
"Gonzalo Ferrer",
"Aleksey Postnikov",
"Aleksander Gamayunov",
"Gonzalo Ferrer"
] | Human motion prediction is key to understand social environments, with direct applications in robotics, surveil-lance, etc. We present a simple yet effective pedestrian trajectory prediction model aimed at pedestrians' positions prediction in urban-like environments conditioned by the environment: map and surround agents. Our model is a neural-based architecture that can run several layers of atte... |
Underwater Dock Detection through Convolutional Neural Networks Trained with Artificial Image Generation | https://ieeexplore.ieee.org/document/9812143/ | [
"Jalil Chavez-Galaviz",
"Nina Mahmoudian",
"Jalil Chavez-Galaviz",
"Nina Mahmoudian"
] | Autonomous Underwater Vehicles (AUVs) are a vital element for ocean exploration in various applications; however, energy sustainability still limits long-term operations. An option to overcome this problem is using underwater docking for power and data transfer. To robustly guide an AUV into a docking station, we propose an underwater vision algorithm for short-distance detection. In this paper, w... |
HDMapNet: An Online HD Map Construction and Evaluation Framework | https://ieeexplore.ieee.org/document/9812383/ | [
"Qi Li",
"Yue Wang",
"Yilun Wang",
"Hang Zhao",
"Qi Li",
"Yue Wang",
"Yilun Wang",
"Hang Zhao"
] | Constructing HD semantic maps is a central component of autonomous driving. However, traditional pipelines require a vast amount of human efforts and resources in annotating and maintaining the semantics in the map, which limits its scalability. In this paper, we introduce the problem of HD semantic map learning, which dynamically constructs the local semantics based on onboard sensor observations... |
Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics | https://ieeexplore.ieee.org/document/9812120/ | [
"Vince Kurtz",
"He Li",
"Patrick M. Wensing",
"Hai Lin",
"Vince Kurtz",
"He Li",
"Patrick M. Wensing",
"Hai Lin"
] | Seemingly in defiance of basic physics, cats consistently land on their feet after falling. In this paper, we design a controller that lands the Mini Cheetah quadruped robot on its feet as well. Specifically, we explore how trajectory optimization and machine learning can work together to enable highly dynamic bioinspired behaviors. We find that a reflex approach, in which a neural network learns ... |
Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization | https://ieeexplore.ieee.org/document/9812296/ | [
"Mikołaj Łysakowski",
"Michał R. Nowicki",
"Russell Buchanan",
"Marco Camurri",
"Maurice Fallon",
"Krzysztof Walas",
"Mikołaj Łysakowski",
"Michał R. Nowicki",
"Russell Buchanan",
"Marco Camurri",
"Maurice Fallon",
"Krzysztof Walas"
] | Haptic sensing has recently been used effectively for legged robot localization in extreme scenarios where cam-eras and LiDAR might fail, such as dusty mines and foggy sewers. However, existing haptic sensing mainly relies on supervised classification, with training and evaluation executed over explicit terrain classes. Defining classes is a significant limitation to real-world applications, where... |
Learning Efficient and Robust Multi-Modal Quadruped Locomotion: A Hierarchical Approach | https://ieeexplore.ieee.org/document/9811640/ | [
"Shaohang Xu",
"Lijun Zhu",
"Chin Pang Ho",
"Shaohang Xu",
"Lijun Zhu",
"Chin Pang Ho"
] | Four-legged animals are able to change their gaits adaptively for lower energy consumption. However, designing a robust controller for their robot counterparts with multi-modal locomotion remains challenging. In this paper, we present a hierarchical control framework that decomposes this challenge into two kinds of problems: high-level decision-making for gait selection and robust low-level contro... |
A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots | https://ieeexplore.ieee.org/document/9812433/ | [
"Wanchao Chi",
"Xinyang Jiang",
"Yu Zheng",
"Wanchao Chi",
"Xinyang Jiang",
"Yu Zheng"
] | Centroidal dynamics, which describes the overall linear and angular motion of a robot, is often used in locomotion generation and control of legged robots. However, the equation of centroidal dynamics contains nonlinear terms mainly caused by the robot's angular motion and needs to be linearized for deriving a linear model-predictive motion controller. This paper proposes a new linearization of th... |
Systematic Development of a Novel, Dynamic, Reduced Complexity Quadruped Robot Platform for Robotic Tail Research | https://ieeexplore.ieee.org/document/9811871/ | [
"Yujiong Liu",
"Pinhas Ben-Tzvi",
"Yujiong Liu",
"Pinhas Ben-Tzvi"
] | This paper presents a systematical approach to develop a novel reduced complexity quadruped (RCQ) robot designed for serpentine robotic tail research purposes. The critical design requirements are determined based on careful dynamic analysis and synthesis results. Guided by formulated design requirements and principles, a robot prototype was designed and built. The robot has an overall weight of 5... |
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