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Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning | https://ieeexplore.ieee.org/document/9812343/ | [
"Qi Heng Ho",
"Zachary N. Sunberg",
"Morteza Lahijanian",
"Qi Heng Ho",
"Zachary N. Sunberg",
"Morteza Lahijanian"
] | In this paper, we address the problem of sampling-based motion planning under motion and measurement un-certainty with probabilistic guarantees. We generalize traditional sampling-based, tree-based motion planning algorithms for deterministic systems and propose belief-A, a framework that extends any kinodynamical tree-based planner to the belief space for linear (or linearizable) systems. We intr... |
KinoJGM: A framework for efficient and accurate quadrotor trajectory generation and tracking in dynamic environments | https://ieeexplore.ieee.org/document/9812352/ | [
"Yanran Wang",
"James O'Keeffe",
"Qiuchen Qian",
"David Boyle",
"Yanran Wang",
"James O'Keeffe",
"Qiuchen Qian",
"David Boyle"
] | Unmapped areas and aerodynamic disturbances render autonomous navigation with quadrotors extremely challenging. To fly safely and efficiently, trajectory planners and trackers must be able to navigate unknown environments with unpredictable aerodynamic effects in real-time. When encountering aerodynamic effects such as strong winds, most current approaches to quadrotor trajectory planning and trac... |
Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments | https://ieeexplore.ieee.org/document/9811363/ | [
"Weiqiao Han",
"Ashkan Jasour",
"Brian Williams",
"Weiqiao Han",
"Ashkan Jasour",
"Brian Williams"
] | We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic systems. More precisely, we consider the motion planning problem in which the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains multiple dynamic uncertain obstacles with arbitrary probabilistic distributions. The goal is to plan a sequence of control input... |
Belief Space Planning: a Covariance Steering Approach | https://ieeexplore.ieee.org/document/9811560/ | [
"Dongliang Zheng",
"Jack Ridderhof",
"Panagiotis Tsiotras",
"Ali-akbar Agha-mohammadi",
"Dongliang Zheng",
"Jack Ridderhof",
"Panagiotis Tsiotras",
"Ali-akbar Agha-mohammadi"
] | A new belief space planning algorithm, called covariance steering Belief RoadMap (CS-BRM), is introduced, which is a multi-query algorithm for motion planning of dynamical systems under simultaneous motion and observation uncertainties. CS-BRM extends the probabilistic roadmap (PRM) approach to belief spaces and is based on the recently developed theory of covariance steering (CS) that enables gua... |
D2A-BSP: Distilled Data Association Belief Space Planning with Performance Guarantees Under Budget Constraints | https://ieeexplore.ieee.org/document/9811984/ | [
"Moshe Shienman",
"Vadim Indelman",
"Moshe Shienman",
"Vadim Indelman"
] | Unresolved data association in ambiguous and perceptually aliased environments leads to multi-modal hypotheses on both the robot's and the environment state. To avoid catastrophic results, when operating in such ambiguous environments, it is crucial to reason about data association within Belief Space Planning (BSP). However, explicitly considering all possible data associations, the number of hyp... |
Informative Planning for Worst-Case Error Minimisation in Sparse Gaussian Process Regression | https://ieeexplore.ieee.org/document/9812375/ | [
"Jennifer Wakulicz",
"Ki Myung Brian Lee",
"Chanyeol Yoo",
"Teresa Vidal-Calleja",
"Robert Fitch",
"Jennifer Wakulicz",
"Ki Myung Brian Lee",
"Chanyeol Yoo",
"Teresa Vidal-Calleja",
"Robert Fitch"
] | We present a planning framework for min-imising the deterministic worst-case error in sparse Gaus-sian process (GP) regression. We first derive a univer-sal worst-case error bound for sparse GP regression with bounded noise using interpolation theory on reproducing kernel Hilbert spaces (RKHSs). By exploiting the conditional inde-pendence (CI) assumption central to sparse GP regression, we show th... |
Metareasoning for Safe Decision Making in Autonomous Systems | https://ieeexplore.ieee.org/document/9811887/ | [
"Justin Svegliato",
"Connor Basich",
"Sandhya Saisubramanian",
"Shlomo Zilberstein",
"Justin Svegliato",
"Connor Basich",
"Sandhya Saisubramanian",
"Shlomo Zilberstein"
] | Although experts carefully specify the high-level decision-making models in autonomous systems, it is infeasible to guarantee safety across every scenario during operation. We therefore propose a safety metareasoning system that optimizes the severity of the system's safety concerns and the interference to the system's task: the system executes in parallel a task process that completes a specified... |
Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty | https://ieeexplore.ieee.org/document/9811820/ | [
"Eleonora Tagliabue",
"Daniele Meli",
"Diego Dall'Alba",
"Paolo Fiorini",
"Eleonora Tagliabue",
"Daniele Meli",
"Diego Dall'Alba",
"Paolo Fiorini"
] | Autonomous robotic surgery requires deliberation, i.e. the ability to plan and execute a task adapting to uncer-tain and dynamic environments. Uncertainty in the surgical domain is mainly related to the partial pre-operative knowledge about patient-specific anatomical properties. In this paper, we introduce a logic-based framework for surgical tasks with deliberative functions of monitoring and le... |
CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning | https://ieeexplore.ieee.org/document/9812250/ | [
"Sudarshan S Harithas",
"Rishabh Dev Yadav",
"Deepak Singh",
"Arun Kumar Singh",
"K Madhava Krishna",
"Sudarshan S Harithas",
"Rishabh Dev Yadav",
"Deepak Singh",
"Arun Kumar Singh",
"K Madhava Krishna"
] | We present CCO-VOXEL: the very first chance-constrained optimization (CCO) algorithm that can compute trajectory plans with probabilistic safety guarantees in real-time directly on the voxel-grid representation of the world. CCO-VOXEL maps the distribution over the distance to the closest obstacle to a distribution over collision-constraint violation and computes an optimal trajectory that minimiz... |
Stein Variational Probabilistic Roadmaps | https://ieeexplore.ieee.org/document/9811656/ | [
"Alexander Lambert",
"Brian Hou",
"Rosario Scalise",
"Siddhartha S. Srinivasa",
"Byron Boots",
"Alexander Lambert",
"Brian Hou",
"Rosario Scalise",
"Siddhartha S. Srinivasa",
"Byron Boots"
] | Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many sampling-based motion planners resort to coarse, heuristically-driven strategies which often fail to generalize to new and varied surroundings. Further, many of these app... |
Is it Worth to Reason about Uncertainty in Occupancy Grid Maps during Path Planning? | https://ieeexplore.ieee.org/document/9812431/ | [
"Jacopo Banfi",
"Lindsey Woo",
"Mark Campbell",
"Jacopo Banfi",
"Lindsey Woo",
"Mark Campbell"
] | This paper investigates the usefulness of reasoning about the uncertain presence of obstacles during path planning, which typically stems from the usage of probabilistic occupancy grid maps for representing the environment when mapping via a noisy sensor like a stereo camera. The traditional planning paradigm prescribes using a hard threshold on the occupancy probability to declare that a cell is ... |
CPGNet: Cascade Point-Grid Fusion Network for Real-Time LiDAR Semantic Segmentation | https://ieeexplore.ieee.org/document/9811767/ | [
"Xiaoyan Li",
"Gang Zhang",
"Hongyu Pan",
"Zhenhua Wang",
"Xiaoyan Li",
"Gang Zhang",
"Hongyu Pan",
"Zhenhua Wang"
] | LiDAR semantic segmentation essential for advanced autonomous driving is required to be accurate, fast, and easy-deployed on mobile platforms. Previous point-based or sparse voxel-based methods are far away from real-time applications since time-consuming neighbor searching or sparse 3D convolution are employed. Recent 2D projection-based methods, including range view and multi-view fusion, can ru... |
Fast Road Segmentation via Uncertainty-aware Symmetric Network | https://ieeexplore.ieee.org/document/9812452/ | [
"Yicong Chang",
"Feng Xue",
"Fei Sheng",
"Wenteng Liang",
"Anlong Ming",
"Yicong Chang",
"Feng Xue",
"Fei Sheng",
"Wenteng Liang",
"Anlong Ming"
] | The high performance of RGB-D based road segmentation methods contrasts with their rare application in commercial autonomous driving, which is owing to two reasons: 1) the prior methods cannot achieve high inference speed and high accuracy in both ways; 2) the different properties of RGB and depth data are not well-exploited, limiting the reliability of predicted road. In this paper, based on the ... |
RangeBird: Multi View Panoptic Segmentation of 3D Point Clouds with Neighborhood Attention | https://ieeexplore.ieee.org/document/9811998/ | [
"Fabian Duerr",
"Hendrik Weigel",
"Jürgen Beyerer",
"Fabian Duerr",
"Hendrik Weigel",
"Jürgen Beyerer"
] | Panoptic segmentation of point clouds is one of the key challenges of 3D scene understanding, requiring the simultaneous prediction of semantics and object instances. Tasks like autonomous driving strongly depend on these information to get a holistic understanding of their 3D environment. This work presents a novel proposal free framework for lidar-based panoptic segmentation, which exploits thre... |
Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement | https://ieeexplore.ieee.org/document/9811817/ | [
"Walter Goodwin",
"Sagar Vaze",
"Ioannis Havoutis",
"Ingmar Posner",
"Walter Goodwin",
"Sagar Vaze",
"Ioannis Havoutis",
"Ingmar Posner"
] | Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene configuration are a promising and increasingly used mode of instruction. A key outstanding challenge is the accurate inference of matches between objects in front of ... |
TraSeTR: Track-to-Segment Transformer with Contrastive Query for Instance-level Instrument Segmentation in Robotic Surgery | https://ieeexplore.ieee.org/document/9811873/ | [
"Zixu Zhao",
"Yueming Jin",
"Pheng–Ann Heng",
"Zixu Zhao",
"Yueming Jin",
"Pheng–Ann Heng"
] | Surgical instrument segmentation - in general a pixel classification task - is fundamentally crucial for promoting cognitive intelligence in robot-assisted surgery (RAS). However, previous methods are struggling with discriminating instrument types and instances. To address above issues, we explore a mask classification paradigm that produces per-segment predictions. We propose TraSeTR, a novel Tr... |
I Know You Can't See Me: Dynamic Occlusion-Aware Safety Validation of Strategic Planners for Autonomous Vehicles Using Hypergames | https://ieeexplore.ieee.org/document/9812041/ | [
"Maximilian Kahn",
"Atrisha Sarkar",
"Krzysztof Czarnecki",
"Maximilian Kahn",
"Atrisha Sarkar",
"Krzysztof Czarnecki"
] | A particular challenge for both autonomous and human driving is dealing with risk associated with dynamic occlusion, i.e., occlusion caused by other vehicles in traffic. Based on the theory of hypergames, we develop a novel multi-agent dynamic occlusion risk (DOR) measure for assessing situational risk in dynamic occlusion scenarios. Furthermore, we present a white-box, scenario-based, accelerated... |
Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction | https://ieeexplore.ieee.org/document/9811582/ | [
"Thomas Steinecker",
"Alexander Kurdas",
"Nico Mansfeld",
"Mazin Hamad",
"Robin Jeanne Kirschner",
"Saeed Abdolshah",
"Sami Haddadin",
"Thomas Steinecker",
"Alexander Kurdas",
"Nico Mansfeld",
"Mazin Hamad",
"Robin Jeanne Kirschner",
"Saeed Abdolshah",
"Sami Haddadin"
] | In physical human-robot interaction (pHRI), safety is a key requirement. As collisions between humans and robots can generally not be avoided, it must be ensured that the human is not harmed. The robot reflected mass, the contact geometry, and the relative velocity between human and robot are the parameters that have the most significant influence on human injury severity during a collision. The r... |
Intrusion Distance and Reaction Time Estimation for Safe and Efficient Industrial Robots | https://ieeexplore.ieee.org/document/9811900/ | [
"Aquib Rashid",
"Ibrahim Al Naser",
"Shuxiao Hou",
"Mohamad Bdiwi",
"Matthias Putz",
"Steffen Ihlenfeldt",
"Aquib Rashid",
"Ibrahim Al Naser",
"Shuxiao Hou",
"Mohamad Bdiwi",
"Matthias Putz",
"Steffen Ihlenfeldt"
] | Circular economy and agile manufacturing require a safe and efficient industrial robot system working in close human proximity. Although, close proximity local sensing enables safe collaboration with small cobots. However, they cannot ensure safety at high velocities with a heavy-duty industrial robot. Stereo-camera and 3D LiDAR-based touch-less global sensing methods exist, but they do not addres... |
A Continuous Learning Approach for Probabilistic Human Motion Prediction | https://ieeexplore.ieee.org/document/9811906/ | [
"Jie Xu",
"Shihong Wang",
"Xingyu Chen",
"Jiahao Zhang",
"Xuguang Lan",
"Nanning Zheng",
"Jie Xu",
"Shihong Wang",
"Xingyu Chen",
"Jiahao Zhang",
"Xuguang Lan",
"Nanning Zheng"
] | Human Motion Prediction (HMP) plays a crucial role in safe Human-Robot-Interaction (HRI). Currently, the majority of HMP algorithms are trained by massive pre-collected data. As the training data only contains a few pre-defined motion patterns, these methods cannot handle the unfamiliar motion patterns. Moreover, the pre-collected data are usually non-interactive, which does not consider the real-... |
Safety Assurances for Human-Robot Interaction via Confidence-aware Game-theoretic Human Models | https://ieeexplore.ieee.org/document/9812048/ | [
"Ran Tian",
"Liting Sun",
"Andrea Bajcsy",
"Masayoshi Tomizuka",
"Anca D. Dragan",
"Ran Tian",
"Liting Sun",
"Andrea Bajcsy",
"Masayoshi Tomizuka",
"Anca D. Dragan"
] | An outstanding challenge with safety methods for human-robot interaction is reducing their conservatism while maintaining robustness to variations in human behavior. In this work, we propose that robots use confidence-aware game-theoretic models of human behavior when assessing the safety of a human-robot interaction. By treating the influence between the human and robot as well as the human's rat... |
Roboethics as a Design Challenge: Lessons Learned from the Roboethics to Design and Development Competition | https://ieeexplore.ieee.org/document/9812265/ | [
"Jimin Rhim",
"Cheng Lin",
"Alexander Werner",
"Brandon DeHart",
"Vivian Qiang",
"Shalaleh Rismani",
"AJung Moon",
"Jimin Rhim",
"Cheng Lin",
"Alexander Werner",
"Brandon DeHart",
"Vivian Qiang",
"Shalaleh Rismani",
"AJung Moon"
] | How do we make concrete progress towards de-signing robots that can navigate ethically sensitive contexts? Almost two decades after the word ‘roboethics’ was coined, translating interdisciplinary roboethics discussions into techni-cal design still remains a daunting task. This paper describes our first attempt at addressing these challenges through a roboethics-themed design competition. The desig... |
Multi-Arm Payload Manipulation via Mixed Reality | https://ieeexplore.ieee.org/document/9811580/ | [
"Florian Kennel-Maushart",
"Roi Poranne",
"Stelian Coros",
"Florian Kennel-Maushart",
"Roi Poranne",
"Stelian Coros"
] | Multi-Robot Systems (MRS) present many advantages over single robots, e.g. improved stability and payload capacity. Being able to operate or teleoperate these systems is therefore of high interest in industries such as construction or logistics. However, controlling the collective motion of a MRS can place a significant cognitive burden on the operator. We present a Mixed Reality (MR) control inte... |
Effectiveness of Augmented Reality for Human Swarm Interactions | https://ieeexplore.ieee.org/document/9812080/ | [
"Sarjana Oradiambalam Sachidanandam",
"Sara Honarvar",
"Yancy Diaz-Mercado",
"Sarjana Oradiambalam Sachidanandam",
"Sara Honarvar",
"Yancy Diaz-Mercado"
] | Human-Swarm Interaction (HSI) is a fast-growing research area in swarm robotics. One challenging aspect of HSI is facilitating effective handling of the many degrees-of-freedom present in robot swarms by humans. One emergent option is the use of Augmented Reality (AR) systems to encode information. AR based interfaces can help provide human operators with visual cues about the swarm's states and c... |
Effects of Interfaces on Human-Robot Trust: Specifying and Visualizing Physical Zones | https://ieeexplore.ieee.org/document/9811538/ | [
"Marisa Hudspeth",
"Sogol Balali",
"Cindy Grimm",
"Ross T. Sowell",
"Marisa Hudspeth",
"Sogol Balali",
"Cindy Grimm",
"Ross T. Sowell"
] | In this paper we investigate the influence interfaces and feedback have on human-robot trust levels when operating in a shared physical space. The task we use is specifying a “no-go” region for a robot in an indoor environment. We evaluate three styles of interface (physical, AR, and map-based) and four feedback mechanisms (no feedback, robot drives around the space, an AR “fence”, and the region ... |
Towards Safe, Realistic Testbed for Robotic Systems with Human Interaction | https://ieeexplore.ieee.org/document/9811766/ | [
"Bhoram Lee",
"Jonathan Brookshire",
"Rhys Yahata",
"Supun Samarasekera",
"Bhoram Lee",
"Jonathan Brookshire",
"Rhys Yahata",
"Supun Samarasekera"
] | Simulation has been a necessary, safe testbed for robotics systems (RS). However, testing in simulation alone is not enough for robotic systems operating in close proximity, or interacting directly with, humans, because simulated humans are very limited. Furthermore, testing with real humans can be unsafe and costly. As recent advances in machine learning are being brought to physical robotic syst... |
Object Memory Transformer for Object Goal Navigation | https://ieeexplore.ieee.org/document/9812027/ | [
"Rui Fukushima",
"Kei Ota",
"Asako Kanezaki",
"Yoko Sasaki",
"Yusuke Yoshiyasu",
"Rui Fukushima",
"Kei Ota",
"Asako Kanezaki",
"Yoko Sasaki",
"Yusuke Yoshiyasu"
] | This paper presents a reinforcement learning method for object goal navigation (ObjNav) where an agent navigates in 3D indoor environments to reach a target object based on long-term observations of objects and scenes. To this end, we propose Object Memory Transformer (OMT) that consists of two key ideas: 1) Object-Scene Memory (OSM) that enables to store long-term scenes and object semantics, and... |
Uncertainty-driven Planner for Exploration and Navigation | https://ieeexplore.ieee.org/document/9812423/ | [
"Georgios Georgakis",
"Bernadette Bucher",
"Anton Arapin",
"Karl Schmeckpeper",
"Nikolai Matni",
"Kostas Daniilidis",
"Georgios Georgakis",
"Bernadette Bucher",
"Anton Arapin",
"Karl Schmeckpeper",
"Nikolai Matni",
"Kostas Daniilidis"
] | We consider the problems of exploration and pointgoal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning occupancy priors over indoor maps provides significant advantages towards addressing these problems. To this end, we present a novel planning framework that first learns... |
Visual Representation Learning for Preference-Aware Path Planning | https://ieeexplore.ieee.org/document/9811828/ | [
"Kavan Singh Sikand",
"Sadegh Rabiee",
"Adam Uccello",
"Xuesu Xiao",
"Garrett Warnell",
"Joydeep Biswas",
"Kavan Singh Sikand",
"Sadegh Rabiee",
"Adam Uccello",
"Xuesu Xiao",
"Garrett Warnell",
"Joydeep Biswas"
] | Autonomous mobile robots deployed in outdoor environments must reason about different types of terrain for both safety (e.g., prefer dirt over mud) and deployer preferences (e.g., prefer dirt path over flower beds). Most existing solutions to this preference-aware path planning problem use semantic segmentation to classify terrain types from camera images, and then ascribe costs to each type. Unfo... |
Design and experimental investigation of a vibro-impact self-propelled capsule robot with orientation control | https://ieeexplore.ieee.org/document/9812117/ | [
"Jiajia Zhang",
"Jiyuan Tian",
"Dibin Zhu",
"Yang Liu",
"Shyam Prasad",
"Jiajia Zhang",
"Jiyuan Tian",
"Dibin Zhu",
"Yang Liu",
"Shyam Prasad"
] | This paper presents a novel design and experimental investigation for a self-propelled capsule robot that can be used for painless colonoscopy during a retrograde progression from the patient's rectum. The steerable robot is driven forward and backward via its internal vibration and impact with orientation control by using an electromagnetic actuator. The actuator contains four sets of coils and a... |
A Novel Triad Twisted String Actuator for Controlling a Two Degrees of Freedom Joint: Design and Experimental Validation | https://ieeexplore.ieee.org/document/9812124/ | [
"Damian Crosby",
"Joaquin Carrasco",
"William Heath",
"Andrew Weightman",
"Damian Crosby",
"Joaquin Carrasco",
"William Heath",
"Andrew Weightman"
] | Actuated universal joints, or equivalent joint systems, are found in a number of robotic applications, in particular mobile snake robots, continuum robots and robotic tails. These joints have two degrees of freedom on two axes, each perpendicular to a third axis and to themselves. Such joints use a variety of actuation methods, including direct drive motors, linear screw drives, cable based system... |
Experimental Validation of the Usage of Kinematic Singularities to Produce Periodic High-Powered Motion | https://ieeexplore.ieee.org/document/9811546/ | [
"Chang Liu",
"Mark Plecnik",
"Chang Liu",
"Mark Plecnik"
] | This paper reports on preliminary experimental results of recently proposed mechanism kinematics for a legged robot. The proposed kinematics creates a mapping from a series-elastic actuator to a foot motion that includes a pair of singularities within a fully rotatable kinematic circuit. Such a circuit is less common and only possible with certain multi-loop linkages. A slice of the configuration ... |
A Passively Adaptable Toroidal Continuously Variable Transmission Combined with Twisted String Actuator | https://ieeexplore.ieee.org/document/9811545/ | [
"Wonseok Shin",
"Sungbin Park",
"Gunhee Park",
"Jung Kim",
"Wonseok Shin",
"Sungbin Park",
"Gunhee Park",
"Jung Kim"
] | Robots performing close physical interaction with humans would require a continuously variable transmission to operate in the region around the peak efficiency or peak power of the driving system. Conventional continuously variable transmission (CVT) has shown advantages in energy-efficient driving systems. However, these CVT designs are heavy and large for robotic applications. This paper present... |
Design Exploration and Experimental Characterization of a 6 Degrees-of-Freedom Robotic Manipulator Powered by Cable-Driven Semi-Delocalized Magnetorheological Actuators | https://ieeexplore.ieee.org/document/9812275/ | [
"Mathieu Gervais",
"Louis-Philippe Lebel",
"Jean-Sébastien Plante",
"Mathieu Gervais",
"Louis-Philippe Lebel",
"Jean-Sébastien Plante"
] | Collaborative robots need to work closely and safely with users while being fast and strong. Fulfilling both these needs simultaneously presents a significant challenge, if not a roadblock, for conventional geared motor technology. Magnetorheological (MR) actuation is an alternative technology that has the potential to exhibit both safety and speed at the same time in a compact and cost-effective ... |
A Continuum Robot Surface of Woven, McKibben Muscles Embedded in and Giving Shape to Rooms | https://ieeexplore.ieee.org/document/9811987/ | [
"Grace Tan",
"Harrison Hidalgo",
"Hsin-Liu Kao",
"Ian. D. Walker",
"Keith E. Green",
"Grace Tan",
"Harrison Hidalgo",
"Hsin-Liu Kao",
"Ian. D. Walker",
"Keith E. Green"
] | Robots are typically designed as occupants of rooms, adapting to, and navigating within them. “Robot surfaces,” an emerging robot typology, are not occupants of but integral with rooms, physically shaping rooms to support human activity. We report on an advancement of robot surfaces formed by weaving McKibben Pneumatic Air Muscles that, when actuated, morph a 2D planar surface to generate 3D geome... |
Hydraulic Servo Booster for Serially Configured Modular Robots | https://ieeexplore.ieee.org/document/9812145/ | [
"Sang-Ho Hyon",
"Tomoro Kai",
"Sang-Ho Hyon",
"Tomoro Kai"
] | This paper presents a proposal of new hydraulic circuit, designated as a modular hydraulic servo booster (MHSB), aimed at the realization of modular hydraulic robots. The modular robots, however, have important shortcomings compared to non-modular robots, such as separate power sources and power imbalance between axes when applied to serially configured robots. To mitigate those difficulties, we t... |
A Magnetorheological Fluid-based Damper Towards Increased Biomimetism in Soft Robotic Actuators | https://ieeexplore.ieee.org/document/9811787/ | [
"Ravesh Sukhnandan",
"Kevin Dai",
"Victoria Webster–Wood",
"Ravesh Sukhnandan",
"Kevin Dai",
"Victoria Webster–Wood"
] | Damping properties in biological muscle are crit-ical for absorbing shock, maintaining posture, and positioning limbs and appendages. When creating biomimetic robots, the ability to replicate the dynamics of biological muscle is neces-sary to reproduce behaviors seen in an animal model. However, the damping properties of existing soft artificial muscles are difficult to predict and tune to match s... |
Multi-Agent Dynamic Ergodic Search with Low-Information Sensors | https://ieeexplore.ieee.org/document/9812037/ | [
"Howard Coffin",
"Ian Abraham",
"Guillaume Sartoretti",
"Tyler Dillstrom",
"Howie Choset",
"Howard Coffin",
"Ian Abraham",
"Guillaume Sartoretti",
"Tyler Dillstrom",
"Howie Choset"
] | The long-term goal of this work is to enable agents with low-information sensors to perform tasks usually restricted to ones with more sophisticated, high-information sensing capabilities. Our approach is to regulate the motion of these low-information agents to obtain “high-information” results. As a first step, we consider a multi-agent system tasked with locating and tracking a moving target us... |
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision | https://ieeexplore.ieee.org/document/9812183/ | [
"Ryan K. Cosner",
"Ivan D. Jimenez Rodriguez",
"Tamas G. Molnar",
"Wyatt Ubellacker",
"Yisong Yue",
"Aaron D. Ames",
"Katherine L. Bouman",
"Ryan K. Cosner",
"Ivan D. Jimenez Rodriguez",
"Tamas G. Molnar",
"Wyatt Ubellacker",
"Yisong Yue",
"Aaron D. Ames",
"Katherine L. Bouman"
] | With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement errors has become a difficult and essential part of modern robotics. This paper presents a self-supervised learning approach to safety-critical control. In particular, the uncertainty associated with stereo vision is estima... |
Combining Planning and Learning of Behavior Trees for Robotic Assembly | https://ieeexplore.ieee.org/document/9812086/ | [
"Jonathan Styrud",
"Matteo Iovino",
"Mikael Norrlöf",
"Mårten Björkman",
"Christian Smith",
"Jonathan Styrud",
"Matteo Iovino",
"Mikael Norrlöf",
"Mårten Björkman",
"Christian Smith"
] | Industrial robots can solve tasks in controlled environments, but modern applications require robots able to operate also in unpredictable surroundings. An increasingly popular reactive policy architecture in robotics is Behavior Trees (BTs) but as other architectures, programming time drives cost and limits flexibility. The two main branches of algorithms to generate policies automatically, autom... |
RE:BT-Espresso: Improving Interpretability and Expressivity of Behavior Trees Learned from Robot Demonstrations | https://ieeexplore.ieee.org/document/9812046/ | [
"Adam Wathieu",
"Thomas R. Groechel",
"Haemin Jenny Lee",
"Chloe Kuo",
"Maja J. Matarić",
"Adam Wathieu",
"Thomas R. Groechel",
"Haemin Jenny Lee",
"Chloe Kuo",
"Maja J. Matarić"
] | Behavior trees (BTs) are hierarchical agent control architectures popular for robot task-level planning that can be autonomously learned from robot demonstrations via decision tree (DT) intermediaries, making them accessible to non-expert users. Conversion algorithms from DTs to BTs, such as the BT-Espresso algorithm, focus on replicating DT logic in a BT format but do not exploit the strengths of... |
Reinforcement Learning as a Method for Tuning CPG Controllers for Underwater Multi-Fin Propulsion | https://ieeexplore.ieee.org/document/9812128/ | [
"Anthony Drago",
"Gabe Carryon",
"James Tangorra",
"Anthony Drago",
"Gabe Carryon",
"James Tangorra"
] | CPG-Based oscillator networks are increasingly being used to drive multi-limbed robots. To produce effective gaits with these networks, the relationship between the CPG parameters and the characteristics of the gait must be determined. However, due to the nonlinear nature of the oscillators, this relationship is challenging to ascertain. In this work a reinforcement learning algorithm is used to d... |
A Colored Petri Net Model for Control Problem of Border Crossing Under Constraints | https://ieeexplore.ieee.org/document/9811549/ | [
"Hela Kadri",
"Simon Collart-Dutilleul",
"Philippe Bon",
"Rochdi Merzouki",
"Hela Kadri",
"Simon Collart-Dutilleul",
"Philippe Bon",
"Rochdi Merzouki"
] | In this paper, we consider the European Rail Traffic Management System (ERTMS) as a System-of-Systems (SoS) and propose modeling it using colored Petri nets. We formally control the European rail transport, while guaranteeing a set of cross-border security properties. This becomes an essential and challenging task since each of them have mainly developed safety and trackside rules regardless of it... |
Fast Object Inertial Parameter Identification for Collaborative Robots | https://ieeexplore.ieee.org/document/9916213/ | [
"Philippe Nadeau",
"Matthew Giamou",
"Jonathan Kelly",
"Philippe Nadeau",
"Matthew Giamou",
"Jonathan Kelly"
] | Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their flexibility and enable greater usage in manufacturing and other areas. To ensure safety, cobots are subject to kinematic limits that result in low signal-to-noise ratio... |
Foreword | https://ieeexplore.ieee.org/document/9811677/ | [] | |
ICRA 2022 Statistics | https://ieeexplore.ieee.org | [] | |
ICRA 2022 Organizing Committee | https://ieeexplore.ieee.org | [] | ICRA 2022 Organizing Committee |
ICRA 2022 Conference Editorial Board | https://ieeexplore.ieee.org | [] | ICRA 2022 Conference Editorial Board |
ICRA 2022 Reviewers | https://ieeexplore.ieee.org | [] | |
ICRA 2022 Awards and Finalists | https://ieeexplore.ieee.org | [] | ICRA 2022 Awards and Finalists |
ICRA 2022 Sponsors and Partners | https://ieeexplore.ieee.org | [] | ICRA 2022 Sponsors and Partners |
ICRA 2022 Exhibitors | https://ieeexplore.ieee.org | [] | |
ICRA 2022 Plenary and Keynote Speakers | https://ieeexplore.ieee.org/document/9811971/ | [] | |
ICRA 2022 Workshops and Tutorials | https://ieeexplore.ieee.org | [] | ICRA 2022 Workshops and Tutorials |
ICRA 2022 Forums | https://ieeexplore.ieee.org | [] | |
ICRA 2022 Competitions | https://ieeexplore.ieee.org | [] | ICRA 2022 Competitions |
ICRA 2022 Oral presentation sessions overview | https://ieeexplore.ieee.org | [] | ICRA 2022 Oral presentation sessions overview |
Can your drone touch? Exploring the boundaries of consumer-grade multirotors for physical interaction | https://ieeexplore.ieee.org/document/9812187/ | [
"Paul Lassen",
"Matteo Fumagalli",
"Paul Lassen",
"Matteo Fumagalli"
] | Aerial robots have been widely used as sensor carrying platforms in a wide range of application, mainly because using this type of systems for physical interaction seems to be an unsuitable operation. This is not only due to the risk of collision and damage of the platform, but also because it is unclear whether a consumer-grade UAV can withstand physical contact with the environment. In this pape... |
A Multi-VTOL Modular Aspect Ratio Reconfigurable Aerial Robot | https://ieeexplore.ieee.org/document/9811542/ | [
"Stephen J. Carlson",
"Prateek Arora",
"Christos Papachristos",
"Stephen J. Carlson",
"Prateek Arora",
"Christos Papachristos"
] | This work presents a novel Aspect Ratio-Modular Vertical Take-Off and Landing (ARM-VTOL) aerial robot, which is a meta-aircraft composed of two or more TiltRotor hybrid aircraft systems capable of magnetically being coupled during hovering flight, and of executing VTOL / Fixed-Wing hybrid missions once combined. The proposed meta-aircraft system carries the advantage of improved aerodynamic effici... |
Elastic Tracker: A Spatio-temporal Trajectory Planner for Flexible Aerial Tracking | https://ieeexplore.ieee.org/document/9811688/ | [
"Jialin Ji",
"Neng Pan",
"Chao Xu",
"Fei Gao",
"Jialin Ji",
"Neng Pan",
"Chao Xu",
"Fei Gao"
] | This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is designed. Then an occlusion-aware path finding method is proposed to provide a proper topology. A smart safe flight corridor generation strategy is designed with... |
Aerial Manipulation Using Contact with the Environment by Thrust Vectorable Multilinked Aerial Robot | https://ieeexplore.ieee.org/document/9811948/ | [
"Nobuki Sugito",
"Moju Zhao",
"Tomoki Anzai",
"Takuzumi Nishio",
"Kei Okada",
"Masayuki Inaba",
"Nobuki Sugito",
"Moju Zhao",
"Tomoki Anzai",
"Takuzumi Nishio",
"Kei Okada",
"Masayuki Inaba"
] | In recent years, an increasing number of research works have been focusing on the manipulation by aerial robots. Previous works using aerial robots with robotic arms have two problems: underactuation and external disturbances. We propose the fully-actuated control method and motion strategy using contact with the environment to solve these problems, along with the mechanical approach required. Fir... |
Evolved neuromorphic radar-based altitude controller for an autonomous open-source blimp | https://ieeexplore.ieee.org/document/9812149/ | [
"Marina González-Álvarez",
"Julien Dupeyroux",
"Federico Corradi",
"Guido C.H.E. De Croon",
"Marina González-Álvarez",
"Julien Dupeyroux",
"Federico Corradi",
"Guido C.H.E. De Croon"
] | Robotic airships offer significant advantages in terms of safety, mobility, and extended flight times. However, their highly restrictive weight constraints pose a major challenge regarding the available computational resources to perform the required control tasks. Neuromorphic computing stands for a promising research direction for addressing such problem. By mimicking the biological process for ... |
Prediction of Metacarpophalangeal Joint Angles and Classification of Hand Configurations Based on Ultrasound Imaging of the Forearm | https://ieeexplore.ieee.org/document/9812287/ | [
"Keshav Bimbraw",
"Christopher J. Nycz",
"Matthew J. Schueler",
"Ziming Zhang",
"Haichong K. Zhang",
"Keshav Bimbraw",
"Christopher J. Nycz",
"Matthew J. Schueler",
"Ziming Zhang",
"Haichong K. Zhang"
] | With the advancement in computing and robotics, it is necessary to develop fluent and intuitive methods for inter-acting with digital systems, augmented/virtual reality (AR/VR) interfaces, and physical robotic systems. Hand movement recognition is widely used to enable such interaction. Hand configuration classification and metacarpophalangeal (MCP) joint angle detection are important for a compre... |
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning | https://ieeexplore.ieee.org/document/9811859/ | [
"Jun Lv",
"Qiaojun Yu",
"Lin Shao",
"Wenhai Liu",
"Wenqiang Xu",
"Cewu Lu",
"Jun Lv",
"Qiaojun Yu",
"Lin Shao",
"Wenhai Liu",
"Wenqiang Xu",
"Cewu Lu"
] | Building general-purpose robots to perform a diverse range of tasks in a large variety of environments in the physical world at the human level is extremely challenging. According to [1], it requires the robot learning to be sample-efficient, generalizable, compositional, and incremental. In this work, we introduce a systematic learning framework called SAGCI-system towards achieving these above f... |
A Method for Designing Autonomous Robots that Know Their Limits | https://ieeexplore.ieee.org/document/9812030/ | [
"Alvika Gautam",
"Tim Whiting",
"Xuan Cao",
"Michael A. Goodrich",
"Jacob W. Crandall",
"Alvika Gautam",
"Tim Whiting",
"Xuan Cao",
"Michael A. Goodrich",
"Jacob W. Crandall"
] | While the design of autonomous robots often emphasizes developing proficient robots, another important attribute of autonomous robot systems is their ability to evaluate their own proficiency and limitations. A robot should be able to assess how well it can perform a task before, during, and after it attempts the task. Thus, we consider the following question: How can we design autonomous robots t... |
Task Persistification for Robots with Control-Dependent Energy Dynamics | https://ieeexplore.ieee.org/document/9812208/ | [
"Carmen Jimenez Cortes",
"Magnus Egerstedt",
"Carmen Jimenez Cortes",
"Magnus Egerstedt"
] | This paper presents a solution to the problem of executing robotic tasks over time horizons that exceed the robot's total battery capacity. In the presented robotics application, the robot's mission is to satisfy two tasks: environmental exploration and environmental monitoring, both of which need to be executed over long time periods. These tasks need therefore to be persistified. Ensuring the lo... |
Charting the trade-off between design complexity and plan execution under probabilistic actions | https://ieeexplore.ieee.org/document/9811751/ | [
"Fatemeh Zahra Saberifar",
"Dylan A. Shell",
"Jason M. O'Kane",
"Fatemeh Zahra Saberifar",
"Dylan A. Shell",
"Jason M. O'Kane"
] | Practical robot designs must strike a compromise between fabrication/manufacture cost and anticipated execution performance. Compared to parsimonious designs, more capable (and hence more expensive) robots generally achieve their ends with greater efficiency. This paper examines how the roboticist might explore the space of designs to gain an understanding of such trade-offs. We focus, specificall... |
Towards Dynamic Visual Servoing for Interaction Control and Moving Targets | https://ieeexplore.ieee.org/document/9812081/ | [
"Alexander Antonio Oliva",
"Erwin Aertbeliën",
"Joris De Schutter",
"Paolo Robuffo Giordano",
"François Chaumette",
"Alexander Antonio Oliva",
"Erwin Aertbeliën",
"Joris De Schutter",
"Paolo Robuffo Giordano",
"François Chaumette"
] | In this work we present our results on dynamic visual servoing for the case of moving targets while also exploring the possibility of using such a controller for interaction with the environment. We illustrate the derivation of a feature space impedance controller for tracking a moving object as well as an Extended Kalman Filter based on the visual servoing kinematics for increasing the rate of th... |
An Agile Bicycle-like Robot for Complex Steel Structure Inspection | https://ieeexplore.ieee.org/document/9812153/ | [
"Son Thanh Nguyen",
"Hai Nguyen",
"Son Tien Bui",
"Van Anh Ho",
"Trung Dung Ngo",
"Hung Manh La",
"Son Thanh Nguyen",
"Hai Nguyen",
"Son Tien Bui",
"Van Anh Ho",
"Trung Dung Ngo",
"Hung Manh La"
] | This paper presents a simple but compact design of a bicycle-like robot for inspecting complex-shaped ferromagnetic structures. The design concept for versatile locomotion relies on two independently steered magnetic wheels formed in a bicycle-like configuration, allowing the robot to possess multi-directional mobility. The key feature of a reciprocating mechanism enables the robot to change its s... |
CCRobot-V: A Silkworm-Like Cooperative Cable-Climbing Robotic System for Cable Inspection and Maintenance | https://ieeexplore.ieee.org/document/9811603/ | [
"Zhenliang Zheng",
"Ning Ding",
"Huaping Chen",
"Xiaoli Hu",
"Zhihao Zhu",
"Xueqi Fu",
"Wenchao Zhang",
"Lin Zhang",
"Sarsenbek Hazken",
"Ziya Wang",
"Min Zhao",
"Zhenliang Zheng",
"Ning Ding",
"Huaping Chen",
"Xiaoli Hu",
"Zhihao Zhu",
"Xueqi Fu",
"Wenchao Zhang",
"Lin Zhang",
"Sarsenbek Hazken",
"Ziya Wang",
"Min Zhao"
] | This paper presents CCRobot-V, the fifth version of CCRobot, a cooperative serial multi-robot system for bridge cable inspection and maintenance that uses silkworm-like locomotion to climb the entire length of super-long stay cable at high speeds while carrying heavy inspection/maintenance equipment. CCRobot-V consists of one climbing precursor robot, one inspection/maintenance robot, several cabl... |
Learning to Navigate by Pushing | https://ieeexplore.ieee.org/document/9812194/ | [
"Cornelia Bauer",
"Dominik Bauer",
"Alisa Allaire",
"Christopher G. Atkeson",
"Nancy Pollard",
"Cornelia Bauer",
"Dominik Bauer",
"Alisa Allaire",
"Christopher G. Atkeson",
"Nancy Pollard"
] | In this work, we investigate a form of dynamic contact-rich locomotion in which a robot pushes off from obstacles in order to move through its environment. We present a reflex-based approach that switches between optimized hand-crafted reflex controllers and produces smooth and predictable motions. In contrast to previous work, our approach does not rely on periodic movements, complex models of ro... |
Online Optimal Landing Control of the MIT Mini Cheetah | https://ieeexplore.ieee.org/document/9811796/ | [
"Se Hwan Jeon",
"Sangbae Kim",
"Donghyun Kim",
"Se Hwan Jeon",
"Sangbae Kim",
"Donghyun Kim"
] | Quadrupedal landing is a complex process involving large impacts, elaborate contact transitions, and is a crucial recovery behavior observed in many biological animals. This work presents a real-time, optimal landing controller that is free of pre-specified contact schedules. The controller determines optimal touchdown postures and reaction force profiles and is able to recover from a variety of f... |
Modeling, Validation, and Design Investigation of a Passive Biped Walker with Knees and Biomimetic Feet | https://ieeexplore.ieee.org/document/9812129/ | [
"Aikaterini Smyrli",
"Evangelos Papadopoulos",
"Aikaterini Smyrli",
"Evangelos Papadopoulos"
] | This paper studies a passive biped walker with knees and biomimetic feet and its behavior, as a function of key parameters. The model includes a continuous dynamic representation of the knee joint's interaction with a viscoelastic kneecap, as well as a complete kinematic description of feet that are designed to mimic the human rollover shape. First, the analytical model is derived and studied nume... |
A Mathematical Design for a Novel Walking Support Device that Leverages Passive Dynamics and Coupling Effects | https://ieeexplore.ieee.org/document/9811958/ | [
"Longchuan Li",
"Shugen Ma",
"Isao Tokuda",
"Makoto Nokata",
"Yang Tian",
"Liang Du",
"Zhiqing Li",
"Longchuan Li",
"Shugen Ma",
"Isao Tokuda",
"Makoto Nokata",
"Yang Tian",
"Liang Du",
"Zhiqing Li"
] | This paper mathematically conceives a novel walking support device that leverages passive dynamics and coupling effects. In this model, a passive human walker is flexibly connected to an active humanoid, where the coupling effect induces a stable walking gait of the human. To understand the key mechanism of such indirect gait regulation, different actuation modes are designed for the humanoid and ... |
Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics | https://ieeexplore.ieee.org/document/9812053/ | [
"Sharfin Islam",
"Kamal Carter",
"Justin Yim",
"James Kyle",
"Sarah Bergbreiter",
"Aaron M. Johnson",
"Sharfin Islam",
"Kamal Carter",
"Justin Yim",
"James Kyle",
"Sarah Bergbreiter",
"Aaron M. Johnson"
] | We present simplified 2D dynamic models of the 3D, passive dynamic inspired walking gait of a physical quasi-passive walking robot. Quasi-passive walkers are robots that integrate passive walking principles and some form of actuation. Our ultimate goal is to better understand the dynamics of actuated walking in order to create miniature, untethered, bipedal walking robots. At these smaller scales ... |
Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots | https://ieeexplore.ieee.org/document/9812317/ | [
"Marco Kanneworff",
"Tommaso Belvedere",
"Nicola Scianca",
"Filippo M. Smaldone",
"Leonardo Lanari",
"Giuseppe Oriolo",
"Marco Kanneworff",
"Tommaso Belvedere",
"Nicola Scianca",
"Filippo M. Smaldone",
"Leonardo Lanari",
"Giuseppe Oriolo"
] | We present a whole-body control architecture for the generation of stable task-oriented motions in Wheeled Inverted Pendulum (WIP) robots. Controlling WIP systems is challenging because the successful execution of tasks is subordinate to the ability to maintain balance. Our feedback control approach relies both on partial feedback linearization and Model Predictive Control (MPC). The partial feedb... |
Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach | https://ieeexplore.ieee.org/document/9811536/ | [
"Ibrahim Ibrahim",
"Farbod Farshidian",
"Jan Preisig",
"Perry Franklin",
"Paolo Rocco",
"Marco Hutter",
"Ibrahim Ibrahim",
"Farbod Farshidian",
"Jan Preisig",
"Perry Franklin",
"Paolo Rocco",
"Marco Hutter"
] | This paper introduces a novel approach for whole-body motion planning and dynamic occlusion avoidance. The proposed approach reformulates the visibility constraint as a likelihood maximization of visibility probability. In this formulation, we augment the primary cost function of a whole-body model predictive control scheme through a relaxed log barrier function yielding a relaxed log-likelihood m... |
Whole-Body Control of Series-Parallel Hybrid Robots | https://ieeexplore.ieee.org/document/9811616/ | [
"Dennis Mronga",
"Shivesh Kumar",
"Frank Kirchner",
"Dennis Mronga",
"Shivesh Kumar",
"Frank Kirchner"
] | Parallel mechanisms are becoming increasingly popular as subsystems in various robots due to their superior stiffness, payload-to-weight ratio, and dynamic properties. The serial connection of parallel subsystems leads to series-parallel hybrid robots, which are more difficult to model and control than serial or tree-type systems. At the same time, Whole-Body Control (WBC) has become the method of... |
Omni-Roach: A Legged Robot Capable of Traversing Multiple Types of Large Obstacles and Self-Righting | https://ieeexplore.ieee.org/document/9811372/ | [
"Jonathan Mi",
"Yaqing Wang",
"Chen Li",
"Jonathan Mi",
"Yaqing Wang",
"Chen Li"
] | Robots excel at avoiding obstacles but struggle to traverse complex 3-D terrain with cluttered large obstacles. By contrast, insects like cockroaches excel at doing so. Recent research in our lab elucidated how locomotor transitions emerge from locomotor-environment interaction for diverse locomotor challenges abstracted from complex 3-D terrain and the strategies to overcome them. Here we built o... |
Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity | https://ieeexplore.ieee.org/document/9811857/ | [
"Miaoying Zhou",
"Xinyu Zhang",
"Miaoying Zhou",
"Xinyu Zhang"
] | We present a fast collision checking/avoidance algorithm for collaborative robot arms that work in close proximity. We formulate forward kinematics and separating distance function using DH convention and Taylor models (the tight enclosure of a function), and then compute their tight bounds for determining interference between robot arms. Our algorithm allows the collaborative robot arms to perfor... |
DPMPC-Planner: A real-time UAV trajectory planning framework for complex static environments with dynamic obstacles | https://ieeexplore.ieee.org/document/9811886/ | [
"Zhefan Xu",
"Di Deng",
"Yiping Dong",
"Kenji Shimada",
"Zhefan Xu",
"Di Deng",
"Yiping Dong",
"Kenji Shimada"
] | Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation in complex static environments with sophisticated mapping algorithms, such as occupancy map and ESDF map, these methods cannot reliably handle dynamic environme... |
Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems | https://ieeexplore.ieee.org/document/9811875/ | [
"Matthew King–Smith",
"Panagiotis Tsiotras",
"Frank Dellaert",
"Matthew King–Smith",
"Panagiotis Tsiotras",
"Frank Dellaert"
] | We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning and trajectory estimation navigation technique generates optimal collision-free state and control trajectories for autonomous vehicles when the obstacle motion mo... |
Collision Avoidance for Multiple Quadrotors Using Elastic Safety Clearance Based Model Predictive Control | https://ieeexplore.ieee.org/document/9811659/ | [
"Tao Jin",
"Xinghu Wang",
"Haibo Ji",
"Jian Di",
"Han Yan",
"Tao Jin",
"Xinghu Wang",
"Haibo Ji",
"Jian Di",
"Han Yan"
] | When multiple quadrotors fly in a cluttered environment, collision-free flight must be assured. In this paper, we propose a novel elastic safety clearance based model predictive control (ESC-MPC) for multiple maneuverable quadrotors to avoid collisions in the presence of disturbance. This is accomplished through leveraging tube based model predictive control to maintain the quadrotor in a tube of ... |
Improving the Feasibility of DS-based Collision Avoidance Using Non-Linear Model Predictive Control | https://ieeexplore.ieee.org/document/9811700/ | [
"Saverio Farsoni",
"Alessio Sozzi",
"Marco Minelli",
"Cristian Secchi",
"Marcello Bonfé",
"Saverio Farsoni",
"Alessio Sozzi",
"Marco Minelli",
"Cristian Secchi",
"Marcello Bonfé"
] | In this paper we present a novel strategy for reactive collision-free feasible motion planning for robotic manipulators operating inside an environment populated by moving obstacles. The proposed strategy embeds the Dynamical System (DS) based obstacle avoidance algorithm into a constrained non-linear optimization problem following the Model Predictive Control (MPC) approach. The solution of the p... |
Learning to Socially Navigate in Pedestrian-rich Environments with Interaction Capacity | https://ieeexplore.ieee.org/document/9811662/ | [
"Quecheng Qiu",
"Shunyi Yao",
"Jing Wang",
"Jun Ma",
"Guangda Chen",
"Jianmin Ji",
"Quecheng Qiu",
"Shunyi Yao",
"Jing Wang",
"Jun Ma",
"Guangda Chen",
"Jianmin Ji"
] | Existing navigation policies for autonomous robots tend to focus on collision avoidance while ignoring human-robot interactions in social life. For instance, robots can pass along the corridor safer and easier if pedestrians notice them. Sounds have been considered as an efficient way to attract the attention of pedestrians, which can alleviate the freezing robot problem. In this work, we present ... |
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions | https://ieeexplore.ieee.org/document/9812334/ | [
"Akshay Thirugnanam",
"Jun Zeng",
"Koushil Sreenath",
"Akshay Thirugnanam",
"Jun Zeng",
"Koushil Sreenath"
] | Obstacle avoidance between polytopes is a chal-lenging topic for optimal control and optimization-based tra-jectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simpli-fication of system dynamics, or through model predictive control with dual variables using distance constraints, requiring long horizons for obstacle avoidance. In either... |
Nearest-Neighbor-based Collision Avoidance for Quadrotors via Reinforcement Learning | https://ieeexplore.ieee.org/document/9812221/ | [
"Ramzi Ourari",
"Kai Cui",
"Ahmed Elshamanhory",
"Heinz Koeppl",
"Ramzi Ourari",
"Kai Cui",
"Ahmed Elshamanhory",
"Heinz Koeppl"
] | Collision avoidance algorithms are of central interest to many drone applications. In particular, decentralized approaches may be the key to enabling robust drone swarm solutions in cases where centralized communication becomes computationally prohibitive. In this work, we draw biological inspiration from flocks of starlings (Sturnus vulgaris) and apply the insight to end-to-end learned decentrali... |
Fully Persistent Spatial Data Structures for Efficient Queries in Path-Dependent Motion Planning Applications | https://ieeexplore.ieee.org/document/9812173/ | [
"Sathwik Karnik",
"Tomás Lozano-Pérez",
"Leslie Pack Kaelbling",
"Gustavo Nunes Goretkin",
"Sathwik Karnik",
"Tomás Lozano-Pérez",
"Leslie Pack Kaelbling",
"Gustavo Nunes Goretkin"
] | Motion planning is a ubiquitous problem that is often a bottleneck in robotic applications. We demonstrate that motion planning problems such as minimum constraint removal, belief-space planning, and visibility-aware motion planning (VAMP) benefit from a path-dependent formulation, in which the state at a search node is represented implicitly by the path to that node. A naïve approach to computing... |
Iterative Mesh Modification Planning: A new Method for Automatic Disassembly Planning of Complex Industrial Components | https://ieeexplore.ieee.org/document/9812116/ | [
"Robert Hegewald",
"Nicola Wolpert",
"Elmar Schömer",
"Robert Hegewald",
"Nicola Wolpert",
"Elmar Schömer"
] | Automatic disassembly planning for complex industrial products like vehicles checks the expandability of components already at early stages of design. For a fast computation of collision-free disassembly paths, sampling-based rigid body motion planning is used in the literature. However, in real-world scenarios there are circumstances that prevent the finding of plausible collision-free disassembl... |
SPIN Road Mapper: Extracting Roads from Aerial Images via Spatial and Interaction Space Graph Reasoning for Autonomous Driving | https://ieeexplore.ieee.org/document/9812134/ | [
"Wele Gedara Chaminda Bandara",
"Jeya Maria Jose Valanarasu",
"Vishal M. Patel",
"Wele Gedara Chaminda Bandara",
"Jeya Maria Jose Valanarasu",
"Vishal M. Patel"
] | Road extraction is an essential step in building autonomous navigation systems. Detecting road segments is challenging as they are of varying widths, bifurcated throughout the image, and are often occluded by terrain, cloud, or other weather conditions. Using just convolution neural networks (ConvNets) for this problem is not effective as it is inefficient at capturing distant dependencies between... |
Object Insertion Based Data Augmentation for Semantic Segmentation | https://ieeexplore.ieee.org/document/9811816/ | [
"Yuan Ren",
"Siyan Zhao",
"Liu Bingbing",
"Yuan Ren",
"Siyan Zhao",
"Liu Bingbing"
] | Neural network used for the LiDAR semantic segmentation task needs the point-wise labeled point clouds for training, which is more expensive than bounding box annotations. Enhancing the diversity of training data through object insertion is an effective method to reduce labeling costs. The existing object insertion methods are mainly divided into two categories. First is “copy” the clusters from a... |
Depth Estimation Matters Most: Improving Per-Object Depth Estimation for Monocular 3D Detection and Tracking | https://ieeexplore.ieee.org/document/9811749/ | [
"Longlong Jing",
"Ruichi Yu",
"Henrik Kretzschmar",
"Kang Li",
"Charles R. Qi",
"Hang Zhao",
"Alper Ayvaci",
"Xu Chen",
"Dillon Cower",
"Yingwei Li",
"Yurong You",
"Han Deng",
"Congcong Li",
"Dragomir Anguelov",
"Longlong Jing",
"Ruichi Yu",
"Henrik Kretzschmar",
"Kang Li",
"Charles R. Qi",
"Hang Zhao",
"Alper Ayvaci",
"Xu Chen",
"Dillon Cower",
"Yingwei Li",
"Yurong You",
"Han Deng",
"Congcong Li",
"Dragomir Anguelov"
] | Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior performance when compared to LiDAR-based techniques. Through systematic analysis, we identified that per-object depth estimation accuracy is a major factor boundi... |
Approximating the Polynomial System for Effective Relative Pose Estimation | https://ieeexplore.ieee.org/document/9811709/ | [
"Deshun Hu",
"Deshun Hu"
] | Finding relative pose for cameras is of vital importance in computer vision and robotics. We investigate the problem of relative motion estimation between successive frames from a minimal number of correspondences. Existing approximated methods use a first-order approximation to relative pose in order to simplify the problem and produce an estimate quickly. Our solution uses Cayley parameterizatio... |
A Linear Comb Filter for Event Flicker Removal | https://ieeexplore.ieee.org/document/9812003/ | [
"Ziwei Wang",
"Dingran Yuan",
"Yonhon Ng",
"Robert Mahony",
"Ziwei Wang",
"Dingran Yuan",
"Yonhon Ng",
"Robert Mahony"
] | Event cameras are bio-inspired sensors that capture per-pixel asynchronous intensity change rather than the synchronous absolute intensity frames captured by a classical camera sensor. Such cameras are ideal for robotics applications since they have high temporal resolution, high dynamic range and low latency. However, due to their high temporal resolution, event cameras are particularly sensitive... |
Towards Robust Part-aware Instance Segmentation for Industrial Bin Picking | https://ieeexplore.ieee.org/document/9811728/ | [
"Yidan Feng",
"Biqi Yang",
"Xianzhi Li",
"Chi-Wing Fu",
"Rui Cao",
"Kai Chen",
"Qi Dou",
"Mingqiang Wei",
"Yun-Hui Liu",
"Pheng-Ann Heng",
"Yidan Feng",
"Biqi Yang",
"Xianzhi Li",
"Chi-Wing Fu",
"Rui Cao",
"Kai Chen",
"Qi Dou",
"Mingqiang Wei",
"Yun-Hui Liu",
"Pheng-Ann Heng"
] | Industrial bin picking is a challenging task that requires accurate and robust segmentation of individual object instances. Particularly, industrial objects can have irregular shapes, that is, thin and concave, whereas in bin-picking scenarios, objects are often closely packed with strong occlusion. To address these challenges, we formulate a novel part-aware instance segmentation pipeline. The ke... |
Learning Local Event-based Descriptor for Patch-based Stereo Matching | https://ieeexplore.ieee.org/document/9811687/ | [
"Peigen Liu",
"Guang Chen",
"Zhijun Li",
"Huajin Tang",
"Alois Knoll",
"Peigen Liu",
"Guang Chen",
"Zhijun Li",
"Huajin Tang",
"Alois Knoll"
] | Stereo matching is an indispensable function that enables machine vision system to obtain depth information of its environment. However, most of existing algorithms rely on conventional camera, which follows the frame-based scheme and has several shortcomings: low dynamic range, low temporal resolution and high power consumption. To address these issues, we propose two novel patch-based stereo mat... |
Stable 3D Human Pose Estimation in Low- Resolution Videos with a Few Views | https://ieeexplore.ieee.org/document/9812382/ | [
"Chihiro Nakatsuka",
"Satoshi Komorita",
"Chihiro Nakatsuka",
"Satoshi Komorita"
] | We discuss the problem of 3D pose estimation for multi-view videos. With previous frame-by-frame multi-view methods, it has been difficult to achieve stable estimation under challenging settings such as low-resolution or with only a few views. Temporal approaches are effective ways of addressing such problems, but enforcing temporal consistency with neigh-boring frames sometimes damages the precis... |
Learning Multi-Task Transferable Rewards via Variational Inverse Reinforcement Learning | https://ieeexplore.ieee.org/document/9811697/ | [
"Se-Wook Yoo",
"Seung-Woo Seo",
"Se-Wook Yoo",
"Seung-Woo Seo"
] | Many robotic tasks are composed of a lot of temporally correlated sub-tasks in a highly complex environment. It is important to discover situational intentions and proper actions by deliberating on temporal abstractions to solve problems effectively. To understand the intention separated from changing task dynamics, we extend an empowerment-based regularization technique to situations with multipl... |
Learning from Imperfect Demonstrations via Adversarial Confidence Transfer | https://ieeexplore.ieee.org/document/9811891/ | [
"Zhangjie Cao",
"Zihan Wang",
"Dorsa Sadigh",
"Zhangjie Cao",
"Zihan Wang",
"Dorsa Sadigh"
] | Existing learning from demonstration algorithms usually assume access to expert demonstrations. However, this assumption is limiting in many real-world applications since the collected demonstrations may be suboptimal or even consist of failure cases. We therefore study the problem of learning from imperfect demonstrations by learning a confidence predictor. Specifically, we rely on demonstrations... |
OPIRL: Sample Efficient Off-Policy Inverse Reinforcement Learning via Distribution Matching | https://ieeexplore.ieee.org/document/9811660/ | [
"Hana Hoshino",
"Kei Ota",
"Asako Kanezaki",
"Rio Yokota",
"Hana Hoshino",
"Kei Ota",
"Asako Kanezaki",
"Rio Yokota"
] | Inverse Reinforcement Learning (IRL) is attractive in scenarios where reward engineering can be tedious. However, prior IRL algorithms use on-policy transitions, which require intensive sampling from the current policy for stable and optimal performance. This limits IRL applications in the real world, where environment interactions can become highly expensive. To tackle this problem, we present Of... |
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