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Deep Bayesian ICP Covariance Estimation | https://ieeexplore.ieee.org/document/9811899/ | [
"Andrea De Maio",
"Simon Lacroix",
"Andrea De Maio",
"Simon Lacroix"
] | Covariance estimation for the Iterative Closest Point (ICP) point cloud registration algorithm is essential for state estimation and sensor fusion purposes. We argue that a major source of error for ICP is in the input data itself, from the sensor noise to the scene geometry. Benefiting from recent developments in deep learning for point clouds, we propose a data-driven approach to learn an error ... |
UFO Depth: Unsupervised learning with flow-based odometry optimization for metric depth estimation | https://ieeexplore.ieee.org/document/9812374/ | [
"Vlad Licăret",
"Victor Robu",
"Alina Marcu",
"Dragoş Costea",
"Emil Sluşanschi",
"Rahul Sukthankar",
"Marius Leordeanu",
"Vlad Licăret",
"Victor Robu",
"Alina Marcu",
"Dragoş Costea",
"Emil Sluşanschi",
"Rahul Sukthankar",
"Marius Leordeanu"
] | We propose an efficient method for unsupervised learning of metric depth estimation from a single image in the context of unconstrained videos captured from UAVs. We combine the accuracy of an analytical solution based on odometry with the power of deep learning. First, we show how to correct the noisy odometric measurements by optimizing the alignment between the derotated optical flow and the pr... |
f-Cal: Aleatoric uncertainty quantification for robot perception via calibrated neural regression | https://ieeexplore.ieee.org/document/9811903/ | [
"Dhaivat Bhatt",
"Kaustubh Mani",
"Dishank Bansal",
"Krishna Murthy",
"Hanju Lee",
"Liam Paull",
"Dhaivat Bhatt",
"Kaustubh Mani",
"Dishank Bansal",
"Krishna Murthy",
"Hanju Lee",
"Liam Paull"
] | While modern deep neural networks are performant perception modules, performance (accuracy) alone is insufficient, particularly for safety-critical robotic applications such as self-driving vehicles. Robot autonomy stacks also require these otherwise blackbox models to produce reliable and calibrated measures of confidence on their predictions. Existing approaches estimate uncertainty from these n... |
Monocular Depth Distribution Alignment with Low Computation | https://ieeexplore.ieee.org/document/9811937/ | [
"Fei Sheng",
"Feng Xue",
"Yicong Chang",
"Wenteng Liang",
"Anlong Ming",
"Fei Sheng",
"Feng Xue",
"Yicong Chang",
"Wenteng Liang",
"Anlong Ming"
] | The performance of monocular depth estimation generally depends on the amount of parameters and computational cost. It leads to a large accuracy contrast between light-weight networks and heavy-weight networks, which limits their application in the real world. In this paper, we model the majority of accuracy contrast between them as the difference of depth distribution, which we call 'Distribution... |
Vision-based Ascending Staircase Detection with Interpretable Classification Model for Stair Climbing Robots | https://ieeexplore.ieee.org/document/9812456/ | [
"Kangneoung Lee",
"Vishnu Kalyanram",
"Chuanqi Zhengl",
"Siddharth Sane",
"Kiju Lee",
"Kangneoung Lee",
"Vishnu Kalyanram",
"Chuanqi Zhengl",
"Siddharth Sane",
"Kiju Lee"
] | Robots capable of traversing flights of stairs play an important role in both indoor and outdoor applications. The capability of accurately identifying a staircase is one of the vital technical functions in these robots. This paper presents a vision-based ascending stair detection algorithm using RGB-Depth (RGB-D) data based on an interpretable model. The method follows the four steps: 1) pre-proc... |
Temporally-Aggregating Multiple-Discontinuous-Image Saliency Prediction with Transformer-Based Attention | https://ieeexplore.ieee.org/document/9811544/ | [
"Pin-Jie Huang",
"Chi-An Lu",
"Kuan-Wen Chen",
"Pin-Jie Huang",
"Chi-An Lu",
"Kuan-Wen Chen"
] | In this paper, we aim to apply deep saliency prediction to automatic drone exploration, which should consider not only one single image, but multiple images from different view angles or localizations in order to determine the exploration direction. However, little attention has been paid to such saliency prediction problem over multiple-discontinuous-image and none of existing methods take tempor... |
Convex Model Predictive Control of Single Rigid Body Model on SO(3) for Versatile Dynamic Legged Motions | https://ieeexplore.ieee.org/document/9811926/ | [
"Junjie Shen",
"Dennis Hong",
"Junjie Shen",
"Dennis Hong"
] | This paper presents a convex model predictive control framework for versatile dynamic legged motions with negligible leg dynamics. The framework utilizes the single rigid body model linearly approximated around the operating point. With ground reaction forces as direct control inputs to the system, no reference control trajectory needs to be specified in advance. By using the rotation matrix for t... |
Planning Natural Locomotion for Articulated Soft Quadrupeds | https://ieeexplore.ieee.org/document/9812416/ | [
"Mathew Jose Pollayil",
"Cosimo Della Santina",
"George Mesesan",
"Johannes Englsberger",
"Daniel Seidel",
"Manolo Garabini",
"Christian Ott",
"Antonio Bicchi",
"Alin Albu-Schaffer",
"Mathew Jose Pollayil",
"Cosimo Della Santina",
"George Mesesan",
"Johannes Englsberger",
"Daniel Seidel",
"Manolo Garabini",
"Christian Ott",
"Antonio Bicchi",
"Alin Albu-Schaffer"
] | Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planning method that aims to unify traditional trajectory generation with modal oscillations. Our method u... |
Hybrid Event Shaping to Stabilize Periodic Hybrid Orbits | https://ieeexplore.ieee.org/document/9811782/ | [
"James Zhu",
"Nathan J. Kong",
"George Council",
"Aaron M. Johnson",
"James Zhu",
"Nathan J. Kong",
"George Council",
"Aaron M. Johnson"
] | Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied phenomena such as the Raibert stepping controller, paddle juggling, and swing leg retraction. This work introduces hybrid event shaping (HES): a generalized method for analyzing and designing stable hybrid event controlle... |
Humanoid Arm Motion Planning for Improved Disturbance Recovery Using Model Hierarchy Predictive Control | https://ieeexplore.ieee.org/document/9811878/ | [
"Charles Khazoom",
"Sangbae Kim",
"Charles Khazoom",
"Sangbae Kim"
] | Humans noticeably swing their arms for balancing and locomotion. Although the underlying biomechanical mechanisms have been studied, it is unclear how robots can fully take advantage of these appendages. Most controllers that exploit arms for balance and locomotion rely on feedback and cannot anticipate incoming disturbances and future states. Model predictive controllers readily address these dra... |
Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train | https://ieeexplore.ieee.org/document/9811755/ | [
"Young-Ha Shin",
"Seungwoo Hong",
"Sangyoung Woo",
"JongHun Choe",
"Harim Son",
"Gijeong Kim",
"Joon-Ha Kim",
"KangKyu Lee",
"Jemin Hwangbo",
"Hae-Won Park",
"Young-Ha Shin",
"Seungwoo Hong",
"Sangyoung Woo",
"JongHun Choe",
"Harim Son",
"Gijeong Kim",
"Joon-Ha Kim",
"KangKyu Lee",
"Jemin Hwangbo",
"Hae-Won Park"
] | This paper introduces a design method for an efficient and agile quadruped robot. A mixed-integer optimization formulation including the number of gear teeth is derived to obtain the optimal gear ratio that minimizes cost for a running-trot with the target speed of 3 m/s. With the inclusion of integer constraints related to the number of gear teeth, detailed design considerations of gear trains ca... |
Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping | https://ieeexplore.ieee.org/document/9812088/ | [
"Matthew Chignoli",
"Savva Morozov",
"Sangbae Kim",
"Matthew Chignoli",
"Savva Morozov",
"Sangbae Kim"
] | Dynamic jumping with legged robots poses a challenging problem in planning and control. Formulating the jump optimization to allow fast online execution is difficult; efficiently using this capability to generate long-horizon motion plans further complicates the problem. In this work, we present a hierarchical planning framework to address this problem. We first formulate a real-time tractable tra... |
Nonprehensile Object Transportation with a Legged Manipulator | https://ieeexplore.ieee.org/document/9811810/ | [
"Viviana Morlando",
"Mario Selvaggio",
"Fabio Ruggiero",
"Viviana Morlando",
"Mario Selvaggio",
"Fabio Ruggiero"
] | This paper tackles the problem of nonprehensile object transportation through a legged manipulator. A whole-body control architecture is devised to prevent sliding of the object placed on the tray at the manipulator's end-effector and retain the legged robot balance during walking. The controller solves a quadratic optimization problem to realize the sought transportation task while maintaining th... |
A Novel Model of Interaction Dynamics between Legged Robots and Deformable Terrain | https://ieeexplore.ieee.org/document/9812351/ | [
"Anthony Vanderkop",
"Navinda Kottege",
"Thierry Peynot",
"Peter Corke",
"Anthony Vanderkop",
"Navinda Kottege",
"Thierry Peynot",
"Peter Corke"
] | Navigating natural environments with deformable terrain is a difficult challenge in robotics. Understanding the interaction dynamics between robots and such terrain is an important first step in enabling them to explore these environments. Terramechanics models are largely developed and tested on wheeled and tracked platforms, but with the advent of readily available lightweight legged robots, dev... |
DURableVS: Data-efficient Unsupervised Recalibrating Visual Servoing via online learning in a structured generative model | https://ieeexplore.ieee.org/document/9811607/ | [
"Nishad Gothoskar",
"Miguel Lazaro-Gredilla",
"Yasemin Bekiroglu",
"Abhishek Agarwal",
"Joshua B. Tenenbaum",
"Vikash K. Mansinghka",
"Dileep George",
"Nishad Gothoskar",
"Miguel Lazaro-Gredilla",
"Yasemin Bekiroglu",
"Abhishek Agarwal",
"Joshua B. Tenenbaum",
"Vikash K. Mansinghka",
"Dileep George"
] | Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods require either precise calibration of the robot kinematic model and cameras or use neural architectures that require large amounts of data to train. In this work, we present a method for unsupervised learning of visual servoing that does not require any... |
Visual Perception of Robot Appearance Attributes in the Peripheral Field of View Depends on Human Observer Eye-Movement Behaviors | https://ieeexplore.ieee.org/document/9811763/ | [
"Kolja Kühnlenz",
"Barbara Kühnlenz",
"Kolja Kühnlenz",
"Barbara Kühnlenz"
] | This paper presents results from a study on the perception of robot attributes by human observers in their peripheral field of view depending on types of eye-movements of the latter. A between-subjects design is used, where a picture of a robot head is presented on a screen in the peripheral field of view of the participants with two conditions of eye-movements: static and pursuit. The two conditi... |
Admittance Control Based Human-in-the-Loop Optimization for Hip Exoskeleton Reduces Human Exertion during Walking | https://ieeexplore.ieee.org/document/9811553/ | [
"Varun Nalam",
"Xikai Tu",
"Minhan Li",
"Jennie Si",
"He Helen Huang",
"Varun Nalam",
"Xikai Tu",
"Minhan Li",
"Jennie Si",
"He Helen Huang"
] | Human-in-the-loop (HIL) optimization usually optimizes assistive torque of exoskeletons to minimize the human's energetic expenditure in walking, quantified by metabolic cost. This formulation can, however, result in altered gait pattern of the human joint from the natural pattern, which is undesired. In this paper, we proposed a novel concept of HIL optimization of a hip exoskeleton. The optimiza... |
Go With the Flow: Energy Minimising Periodic Trajectories for UVMS | https://ieeexplore.ieee.org/document/9811786/ | [
"Wilhelm J. Marais",
"Stefan B. Williams",
"Oscar Pizarro",
"Wilhelm J. Marais",
"Stefan B. Williams",
"Oscar Pizarro"
] | For Underwater Vehicle Manipulator Systems (UVMS), the ability to keep a fixed end effector pose is required for intervention tasks. Maintaining a static configuration in a dynamic underwater environment requires significant amounts of energy over time, limiting the operational time for battery powered systems. In this work we consider learning the periodic components of the dynamic flow in order ... |
ROZZ: Property-based Fuzzing for Robotic Programs in ROS | https://ieeexplore.ieee.org/document/9811701/ | [
"Kai-Tao Xie",
"Jia-Ju Bai",
"Yong-Hao Zou",
"Yu-Ping Wang",
"Kai-Tao Xie",
"Jia-Ju Bai",
"Yong-Hao Zou",
"Yu-Ping Wang"
] | ROS is popular in robotic-software development, and thus detecting bugs in ROS programs is important for modern robots. Fuzzing is a promising technique of runtime testing. But existing fuzzing approaches are limited in testing ROS programs, due to neglecting ROS properties, such as multi-dimensional inputs, temporal features of inputs and the distributed node model. In this paper, we develop a ne... |
Enhancing Data-Driven Reachability Analysis using Temporal Logic Side Information | https://ieeexplore.ieee.org/document/9811706/ | [
"Amr Alanwar",
"Frank J. Jiang",
"Maryam Sharifi",
"Dimos V. Dimarogonas",
"Karl H. Johansson",
"Amr Alanwar",
"Frank J. Jiang",
"Maryam Sharifi",
"Dimos V. Dimarogonas",
"Karl H. Johansson"
] | This paper presents algorithms for performing data-driven reachability analysis under temporal logic side information. In certain scenarios, the data-driven reachable sets of a robot can be prohibitively conservative due to the inherent noise in the robot's historical measurement data. In the same scenarios, we often have side information about the robot's expected motion (e.g., limits on how much... |
Formal Verification of Stochastic Systems with ReLU Neural Network Controllers | https://ieeexplore.ieee.org/document/9811866/ | [
"Shiqi Sun",
"Yan Zhang",
"Xusheng Luo",
"Panagiotis Vlantis",
"Miroslav Pajic",
"Michael M. Zavlanos",
"Shiqi Sun",
"Yan Zhang",
"Xusheng Luo",
"Panagiotis Vlantis",
"Miroslav Pajic",
"Michael M. Zavlanos"
] | In this work, we address the problem of formal safety verification for stochastic cyber-physical systems (CPS) equipped with ReLU neural network (NN) controllers. Our goal is to find the set of initial states from where, with a predetermined confidence, the system will not reach an unsafe configuration within a specified time horizon. Specifically, we consider discrete-time LTI systems with Gaussi... |
Recursive Feasibility Guided Optimal Parameter Adaptation of Differential Convex Optimization Policies for Safety-Critical Systems | https://ieeexplore.ieee.org/document/9812398/ | [
"Hardik Parwana",
"Dimitra Panagou",
"Hardik Parwana",
"Dimitra Panagou"
] | Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier (CBFs) and lyapunov function with a class-$\mathcal{K}$ function of their values, are sensitive to the parameters of these class-$\mathcal{K}$ functions. The construction of valid CBFs, however, is not straightforward, and for arbitrarily chosen parameters of the QP, the... |
Automated Testing With Temporal Logic Specifications for Robotic Controllers Using Adaptive Experiment Design | https://ieeexplore.ieee.org/document/9811579/ | [
"Craig Innes",
"Subramanian Ramamoorthy",
"Craig Innes",
"Subramanian Ramamoorthy"
] | Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of “black-box” components with unknown dynamics, we cannot rely on formal verification to assess our system. Assessing robustness via exhaustive testing is also often infeasible if the number of possible environments is large compared to experiment cos... |
Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games | https://ieeexplore.ieee.org/document/9812243/ | [
"Dennis R. Anthony",
"Duy P. Nguyen",
"David Fridovich-Keil",
"Jaime F. Fisac",
"Dennis R. Anthony",
"Duy P. Nguyen",
"David Fridovich-Keil",
"Jaime F. Fisac"
] | We study the class of reach-avoid dynamic games in which multiple agents interact noncooperatively, and each wishes to satisfy a distinct target criterion while avoiding a failure criterion. Reach-avoid games are commonly used to express safety-critical optimal control problems found in mobile robot motion planning. Here, we focus on finding time-consistent solutions, in which future motion plans ... |
Multi-Robot Persistent Environmental Monitoring Based on Constraint-Driven Execution of Learned Robot Tasks | https://ieeexplore.ieee.org/document/9811673/ | [
"Gennaro Notomista",
"Claudio Pacchierotti",
"Paolo Robuffo Giordano",
"Gennaro Notomista",
"Claudio Pacchierotti",
"Paolo Robuffo Giordano"
] | This paper considers a multi-robot team tasked with monitoring an environmental field of interest over long time horizons. The approach is based on a control-theoretic measure of the information collected by the robots, namely a norm of the constructability Gramian. This measure is leveraged in order to learn a distributed multi-robot control policy using the reinforcement learning paradigm. The l... |
Free-Space Ellipsoid Graphs for Multi-Agent Target Monitoring | https://ieeexplore.ieee.org/document/9812306/ | [
"Aaron Ray",
"Alyssa Pierson",
"Daniela Rus",
"Aaron Ray",
"Alyssa Pierson",
"Daniela Rus"
] | We apply a novel framework for decomposing and reasoning about free space in an environment to a multi-agent persistent monitoring problem. Our decomposition method represents free space as a collection of ellipsoids associated with a weighted connectivity graph. The same ellipsoids used for reasoning about connectivity and distance during high level planning can be used as state constraints in a ... |
ROS2SWARM - A ROS 2 Package for Swarm Robot Behaviors | https://ieeexplore.ieee.org/document/9812417/ | [
"Tanja Katharina Kaiser",
"Marian Johannes Begemann",
"Tavia Plattenteich",
"Lars Schilling",
"Georg Schildbach",
"Heiko Hamann",
"Tanja Katharina Kaiser",
"Marian Johannes Begemann",
"Tavia Plattenteich",
"Lars Schilling",
"Georg Schildbach",
"Heiko Hamann"
] | Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and often require robot-robot communication. Also, the diversity of swarm robot hardware platforms increases the need for hardware-independent software concepts. The ma... |
MOSAIX: a Swarm of Robot Tiles for Social Human-Swarm Interaction | https://ieeexplore.ieee.org/document/9811723/ | [
"Merihan Alhafnawi",
"Edmund R. Hunt",
"Severin Lemaignan",
"Paul O'Dowd",
"Sabine Hauert",
"Merihan Alhafnawi",
"Edmund R. Hunt",
"Severin Lemaignan",
"Paul O'Dowd",
"Sabine Hauert"
] | MOSAIX is a new robot swarm platform built to be used in social settings. Consisting of up to 100 individual robot Tiles, MOSAIX is a social swarm system, aimed at helping humans in social tasks such as opinion-mixing and brainstorming. MOSAIX also has the potential to be used as a platform to study human-swarm interaction and swarm expressivity. MOSAIX is intended to be used outside laboratory se... |
Multi-Operator Control of Connectivity-Preserving Robot Swarms Using Supervisory Control Theory | https://ieeexplore.ieee.org/document/9812242/ | [
"Genki Miyauchi",
"Yuri K. Lopes",
"Roderich Groß",
"Genki Miyauchi",
"Yuri K. Lopes",
"Roderich Groß"
] | Involving human operators to support swarms of robots can be beneficial to address increasingly complex scenarios. However, the shared control between multiple operators remains a challenge, especially where communication between the operators is not available. This paper studies the problem of forming a dynamic chain of robots connecting two operators moving within an environment. The robot chain... |
Distributed Three Dimensional Flocking of Autonomous Drones | https://ieeexplore.ieee.org/document/9811633/ | [
"Dario Albani",
"Tiziano Manoni",
"Martin Saska",
"Eliseo Ferrante",
"Dario Albani",
"Tiziano Manoni",
"Martin Saska",
"Eliseo Ferrante"
] | Potential field approaches have been often used to describe and model interactions within a swarm of robots performing collective motion, also called flocking. Despite the high number of proposed approaches, most have only been tested in simulation and among the minority tested on real robots, even fewer abandoned the laboratory boundaries in favor of real-world scenarios. In this work, we propose... |
Learning to Swarm with Knowledge-Based Neural Ordinary Differential Equations | https://ieeexplore.ieee.org/document/9811997/ | [
"Tom Z. Jiahao",
"Lishuo Pan",
"M. Ani Hsieh",
"Tom Z. Jiahao",
"Lishuo Pan",
"M. Ani Hsieh"
] | Understanding decentralized dynamics from collective behaviors in swarms is crucial for informing robot controller designs in artificial swarms and multi-agent robotic systems. However, the complexity in agent-to-agent interactions and the decentralized nature of most swarms pose a significant challenge to the extraction of single-robot control laws from collective behaviors. In this work, we cons... |
DORA: Distributed Online Risk-Aware Explorer | https://ieeexplore.ieee.org/document/9812237/ | [
"David Vielfaure",
"Samuel Arseneault",
"Pierre-Yves Lajoie",
"Giovanni Beltrame",
"David Vielfaure",
"Samuel Arseneault",
"Pierre-Yves Lajoie",
"Giovanni Beltrame"
] | Exploration of unknown environments is an important challenge in the field of robotics. While a single robot can achieve this task alone, evidence suggests it could be accomplished more efficiently by groups of robots, with advantages in terms of terrain coverage as well as robustness to failures. Exploration can be guided through belief maps, which provide probabilistic information about which pa... |
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers | https://ieeexplore.ieee.org/document/9812302/ | [
"Yu-Wei Chao",
"Chris Paxton",
"Yu Xiang",
"Wei Yang",
"Balakumar Sundaralingam",
"Tao Chen",
"Adithyavairavan Murali",
"Maya Cakmak",
"Dieter Fox",
"Yu-Wei Chao",
"Chris Paxton",
"Yu Xiang",
"Wei Yang",
"Balakumar Sundaralingam",
"Tao Chen",
"Adithyavairavan Murali",
"Maya Cakmak",
"Dieter Fox"
] | We introduce a new simulation benchmark “Han-doverSim” for human-to-robot object handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of hand grasping of objects. We create training and evaluation environments for the receiver with standardized protocols and metrics. We analyze the performance of a set of baselines and show a correlation with a real-world evaluati... |
Model Predictive Control with Gaussian Processes for Flexible Multi-Modal Physical Human Robot Interaction | https://ieeexplore.ieee.org/document/9811590/ | [
"Kevin Haninger",
"Christian Hegeler",
"Luka Peternel",
"Kevin Haninger",
"Christian Hegeler",
"Luka Peternel"
] | Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many potential human-robot interaction tasks involve discrete modes, such as phases of a task or multiple possible goals, where each mode has a distinct objective and ... |
Model Predictive Control for Fluid Human-to-Robot Handovers | https://ieeexplore.ieee.org/document/9812109/ | [
"Wei Yang",
"Balakumar Sundaralingam",
"Chris Paxton",
"Iretiayo Akinola",
"Yu-Wei Chao",
"Maya Cakmak",
"Dieter Fox",
"Wei Yang",
"Balakumar Sundaralingam",
"Chris Paxton",
"Iretiayo Akinola",
"Yu-Wei Chao",
"Maya Cakmak",
"Dieter Fox"
] | Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp generators. However, how to responsively generate smooth motions to take an object from a human is still an open question. Specifically, planning motions that take human... |
Control Scheme for Sideways Walking on a User-driven Treadmill | https://ieeexplore.ieee.org/document/9812403/ | [
"Sanghun Pyo",
"Hoyoung Kim",
"Jungwon Yoon",
"Sanghun Pyo",
"Hoyoung Kim",
"Jungwon Yoon"
] | For immersive interaction in a virtual reality (VR) environment, an omnidirectional treadmill (ODT) can support performance of various locomotive motions (curved walk, side walk, moving with shooting stance) in any direction. When a user performs lateral locomotive motions on an ODT, a control scheme to achieve immersive and safe interaction with the ODT should satisfy robustness in terms of posit... |
A Quantitative Analysis of Activities of Daily Living: Insights into Improving Functional Independence with Assistive Robotics | https://ieeexplore.ieee.org/document/9811960/ | [
"Laura Petrich",
"Jun Jin",
"Masood Dehghan",
"Martin Jagersand",
"Laura Petrich",
"Jun Jin",
"Masood Dehghan",
"Martin Jagersand"
] | Wheelchair-mounted robotic manipulators have the potential to help the elderly and individuals living with disabilities carry out their activities of daily living (ADLs) independently. Robotics researchers focus on assistive tasks from the perspective of various control schemes and motion types, whereas, health research focuses on clinical assessment and rehabilitation, arguably leaving important ... |
Opto-electrotactile Feedback Enabled Text-line Tracking Control for A Finger-wearable Reading Aid for the Blind | https://ieeexplore.ieee.org/document/9811610/ | [
"Mehdi Rahimi",
"Yantao Shen",
"Cong Peng",
"Zhiming Liu",
"Fang Jiang",
"Mehdi Rahimi",
"Yantao Shen",
"Cong Peng",
"Zhiming Liu",
"Fang Jiang"
] | In this paper, to achieve the goal of aiding the blind and visually impaired (BVI) to read any text not written in Braille, a custom-built, finger-wearable, and electro-tactile based Braille reading system with its Rapid Optical Character Recognition (R-OCR) method is developed. The R-OCR is capable of processing text information in real time using a miniature fish-eye imaging device mounted at th... |
Admittance Model Optimization for Gait Balance Assistance of a Robotic Walker: Passive Model-based Mechanical Assessment | https://ieeexplore.ieee.org/document/9811594/ | [
"Shunki Itadera",
"Gordon Cheng",
"Shunki Itadera",
"Gordon Cheng"
] | This paper presents an optimization of an admittance control model for gait balance assistance offered by a walker-type assistive robot. We previously introduced the notion of quasi-passive physical Human-Robot Interaction (pHRI) where a non-wearable assistive device adaptively achieves supportability for providing physical assistance and operability to follow the user's intuitive operation. Aimin... |
A Divide-and-Merge Point Cloud Clustering Algorithm for LiDAR Panoptic Segmentation | https://ieeexplore.ieee.org/document/9812058/ | [
"Yiming Zhao",
"Xiao Zhang",
"Xinming Huang",
"Yiming Zhao",
"Xiao Zhang",
"Xinming Huang"
] | Clustering objects from the LiDAR point cloud is an important research problem with many applications such as autonomous driving. To meet the real-time requirement, existing research proposed to apply the connected-component-labeling (CCL) technique on LiDAR spherical range image with a heuristic condition to check if two neighbor points are connected. However, LiDAR range image is different from ... |
Segmentation and Shape Estimation of Multiple Deformed Cloths Using a CNN-Based Landmark Detector and Clustering | https://ieeexplore.ieee.org/document/9811551/ | [
"Daiki Sonegawa",
"Koichi Ogawara",
"Daiki Sonegawa",
"Koichi Ogawara"
] | In this paper, we propose a method for segmentation and shape estimation of multiple deformed cloths stacked on a floor from an image using a CNN-based landmark detector and clustering. The proposed method first estimates landmark positions from the heatmaps generated from the landmark detector and then clusters them using their attributes also given from the landmark detector. The contributions o... |
Enhanced Prototypical Learning for Unsupervised Domain Adaptation in LiDAR Semantic Segmentation | https://ieeexplore.ieee.org/document/9811838/ | [
"Eojindl Yi",
"JuYoung Yang",
"Junmo Kim",
"Eojindl Yi",
"JuYoung Yang",
"Junmo Kim"
] | Despite its importance, unsupervised domain adaptation (UDA) on LiDAR semantic segmentation is a task that has not received much attention from the research community. Only recently, a completion-based 3 $D$ method has been proposed to tackle the problem and formally set up the adaptive scenarios. However, the proposed pipeline is complex, voxel-based and requires multi-stage inference, which inhi... |
ShapeMap 3-D: Efficient shape mapping through dense touch and vision | https://ieeexplore.ieee.org/document/9812040/ | [
"Sudharshan Suresh",
"Zilin Si",
"Joshua G. Mangelson",
"Wenzhen Yuan",
"Michael Kaess",
"Sudharshan Suresh",
"Zilin Si",
"Joshua G. Mangelson",
"Wenzhen Yuan",
"Michael Kaess"
] | Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors can give a dense local perspective of the object. However, tactile sensors have limited sensing area and the shape representation must faithfully approximate n... |
Design and Evaluation of Object Classifiers for Probabilistic Decision-Making in Autonomous Systems | https://ieeexplore.ieee.org/document/9812171/ | [
"Hamad Ullah",
"Weisi Fan",
"Tichakorn Wongpiromsarn",
"Hamad Ullah",
"Weisi Fan",
"Tichakorn Wongpiromsarn"
] | Object classification is a key element that enables effective decision-making in many autonomous systems. A more sophisticated system may also utilize the probability distribution over the classes instead of basing its decision only on the most likely class. This paper introduces new performance metrics: the absolute class error (ACE), expectation of absolute class error (EACE) and variance of abs... |
Visual Navigation Using Sparse Optical Flow and Time-to-Transit | https://ieeexplore.ieee.org/document/9812032/ | [
"Chiara Boretti",
"Philippe Bich",
"Yanyu Zhang",
"John Baillieul",
"Chiara Boretti",
"Philippe Bich",
"Yanyu Zhang",
"John Baillieul"
] | Drawing inspiration from biology, we describe the way in which visual sensing with a monocular camera can provide a reliable signal for navigation of mobile robots. The work takes inspiration from the classic paper [3] which described a behavioral strategy pursued by diving sea birds based on a visual cue called time-to-contact. A closely related concept of time-to-transit, $\tau$, is defined, and... |
Indoor Localization for Quadrotors using Invisible Projected Tags | https://ieeexplore.ieee.org/document/9812449/ | [
"Jinjie Li",
"Liang Han",
"Zhang Ren",
"Jinjie Li",
"Liang Han",
"Zhang Ren"
] | Augmented reality (AR) technology has been in-troduced into the robotics field to narrow the visual gap between indoor and outdoor environments. However, without signals from satellite navigation systems, flight experiments in these indoor AR scenarios need other accurate localization approaches. This work proposes a real-time centimeter-level indoor localization method based on psycho-visually in... |
Complex Terrain Navigation via Model Error Prediction | https://ieeexplore.ieee.org/document/9811644/ | [
"Adam Polevoy",
"Craig Knuth",
"Katie M. Popek",
"Kapil D. Katyal",
"Adam Polevoy",
"Craig Knuth",
"Katie M. Popek",
"Kapil D. Katyal"
] | Robot navigation traditionally relies on building an explicit map that is used to plan collision-free trajectories to a desired target. In deformable, complex terrain, using geometric-based approaches can fail to find a path due to mischaracterizing deformable objects as rigid and impassable. Instead, we learn to predict an estimate of traversability of terrain regions and to prefer regions that a... |
An observer cascade for velocity and multiple line estimation | https://ieeexplore.ieee.org/document/9812292/ | [
"André Mateus",
"Pedro U. Lima",
"Pedro Miraldo",
"André Mateus",
"Pedro U. Lima",
"Pedro Miraldo"
] | Previous incremental estimation methods consider estimating a single line, requiring as many observers as the number of lines to be mapped. This leads to the need for having at least 4N state variables, with N being the number of lines. This paper presents the first approach for multi-line incremental estimation. Since lines are common in structured environments, we aim to exploit that structure t... |
An in-depth experimental study of sensor usage and visual reasoning of robots navigating in real environments | https://ieeexplore.ieee.org/document/9811833/ | [
"Assem Sadek",
"Guillaume Bono",
"Boris Chidlovskii",
"Christian Wolf",
"Assem Sadek",
"Guillaume Bono",
"Boris Chidlovskii",
"Christian Wolf"
] | Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning, but have proven their efficiency even on real physical environments, the latter solutions are most frequently employed in simulation, but have been shown to be a... |
Asynchronous Optimisation for Event-based Visual Odometry | https://ieeexplore.ieee.org/document/9811943/ | [
"Daqi Liu",
"Alvaro Parra",
"Yasir Latif",
"Bo Chen",
"Tat-Jun Chin",
"Ian Reid",
"Daqi Liu",
"Alvaro Parra",
"Yasir Latif",
"Bo Chen",
"Tat-Jun Chin",
"Ian Reid"
] | Event cameras open up new possibilities for robotic perception due to their low latency and high dynamic range. On the other hand, developing effective event-based vision algorithms that fully exploit the beneficial properties of event cameras remains work in progress. In this paper, we focus on event-based visual odometry (VO). While existing event-driven VO pipelines have adopted continuous-time... |
Deep Visual Navigation under Partial Observability | https://ieeexplore.ieee.org/document/9811598/ | [
"Bo Ai",
"Wei Gao",
"Vinay",
"David Hsu",
"Bo Ai",
"Wei Gao",
"Vinay",
"David Hsu"
] | How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges: (i) complex visual observations, (ii) partial observability of local visual sensing, and (iii) multimodal robot behaviors conditioned on both the local environmen... |
TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9812238/ | [
"Kasun Weerakoon",
"Adarsh Jagan Sathyamoorthy",
"Utsav Patel",
"Dinesh Manocha",
"Kasun Weerakoon",
"Adarsh Jagan Sathyamoorthy",
"Utsav Patel",
"Dinesh Manocha"
] | We present a novel method for reliable robot navigation in uneven outdoor terrains. Our approach employs a fully-trained Deep Reinforcement Learning (DRL) network that uses elevation maps of the environment, robot pose, and goal as inputs to compute an attention mask of the environment. The attention mask is used to identify reduced stability regions in the elevation map and is computed using chan... |
Integrating Point and Line Features for Visual-Inertial Initialization | https://ieeexplore.ieee.org/document/9811641/ | [
"Hong Liu",
"Junyin Qiu",
"Weibo Huang",
"Hong Liu",
"Junyin Qiu",
"Weibo Huang"
] | Accurate and robust initialization is crucial in visual-inertial system, which significantly affects the localization accuracy. Most of the existing feature-based initialization methods rely on point features to estimate initial parameters. However, the performance of these methods often decreases in real scene, as point features are unstable and may be discontinuously observed especially in low t... |
Periodic SLAM: Using Cyclic Constraints to Improve the Performance of Visual-Inertial SLAM on Legged Robots | https://ieeexplore.ieee.org/document/9811634/ | [
"Hans Kumar",
"J. Joe Payne",
"Matthew Travers",
"Aaron M. Johnson",
"Howie Choset",
"Hans Kumar",
"J. Joe Payne",
"Matthew Travers",
"Aaron M. Johnson",
"Howie Choset"
] | Methods for state estimation that rely on visual information are challenging on legged robots due to rapid changes in the viewing angle of onboard cameras. In this work, we show that by leveraging structure in the way that the robot locomotes, the accuracy of visual-inertial SLAM in these challenging scenarios can be increased. We present a method that takes advantage of the underlying periodic pr... |
Tightly-coupled GNSS-aided Visual-Inertial Localization | https://ieeexplore.ieee.org/document/9811362/ | [
"Woosik Lee",
"Patrick Geneva",
"Yulin Yang",
"Guoquan Huang",
"Woosik Lee",
"Patrick Geneva",
"Yulin Yang",
"Guoquan Huang"
] | A navigation system which can output drift-free global trajectory estimation with local consistency holds great potential for autonomous vehicles and mobile devices. We propose a tightly-coupled GNSS-aided visual-inertial navigation system (GAINS) which is able to leverage the complementary sensing modality from a visual-inertial sensing pair, which provides high-frequency local information, and a... |
Continuous-Time Spline Visual-Inertial Odometry | https://ieeexplore.ieee.org/document/9811586/ | [
"Jiawei Mo",
"Junaed Sattar",
"Jiawei Mo",
"Junaed Sattar"
] | We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which are compared to the measurements from the inertial measurement unit (IMU) for optimal state estimation. The spline boundary conditions create constraints betwee... |
Object-based Visual-Inertial Navigation System on Matrix Lie Group | https://ieeexplore.ieee.org/document/9812443/ | [
"Jae Hyung Jung",
"Chan Gook Park",
"Jae Hyung Jung",
"Chan Gook Park"
] | In this paper, we propose a novel object-based visual-inertial navigation system fully embedded in a matrix Lie group and built upon the invariant Kalman filtering theory. Specifically, we focus on relative pose measurements of objects and derive an error equation at the associated tangent space. We prove that the observability property does not suffer from the filter inconsistency and nonlinear e... |
FEJ2: A Consistent Visual-Inertial State Estimator Design | https://ieeexplore.ieee.org/document/9811831/ | [
"Chuchu Chen",
"Yulin Yang",
"Patrick Geneva",
"Guoquan Huang",
"Chuchu Chen",
"Yulin Yang",
"Patrick Geneva",
"Guoquan Huang"
] | In this paper, we propose a novel consistent state estimator design for visual-inertial systems. Motivated by first-estimates Jacobian (FEJ) based estimators - which uses the first-ever estimates as linearization points to preserve proper observability properties of the linearized estimator thereby improving the consistency - we carefully model measurement linearization errors due to its Jacobian ... |
Constrained Visual-Inertial Localization With Application And Benchmark in Laparoscopic Surgery | https://ieeexplore.ieee.org/document/9812105/ | [
"Regine Hartwig",
"Daniel Ostler",
"Jean-Claude Rosenthal",
"Hubertus Feußner",
"Dirk Wilhelm",
"Dirk Wollherr",
"Regine Hartwig",
"Daniel Ostler",
"Jean-Claude Rosenthal",
"Hubertus Feußner",
"Dirk Wilhelm",
"Dirk Wollherr"
] | We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a global cost function. The residuals emerge from IMU measurements, stereoscopic feature points, and constraints on possible solutions in SE(3). In settings where dynamic disturbances are frequent, the residuals reduce the... |
Bidirectional Soft Robotic Catheter for Arrhythmia Treatment | https://ieeexplore.ieee.org/document/9811988/ | [
"Chi Cong Nguyen",
"Timotius Teh",
"Mai Thanh Thai",
"Phuoc Thien Phan",
"Trung Thien Hoang",
"Harrison Low",
"James Davies",
"Emanuele Nicotra",
"Nigel H. Lovell",
"Thanh Nho Do",
"Chi Cong Nguyen",
"Timotius Teh",
"Mai Thanh Thai",
"Phuoc Thien Phan",
"Trung Thien Hoang",
"Harrison Low",
"James Davies",
"Emanuele Nicotra",
"Nigel H. Lovell",
"Thanh Nho Do"
] | Heart rhythm disorders are becoming increasingly prevalent with population aging. Atrial fibrillation ablation (AFA) is a procedure used to treat an irregular heart rhythm (arrhythmia) that starts in the heart's upper chambers. The AFA works by scarring or destroying heart tissue to disrupt aberrant conduction pathways causing the arrhythmia. In hospital cardiac units, a flexible catheter with int... |
Magnetically Steerable Asymmetric Magnetized Soft Continuum Robot (AMSCR) for Minimally Invasive Surgery | https://ieeexplore.ieee.org/document/9811361/ | [
"Joowon Park",
"Hyoryong Lee",
"Hyunchul Choi",
"Sunwoo Sohn",
"Hyeonwoo Kee",
"Joohack Lee",
"Gyungrae Cha",
"Sukho Park",
"Joowon Park",
"Hyoryong Lee",
"Hyunchul Choi",
"Sunwoo Sohn",
"Hyeonwoo Kee",
"Joohack Lee",
"Gyungrae Cha",
"Sukho Park"
] | Soft continuum robots have been widely used as guide wires or catheters for minimally invasive surgery (MIS), and the miniaturization and dexterity are very important characteristics of soft continuum robots. As a representative actuation method for soft continuum robots, the steering using an external magnetic field has been actively studied. The magnetic actuation method is appropriate for the m... |
Fixed and Sliding FBG Sensors-Based Triaxial Tip Force Sensing for Cable-Driven Continuum Robots | https://ieeexplore.ieee.org/document/9811947/ | [
"Zecai Lin",
"Hao Wu",
"Huan Jia",
"Huanghua Liu",
"Xiaojie Ai",
"Yun Zou",
"Zhenglong Sun",
"Weidong Chen",
"Guang-Zhong Yang",
"Anzhu Gao",
"Zecai Lin",
"Hao Wu",
"Huan Jia",
"Huanghua Liu",
"Xiaojie Ai",
"Yun Zou",
"Zhenglong Sun",
"Weidong Chen",
"Guang-Zhong Yang",
"Anzhu Gao"
] | Tip force sensing for cable-driven continuum robots are vital to provide the force information for safe and reliable human-robot interaction. However, traditional triaxial force sensors usually have a complicated structure occupying its inner lumen, without enough space for additional instrumental tools. To solve this, this paper proposes a fixed and sliding fiber Bragg grating (FBG) sensors-based... |
Telerobotically Controlled Magnetic Soft Continuum Robots for Neurovascular Interventions | https://ieeexplore.ieee.org/document/9812168/ | [
"Yoonho Kim",
"Emily Genevriere",
"Pablo Harker",
"Jaehun Choe",
"Marcin Balicki",
"Aman B. Patel",
"Xuanhe Zhao",
"Yoonho Kim",
"Emily Genevriere",
"Pablo Harker",
"Jaehun Choe",
"Marcin Balicki",
"Aman B. Patel",
"Xuanhe Zhao"
] | Despite the recent advances in continuum robots for minimally invasive surgery or interventions, their applications to endovascular neurosurgery have remained technically challenging due to the difficulty of miniaturization. Aimed at enabling robotic applications to neurovascular interventions for endovascular treatments of stroke or brain aneurysms, we present a telerobotically controlled magneti... |
Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots | https://ieeexplore.ieee.org/document/9811897/ | [
"Zisos Mitros",
"S.M.Hadi Sadati",
"Sotirios Nousias",
"Lyndon Da Cruz",
"Christos Bergeles",
"Zisos Mitros",
"S.M.Hadi Sadati",
"Sotirios Nousias",
"Lyndon Da Cruz",
"Christos Bergeles"
] | Continuum surgical robots can navigate anatomical pathways to reach pathological locations deep inside the human body. Their flexibility, however, generally comes with reduced dexterity at their tip and limited workspace. Building on recent work on eccentric tube robots, this paper proposes a new continuum robot architecture and theoretical framework that combines the flexibility of push/pull actu... |
Capacitive Proximity Sensor for Non-Contact Endoscope Localization | https://ieeexplore.ieee.org/document/9811734/ | [
"Christian Marzi",
"Hosam Alagi",
"Olivia Rau",
"Jochen Hampe",
"Jan Gerrit Korvink",
"Björn Hein",
"Franziska Mathis-Ullrich",
"Christian Marzi",
"Hosam Alagi",
"Olivia Rau",
"Jochen Hampe",
"Jan Gerrit Korvink",
"Björn Hein",
"Franziska Mathis-Ullrich"
] | The promising automation of flexible surgical instruments and robots is impeded by the lack of sensory means, which allow for sensing of an instrument's position to the surrounding tissue. This work presents a novel sensory method utilizing capacitive proximity sensing to derive a relative localization of a flexible instrument inside a hollow organ. The method is evaluated by exemplary integration... |
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles | https://ieeexplore.ieee.org/document/9812393/ | [
"Albert Wilcox",
"Justin Kerr",
"Brijen Thananjeyan",
"Jeffrey Ichnowski",
"Minho Hwang",
"Samuel Paradis",
"Danyal Fer",
"Ken Goldberg",
"Albert Wilcox",
"Justin Kerr",
"Brijen Thananjeyan",
"Jeffrey Ichnowski",
"Minho Hwang",
"Samuel Paradis",
"Danyal Fer",
"Ken Goldberg"
] | Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks such as suturing can lead to surgeon fatigue, motivating the automation of suturing. As visual tracking of a thin reflective needle is extremely challenging, prior work has modified the needle with nonreflective contrasti... |
Resolution-Optimal Motion Planning for Steerable Needles | https://ieeexplore.ieee.org/document/9811850/ | [
"Mengyu Fu",
"Kiril Solovey",
"Oren Salzman",
"Ron Alterovitz",
"Mengyu Fu",
"Kiril Solovey",
"Oren Salzman",
"Ron Alterovitz"
] | Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically significant targets in a minimally invasive way. Automating needle steering, with motion planning as a key component, has the potential to maximize the accuracy, precision, speed, and safety of steerable needle procedures. I... |
Motion Primitives-based Navigation Planning using Deep Collision Prediction | https://ieeexplore.ieee.org/document/9812231/ | [
"Huan Nguyen",
"Sondre Holm Fyhn",
"Paolo De Petris",
"Kostas Alexis",
"Huan Nguyen",
"Sondre Holm Fyhn",
"Paolo De Petris",
"Kostas Alexis"
] | This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion primitives library in the robot's velocity-steering angle space, given only the current depth image and the estimated linear and angular velocities of the robot. Furth... |
Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs | https://ieeexplore.ieee.org/document/9811789/ | [
"Pedro F. Proença",
"Jeff Delaune",
"Rol",
"Brockers",
"Pedro F. Proença",
"Jeff Delaune",
"Rol",
"Brockers"
] | The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection. Structure-from-Motion measurements are aggregated in a pyramid structure using a novel Optimal Mixture of Gaus-sians formulation that provides a comprehensive unce... |
Towards Sensor Autonomy in Sub-Gram Flying Insect Robots: A Lightweight and Power-Efficient Avionics System | https://ieeexplore.ieee.org/document/9811918/ | [
"Yash P. Talwekar",
"Andrew Adie",
"Vikram Iyer",
"Sawyer B. Fuller",
"Yash P. Talwekar",
"Andrew Adie",
"Vikram Iyer",
"Sawyer B. Fuller"
] | Flying insect robots weighing less than a gram (FIRs) have advantages over their larger counterparts due to their low materials cost, small size, and low weight, allowing for deployment in large numbers. Control autonomy in such aircraft introduces challenges arising from their small size such as high-speed dynamics, limited power and payload capacity. Previous work has produced and characterized ... |
Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure | https://ieeexplore.ieee.org/document/9811892/ | [
"Yichen Zhang",
"Boyu Zhou",
"Luqi Wang",
"Shaojie Shen",
"Yichen Zhang",
"Boyu Zhou",
"Luqi Wang",
"Shaojie Shen"
] | Despite recent progress of robotic exploration, most methods assume that drift-free localization is available, which is problematic in reality and causes severe distortion of the reconstructed map. In this work, we present a systematic exploration mapping and planning framework that deals with drifted localization, allowing efficient and globally consistent reconstruction. A real-time re-integrati... |
Self-supervised Monocular Multi-robot Relative Localization with Efficient Deep Neural Networks | https://ieeexplore.ieee.org/document/9812150/ | [
"Shushuai Li",
"Christophe De Wagter",
"Guido C. H. E. De Croon",
"Shushuai Li",
"Christophe De Wagter",
"Guido C. H. E. De Croon"
] | Relative localization is an important ability for multiple robots to perform cooperative tasks in GPS-denied environments. This paper presents a novel autonomous positioning framework for monocular relative localization of multiple tiny flying robots. This approach does not require any groundtruth data from external systems or manual labeling. Instead, the proposed framework is able to label real-... |
Post-Stall Navigation with Fixed-Wing UAVs using Onboard Vision | https://ieeexplore.ieee.org/document/9812099/ | [
"Adam Polevoy",
"Max Basescu",
"Luca Scheuer",
"Joseph Moore",
"Adam Polevoy",
"Max Basescu",
"Luca Scheuer",
"Joseph Moore"
] | Recent research has enabled fixed-wing unmanned aerial vehicles (UAVs) to maneuver in constrained spaces through the use of direct nonlinear model predictive control (NMPC) [1]. However, this approach has been limited to a priori known maps and ground truth state measurements. In this paper, we present a direct NMPC approach that leverages NanoMap [2], a light-weight point cloud mapping framework,... |
Evaluation of Runtime Monitoring for UAV Emergency Landing | https://ieeexplore.ieee.org/document/9811924/ | [
"Joris Guerin",
"Kevin Delmas",
"Jérémie Guiochet",
"Joris Guerin",
"Kevin Delmas",
"Jérémie Guiochet"
] | To certify UAV operations in populated areas, risk mitigation strategies - such as Emergency Landing (EL) - must be in place to account for potential failures. EL aims at reducing ground risk by finding safe landing areas using on-board sensors. The first contribution of this paper is to present a new EL approach, in line with safety requirements introduced in recent research. In particular, the p... |
Fully Automatic and Real-Time Microrobot Detection and Tracking based on Ultrasound Imaging using Deep Learning | https://ieeexplore.ieee.org/document/9812114/ | [
"Karim Botros",
"Mohammad Alkhatib",
"David Folio",
"Antoine Ferreira",
"Karim Botros",
"Mohammad Alkhatib",
"David Folio",
"Antoine Ferreira"
] | Micro-scale robots introduce great prospective into many different medical applications such as targeted drug delivery, minimally invasive surgery and localized bio-metric diagnostics. This research presents a method for object detection and tracking system of a chain-like magnetic microsphere robots using ultrasound imaging in an in-vitro environment. The method estimates the position of the micr... |
The Feedback Trajectory Control of a SMA-Driven Miniature Jumping Robot | https://ieeexplore.ieee.org/document/9811370/ | [
"Lingqi Tang",
"Xuelin Wu",
"Peng Liu",
"Yao Li",
"Bing Li",
"Lingqi Tang",
"Xuelin Wu",
"Peng Liu",
"Yao Li",
"Bing Li"
] | Jumping motion is an effective way to overcome large obstacles, especially for the miniature robots. However, controlling of the jumping trajectory on a centimeter scale robot is not easy due to the limitation of size and payload. None of the jumping robots lighter than 90 g achieved the feedback control of their jumping height and take-off angle independently. In this work, we proposed a miniatur... |
An Indeterministic Vision-Based State Observer for Growing Magnetic Microrobot Motion Status Estimation | https://ieeexplore.ieee.org/document/9811375/ | [
"Zhiyong Sun",
"Yu Cheng",
"Chao Zhou",
"Erkang Cheng",
"Gengliang Chen",
"Lixin Dong",
"Bo Song",
"Zhiyong Sun",
"Yu Cheng",
"Chao Zhou",
"Erkang Cheng",
"Gengliang Chen",
"Lixin Dong",
"Bo Song"
] | To date, untethered micro/nanorobots have attracted considerable attention in various aspects due to their unique potential for in-vivo applications such as the targeted therapy. One of the most promising types of micro/nanorobots is the class of ferromagnetic microrobots which can be efficiently actuated via gradient/rotational magnetic field generated by less costly electromagnetic coil systems.... |
A beetle-claw inspired miniature mesh climbing robot | https://ieeexplore.ieee.org/document/9812229/ | [
"Hong Wang",
"Yao Li",
"Bing Li",
"Hong Wang",
"Yao Li",
"Bing Li"
] | Beetles can walk smoothly on the meshed surface without slipping or getting stuck in the meshed surface due to its stiffness-variable tarsi and expandable hooks on the tip of tarsi. In this study, we find that beetles bend and open their claws proactively to walk freely. Inspired by the mechanism, we designed a centimeter-scale climbing robot, equipping an artificial claw to open and bend in the s... |
Fabrication of PEDOT:PSS based Soft Sensor for Feedback Control of Modular Bio-actuator | https://ieeexplore.ieee.org/document/9811795/ | [
"Eunhye Kim",
"Masaru Takeuchi",
"Takuto Nomura",
"Yasuhisa Hasegawa",
"Qiang Huang",
"Toshio Fukuda",
"Eunhye Kim",
"Masaru Takeuchi",
"Takuto Nomura",
"Yasuhisa Hasegawa",
"Qiang Huang",
"Toshio Fukuda"
] | In this paper, we fabricated a soft sensor based on PEDOT:PSS for thin film structure. The developed soft sensor can measure the contraction force at real time to be embedded in a modular bio-actuator [1]. The modular actuator generated contraction forces at 0.3 mN when applying electric pulse stimulation. To measure millinewton contraction forces and make a built in sensor, we fabricated a soft s... |
Data-Driven Control for a Milli-Scale Spiral-Type Magnetic Swimmer using MPC | https://ieeexplore.ieee.org/document/9812157/ | [
"Haoran Zhao",
"Yitong Lu",
"Aaron T. Becker",
"Julien Leclerc",
"Haoran Zhao",
"Yitong Lu",
"Aaron T. Becker",
"Julien Leclerc"
] | This paper presents four data-driven system models for a magnetically controlled swimmer. The models were derived directly from experimental data, and the accuracy of the models was experimentally demonstrated. Our previous study successfully implemented two non-model-based control algorithms for 3D path-following using PID and model reference adaptive controller (MRAC). This paper focuses on syst... |
Characterizing Error in Noncommutative Geometric Gait Analysis | https://ieeexplore.ieee.org/document/9812130/ | [
"Capprin Bass",
"Suresh Ramasamy",
"Ross L. Hatton",
"Capprin Bass",
"Suresh Ramasamy",
"Ross L. Hatton"
] | A key problem in robotic locomotion is in finding optimal shape changes to effectively displace systems through the world. Variational techniques for gait optimization require estimates of body displacement per gait cycle; however, these estimates introduce error due to unincluded high order terms. In this paper, we formulate existing estimates for displacement, and describe the contribution of lo... |
Adaptive Tracking Control for Industrial Robot Manipulators with Unknown Inner loop Architecture | https://ieeexplore.ieee.org/document/9811748/ | [
"Joseph Jean-Baptiste Mvogo Ahanda",
"Achille Melingui",
"Othman Lakhal",
"Bernard Essimbi Zobo",
"Hela Kadri",
"Rochdi Merzouki",
"Joseph Jean-Baptiste Mvogo Ahanda",
"Achille Melingui",
"Othman Lakhal",
"Bernard Essimbi Zobo",
"Hela Kadri",
"Rochdi Merzouki"
] | The task space control of robot manipulators requires solving the thorny problem of stabilizing the compound system {outer controller - inner controller - robot manipulator}. To stabilize this compound system, both controllers must be designed by the user to achieve convergence of the tracking error. This problem is tricky to solve in the case of the control of an industrial robot manipulator beca... |
Model-driven reinforcement learning and action dimension extension method for efficient asymmetric assembly | https://ieeexplore.ieee.org/document/9811792/ | [
"Yuhang Gai",
"Jiuming Guo",
"Dan Wu",
"Ken Chen",
"Yuhang Gai",
"Jiuming Guo",
"Dan Wu",
"Ken Chen"
] | Complex assembly tasks remain huge challenge for robots because the traditional control methods rely on complicated contact state analysis. Reinforcement learning (RL) becomes one of the preferred embodiments to construct the control strategy of complex tasks. In this paper, the method of model-driven RL (MDRL) is employed to construct the control strategy. Then a completely innovative action dime... |
Automatic Classification and Disassembly of Fasteners in Industrial 3D CAD-Scenarios | https://ieeexplore.ieee.org/document/9811539/ | [
"Michele F. Adesso",
"Robert Hegewald",
"Nicola Wolpert",
"Elmar Schömer",
"Bianca Maier",
"Benjamin A. Epple",
"Michele F. Adesso",
"Robert Hegewald",
"Nicola Wolpert",
"Elmar Schömer",
"Bianca Maier",
"Benjamin A. Epple"
] | The automatic generation of (dis)assembly sequences for complex technical products is a challenging field. Complex products like vehicles consist of numerous different components. Determining the sequence using a brute-force-approach by testing all components for disassembly one after another in a loop until all components are disassembled is laborious and costly. In industrial scenarios, a large ... |
Learning Insertion Primitives with Discrete-Continuous Hybrid Action Space for Robotic Assembly Tasks | https://ieeexplore.ieee.org/document/9811973/ | [
"Xiang Zhang",
"Shiyu Jin",
"Changhao Wang",
"Xinghao Zhu",
"Masayoshi Tomizuka",
"Xiang Zhang",
"Shiyu Jin",
"Changhao Wang",
"Xinghao Zhu",
"Masayoshi Tomizuka"
] | This paper introduces a discrete-continuous action space to learn insertion primitives for robotic assembly tasks. Primitives are sequences of elementary actions with certain exit conditions, such as “pushing down the peg until contact”. Since the primitive is an abstraction of robot control commands and encodes human prior knowledge, it reduces the exploration difficulty and yields better learnin... |
An Assembly Sequence Planning Framework for Complex Data using General Voronoi Diagram | https://ieeexplore.ieee.org/document/9811867/ | [
"Sebastian Dorn",
"Nicola Wolpert",
"Elmar Schömer",
"Sebastian Dorn",
"Nicola Wolpert",
"Elmar Schömer"
] | We present the first realization of an assembly sequence planning framework for large-scale and complex 3D real-world CAD scenarios. Other than in academic benchmark data sets, in our scenario each assembled part is allowed to contain flexible fastening elements and the number of assembled parts is quite high. With our framework we are able to derive a meaningful assembly priority graph for the pa... |
Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot | https://ieeexplore.ieee.org/document/9812284/ | [
"Francisco J. Ruiz-Ruiz",
"Alberto Giammarino",
"Marta Lorenzini",
"Juan M. Gandarias",
"Jesús H. Gómez-De-Gabriel",
"Arash Ajoudani",
"Francisco J. Ruiz-Ruiz",
"Alberto Giammarino",
"Marta Lorenzini",
"Juan M. Gandarias",
"Jesús H. Gómez-De-Gabriel",
"Arash Ajoudani"
] | This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkin-son's. In particular, we propose using a mobile collaborative robot with an interaction-assistive whole-body interface to help people unable to maintain balance. The robotic system consists of an Omni-directional mobile base, a... |
Aerial-Ground Robots Collaborative 3D Mapping in GNSS-Denied Environments | https://ieeexplore.ieee.org/document/9812319/ | [
"Yufeng Yue",
"Chunyang Zhao",
"Yuanzhe Wang",
"Yi Yang",
"Danwei Wang",
"Yufeng Yue",
"Chunyang Zhao",
"Yuanzhe Wang",
"Yi Yang",
"Danwei Wang"
] | Collaborative heterogeneous robots are expected to perform comprehensive perception, mapping and coordination in search and rescue scenarios. The challenge of collaboration between heterogeneous robots lies in their huge differences in perception, mobility and processing capabilities. In this paper, a novel collaborative UAV-UGV mapping framework is proposed in GNSS-denied and unknown environments... |
Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots | https://ieeexplore.ieee.org/document/9812386/ | [
"Julian Nubert",
"Shehryar Khattak",
"Marco Hutter",
"Julian Nubert",
"Shehryar Khattak",
"Marco Hutter"
] | Enabling autonomous operation of large-scale construction machines, such as excavators, can bring key benefits for human safety and operational opportunities for applications in dangerous and hazardous environments. To facilitate robot autonomy, robust and accurate state-estimation remains a core component to enable these machines for operation in a diverse set of complex environments. In this wor... |
R-PCC: A Baseline for Range Image-based Point Cloud Compression | https://ieeexplore.ieee.org/document/9811880/ | [
"Sukai Wang",
"Jianhao Jiao",
"Peide Cai",
"Lujia Wang",
"Sukai Wang",
"Jianhao Jiao",
"Peide Cai",
"Lujia Wang"
] | In autonomous vehicles or robots, point clouds from LiDAR can provide accurate depth information of objects compared with 2D images, but they also suffer a large volume of data, which is inconvenient for data storage or transmission. In this paper, we propose a Range image-based Point Cloud Compression method, R-PCC, which can reconstruct the point cloud with uniform or non-uniform accuracy loss. ... |
Consensus in Operational Space for Robotic Manipulators with Task and Input Constraints | https://ieeexplore.ieee.org/document/9811846/ | [
"Muhammad Ali Murtaza",
"Seth Hutchinson",
"Muhammad Ali Murtaza",
"Seth Hutchinson"
] | This paper presents a real-time control framework for consensus in operational space for robotic manipulators while satisfying task and input constraints. Consensus in operational space, as compared to joint space, enables heterogeneous robotic manipulators to achieve consensus. However, traditional frameworks tend to ignore task and input constraints while achieving consensus in operational space... |
SafePicking: Learning Safe Object Extraction via Object-Level Mapping | https://ieeexplore.ieee.org/document/9812009/ | [
"Kentaro Wada",
"Stephen James",
"Andrew J. Davison",
"Kentaro Wada",
"Stephen James",
"Andrew J. Davison"
] | Robots need object-level scene understanding to manipulate objects while reasoning about contact, support, and occlusion among objects. Given a pile of objects, object recognition and reconstruction can identify the boundary of object instances, giving important cues as to how the objects form and support the pile. In this work, we present a system, SafePicking, that integrates object-level mappin... |
Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion | https://ieeexplore.ieee.org/document/9812017/ | [
"Sangwoon Kim",
"Alberto Rodriguez",
"Sangwoon Kim",
"Alberto Rodriguez"
] | We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work collaboratively to estimate the external contacts accurately. The controller helps the estimation model get a better estimate by regulating a consistent contact mo... |
Pouring by Feel: An Analysis of Tactile and Proprioceptive Sensing for Accurate Pouring | https://ieeexplore.ieee.org/document/9811898/ | [
"Pedro Piacenza",
"Daewon Lee",
"Volkan Isler",
"Pedro Piacenza",
"Daewon Lee",
"Volkan Isler"
] | As service robots begin to be deployed to assist humans, it is important for them to be able to perform a skill as ubiquitous as pouring. Specifically, we focus on the task of pouring an exact amount of water without any environmental instrumentation, that is, using only the robot's own sensors to perform this task in a general way robustly. In our approach we use a simple PID controller which use... |
Robot Learning Physical Object Properties from Human Visual Cues: A novel approach to infer the fullness level in containers | https://ieeexplore.ieee.org/document/9811725/ | [
"Nuno Ferreira Duarte",
"Mirko Raković",
"José Santos-Victor",
"Nuno Ferreira Duarte",
"Mirko Raković",
"José Santos-Victor"
] | For collaborative tasks, involving handovers, humans are able to exploit visual, non-verbal cues, to infer physical object properties, like mass, to modulate their actions. In this paper, we investigate how the different levels of liquid inside a cup can be inferred from the observation of the movement of the person handling the cup. We model this mechanism from human experiments and incorporate i... |
Ex-DoF: Expansion of Action Degree-of-Freedom with Virtual Camera Rotation for Omnidirectional Image | https://ieeexplore.ieee.org/document/9812301/ | [
"Kosuke Tahara",
"Noriaki Hirose",
"Kosuke Tahara",
"Noriaki Hirose"
] | Inter-robot transfer of training data is a little explored topic in learning- and vision-based robot control. Here we propose a transfer method from a robot with a lower Degree-of-Freedom (DoF) to one with a higher DoF utilizing the omnidirectional camera image. The virtual rotation of the robot camera enables data augmentation in this transfer learning process. As an experimental demonstration, a... |
Development and Analysis of a Biped Robot with Prismatic Compliance | https://ieeexplore.ieee.org/document/9811962/ | [
"Takumi Kamioka",
"Hirofumi Shin",
"Ryo Yamaguchi",
"Masaaki Muromachi",
"Takumi Kamioka",
"Hirofumi Shin",
"Ryo Yamaguchi",
"Masaaki Muromachi"
] | Previous studies suggest that bipedal robots that have prismatic compliance in the legs can achieve efficient walking. However, how this efficiency can be achieved still remains an open research problem. In this study, we developed a 2-degree-of-freedom planar bipedal robot comprising Neidhart springs and five-bar parallel mechanisms. The five-bar parallel mechanism allows the robot to achieve pri... |
Learning Controller Gains on Bipedal Walking Robots via User Preferences | https://ieeexplore.ieee.org/document/9811541/ | [
"Noel Csomay-Shanklin",
"Maegan Tucker",
"Min Dai",
"Jenna Reher",
"Aaron D. Ames",
"Noel Csomay-Shanklin",
"Maegan Tucker",
"Min Dai",
"Jenna Reher",
"Aaron D. Ames"
] | Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requiring deep knowledge of the relationship between parameter values and the resulting behavior of the system. Even when such knowledge is possessed, it can take significant effort to navigate the nonintuitive landscape of ... |
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment | https://ieeexplore.ieee.org/document/9811670/ | [
"Giulio Romualdi",
"Stefano Dafarra",
"Giuseppe L'Erario",
"Ines Sorrentino",
"Silvio Traversaro",
"Daniele Pucci",
"Giulio Romualdi",
"Stefano Dafarra",
"Giuseppe L'Erario",
"Ines Sorrentino",
"Silvio Traversaro",
"Daniele Pucci"
] | This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact forces and torques and contact locations. Differently from bipedal walking architectures based on simplified models, the presented approach considers the reduced ce... |
A Universal Footstep Planning Methodology for Continuous Walking in Challenging Terrain Applicable to Different Types of Legged Robots | https://ieeexplore.ieee.org/document/9811711/ | [
"Alexander Stumpf",
"Oskar von Stryk",
"Alexander Stumpf",
"Oskar von Stryk"
] | In recent years, the capabilities of legged locomotion controllers have been significantly advanced enabling them to traverse basic types of uneven terrain without visual perception. However, safely and autonomously traversing longer distances over difficult uneven terrain requires appropriate motion planning using online collected environmental knowledge. In this paper, we present such a novel me... |
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