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Unseen Object Instance Segmentation with Fully Test-time RGB-D Embeddings Adaptation | https://ieeexplore.ieee.org/document/10160742/ | [
"Lu Zhang",
"Siqi Zhang",
"Xu Yang",
"Hong Qiao",
"Zhiyong Liu",
"Lu Zhang",
"Siqi Zhang",
"Xu Yang",
"Hong Qiao",
"Zhiyong Liu"
] | Segmenting unseen objects is a crucial ability for the robot since it may encounter new environments during the operation. Recently, a popular solution is leveraging RGB-D features of large-scale synthetic data and directly applying the model to unseen real-world scenarios. However, the domain shift caused by the sim2real gap is inevitable, posing a crucial challenge to the segmentation model. In ... |
Robust Double-Encoder Network for RGB-D Panoptic Segmentation | https://ieeexplore.ieee.org/document/10160315/ | [
"Matteo Sodano",
"Federico Magistri",
"Tiziano Guadagnino",
"Jens Behley",
"Cyrill Stachniss",
"Matteo Sodano",
"Federico Magistri",
"Tiziano Guadagnino",
"Jens Behley",
"Cyrill Stachniss"
] | Perception is crucial for robots that act in real-world environments, as autonomous systems need to see and understand the world around them to act properly. Panoptic segmentation provides an interpretation of the scene by computing a pixelwise semantic label together with instance IDs. In this paper, we address panoptic segmentation using RGB-D data of indoor scenes. We propose a novel encoder-de... |
Explain What You See: Open-Ended Segmentation and Recognition of Occluded 3D Objects | https://ieeexplore.ieee.org/document/10160927/ | [
"H. Ayoobi",
"H. Kasaei",
"M. Cao",
"R. Verbrugge",
"B. Verheij",
"H. Ayoobi",
"H. Kasaei",
"M. Cao",
"R. Verbrugge",
"B. Verheij"
] | Local-HDP (Local Hierarchical Dirichlet Process) is a hierarchical Bayesian method recently used for open-ended 3D object category recognition. It has been proven to be efficient in real-time robotic applications. However, the method is not robust to a high degree of occlusion. We address this limitation in two steps. First, we propose a novel semantic 3D object-parts segmentation method that has ... |
GMCR: Graph-based Maximum Consensus Estimation for Point Cloud Registration | https://ieeexplore.ieee.org/document/10161215/ | [
"Michael Gentner",
"Prajval Kumar Murali",
"Mohsen Kaboli",
"Michael Gentner",
"Prajval Kumar Murali",
"Mohsen Kaboli"
] | Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor calibration, and so on. In global correspondence-based point cloud registration, data association is a highly brittle task and commonly produces high amounts of outliers.... |
Toward Cooperative 3D Object Reconstruction with Multi-agent | https://ieeexplore.ieee.org/document/10160714/ | [
"Xiong Li",
"Zhenyu Wen",
"Leiqiang Zhou",
"Chenwei Li",
"Yejian Zhou",
"Taotao Li",
"Zhen Hong",
"Xiong Li",
"Zhenyu Wen",
"Leiqiang Zhou",
"Chenwei Li",
"Yejian Zhou",
"Taotao Li",
"Zhen Hong"
] | We study the problem of object reconstruction in a multi-agent collaboration scenario. Specifically, we focus on the reconstruction of specific goals through several cooperative agents equipped with vision sensors to achieve higher efficiency than single agents. Our main insight is that a complete 3D object can be split into several local 3D models and assigned to different agents. In addition, we... |
SwinDepth: Unsupervised Depth Estimation using Monocular Sequences via Swin Transformer and Densely Cascaded Network | https://ieeexplore.ieee.org/document/10160657/ | [
"Dongseok Shim",
"H. Jin Kim",
"Dongseok Shim",
"H. Jin Kim"
] | Monocular depth estimation plays a critical role in various computer vision and robotics applications such as localization, mapping, and 3D object detection. Recently, learning-based algorithms achieve huge success in depth estimation by training models with a large amount of data in a supervised manner. However, it is challenging to acquire dense ground truth depth labels for supervised training,... |
GAN-Based Interactive Reinforcement Learning from Demonstration and Human Evaluative Feedback | https://ieeexplore.ieee.org/document/10160939/ | [
"Jie Huang",
"Jiangshan Hao",
"Rongshun Juan",
"Randy Gomez",
"Keisuke Nakamura",
"Guangliang Li",
"Jie Huang",
"Jiangshan Hao",
"Rongshun Juan",
"Randy Gomez",
"Keisuke Nakamura",
"Guangliang Li"
] | Generative adversarial imitation learning (GAIL) — a general model-free imitation learning method, allows robots to directly learn policies from expert trajectories in large environments. However, GAIL shares the limitation of other imitation learning methods that they can seldom surpass the performance of demonstrations. In this paper, to address the limit of GAIL, we propose GAN-based interactiv... |
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation | https://ieeexplore.ieee.org/document/10161496/ | [
"Teng Xue",
"Hakan Girgin",
"Teguh Santoso Lembono",
"Sylvain Calinon",
"Teng Xue",
"Hakan Girgin",
"Teguh Santoso Lembono",
"Sylvain Calinon"
] | Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the continuous and discrete contact configurations, e.g., contact points and modes, which requires joint logical and geometrical reasoning. To tackle this issue, we propos... |
Learning Reward Functions for Robotic Manipulation by Observing Humans | https://ieeexplore.ieee.org/document/10161178/ | [
"Minttu Alakuijala",
"Gabriel Dulac-Arnold",
"Julien Mairal",
"Jean Ponce",
"Cordelia Schmid",
"Minttu Alakuijala",
"Gabriel Dulac-Arnold",
"Julien Mairal",
"Jean Ponce",
"Cordelia Schmid"
] | Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not least a difference in action and observation spaces. In this work, we use unlabeled videos of humans solving a wide range of manipulation tasks to learn a task-... |
Data-Driven Stochastic Motion Evaluation and Optimization with Image by Spatially-Aligned Temporal Encoding | https://ieeexplore.ieee.org/document/10161262/ | [
"Takeru Oba",
"Norimichi Ukita",
"Takeru Oba",
"Norimichi Ukita"
] | This paper proposes a probabilistic motion prediction method for long motions. The motion is predicted so that it accomplishes a task from the initial state observed in the given image. While our method evaluates the task achievability by the Energy-Based Model (EBM), previous EBMs are not designed for evaluating the consistency between different domains (i.e., image and motion in our method). Our... |
Demonstration-Bootstrapped Autonomous Practicing via Multi-Task Reinforcement Learning | https://ieeexplore.ieee.org/document/10161447/ | [
"Abhishek Gupta",
"Corey Lynch",
"Brandon Kinman",
"Garrett Peake",
"Sergey Levine",
"Karol Hausman",
"Abhishek Gupta",
"Corey Lynch",
"Brandon Kinman",
"Garrett Peake",
"Sergey Levine",
"Karol Hausman"
] | Reinforcement learning systems have the potential to enable continuous improvement in unstructured environments, leveraging data collected autonomously. However, in practice these systems require significant amounts of instrumentation or human intervention to learn in the real world. In this work, we propose a system for reinforcement learning that leverages multi-task reinforcement learning boots... |
Minimizing Human Assistance: Augmenting a Single Demonstration for Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/10161119/ | [
"Abraham George",
"Alison Bartsch",
"Amir Barati Farimani",
"Abraham George",
"Alison Bartsch",
"Amir Barati Farimani"
] | The use of human demonstrations in reinforcement learning has proven to significantly improve agent performance. However, any requirement for a human to manually ‘teach’ the model is somewhat antithetical to the goals of reinforcement learning. This paper attempts to minimize human involvement in the learning process while retaining the performance advantages by using a single human example collec... |
Learning Robotic Cutting from Demonstration: Non-Holonomic DMPs using the Udwadia-Kalaba Method | https://ieeexplore.ieee.org/document/10160917/ | [
"Artūras Straižys",
"Michael Burke",
"Subramanian Ramamoorthy",
"Artūras Straižys",
"Michael Burke",
"Subramanian Ramamoorthy"
] | Dynamic Movement Primitives (DMPs) offer great versatility for encoding, generating and adapting complex end-effector trajectories. DMPs are also very well suited to learning manipulation skills from human demonstration. However, the reactive nature of DMPs restricts their applicability for tool use and object manipulation tasks involving non-holonomic constraints, such as scalpel cutting or cathe... |
KRIS: A Novel Device for Kinesthetic Corrective Feedback during Robot Motion | https://ieeexplore.ieee.org/document/10160504/ | [
"Jorn Verheggen",
"Kim Baraka",
"Jorn Verheggen",
"Kim Baraka"
] | This paper presents a novel device that can be used to perform kinesthetic corrective feedback for robotic systems. KRIS (Kinesthetic Robotic Interaction System) is a device that can be mounted on the end-effector of an articulated robot. From here it can be manipulated by a human to give corrective feedback to the robot system during execution and in an intuitive way. The device can provide feedb... |
Guided Learning from Demonstration for Robust Transferability | https://ieeexplore.ieee.org/document/10160291/ | [
"Fouad Sukkar",
"Victor Hernandez Moreno",
"Teresa Vidal-Calleja",
"Jochen Deuse",
"Fouad Sukkar",
"Victor Hernandez Moreno",
"Teresa Vidal-Calleja",
"Jochen Deuse"
] | Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in guiding the demonstration itself in order to improve robustness. The latter is particularly important to consider when the target system reproducing the motion is str... |
One-shot Visual Imitation via Attributed Waypoints and Demonstration Augmentation | https://ieeexplore.ieee.org/document/10160944/ | [
"Matthew Chang",
"Saurabh Gupta",
"Matthew Chang",
"Saurabh Gupta"
] | In this paper, we analyze the behavior of existing techniques and design new solutions for the problem of one-shot visual imitation. In this setting, an agent must solve a novel instance of a novel task given just a single visual demonstration. Our analysis reveals that current methods fall short because of three errors: the DAgger problem arising from purely offline training, last centimeter erro... |
Show me What you want: Inverse Reinforcement Learning to Automatically Design Robot Swarms by Demonstration | https://ieeexplore.ieee.org/document/10160947/ | [
"Ilyes Gharbi",
"Jonas Kuckling",
"David Garzón Ramos",
"Mauro Birattari",
"Ilyes Gharbi",
"Jonas Kuckling",
"David Garzón Ramos",
"Mauro Birattari"
] | Automatic design is a promising approach to generating control software for robot swarms. So far, automatic design has relied on mission-specific objective functions to specify the desired collective behavior. In this paper, we explore the possibility to specify the desired collective behavior via demonstrations. We develop Demo-Cho, an automatic design method that combines inverse reinforcement l... |
Immersive Demonstrations are the Key to Imitation Learning | https://ieeexplore.ieee.org/document/10160560/ | [
"Kelin Li",
"Digby Chappell",
"Nicolas Rojas",
"Kelin Li",
"Digby Chappell",
"Nicolas Rojas"
] | Achieving successful robotic manipulation is an essential step towards robots being widely used in industry and home settings. Recently, many learning-based methods have been proposed to tackle this challenge, with imitation learning showing great promise. However, imperfect demonstrations and a lack of feedback from teleoperation systems may lead to poor or even unsafe results. In this work we ex... |
DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/10161144/ | [
"I Made Aswin Nahrendra",
"Byeongho Yu",
"Hyun Myung",
"I Made Aswin Nahrendra",
"Byeongho Yu",
"Hyun Myung"
] | Quadrupedal robots resemble the physical ability of legged animals to walk through unstructured terrains. However, designing a controller for quadrupedal robots poses a significant challenge due to their functional complexity and requires adaptation to various terrains. Recently, deep reinforcement learning, inspired by how legged animals learn to walk from their experiences, has been utilized to ... |
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion | https://ieeexplore.ieee.org/document/10160357/ | [
"Siddhant Gangapurwala",
"Luigi Campanaro",
"Ioannis Havoutis",
"Siddhant Gangapurwala",
"Luigi Campanaro",
"Ioannis Havoutis"
] | Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency. We challenge this intuitive notion by demonstrating robust and dynamic locomotion with a learned motion controller executing at as low as 8 Hz on a real ANYmal C quadruped. The robot is able to robustly and repeatably achieve a high heading velocity of 1.5 ms-1, trav... |
OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors | https://ieeexplore.ieee.org/document/10160562/ | [
"Yuni Fuchioka",
"Zhaoming Xie",
"Michiel Van de Panne",
"Yuni Fuchioka",
"Zhaoming Xie",
"Michiel Van de Panne"
] | Reinforcement Learning (RL) has seen many recent successes for quadruped robot control. The imitation of reference motions provides a simple and powerful prior for guiding solutions towards desired solutions without the need for meticulous reward design. While much work uses motion capture data or hand-crafted trajectories as the reference motion, relatively little work has explored the use of ref... |
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments | https://ieeexplore.ieee.org/document/10161302/ | [
"Mingyo Seo",
"Ryan Gupta",
"Yifeng Zhu",
"Alexy Skoutnev",
"Luis Sentis",
"Yuke Zhu",
"Mingyo Seo",
"Ryan Gupta",
"Yifeng Zhu",
"Alexy Skoutnev",
"Luis Sentis",
"Yuke Zhu"
] | We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a hierarchical learning framework, named PRELUDE, which decomposes the problem of perceptive locomotion into high-level decision-making to predict navigation commands and lo... |
Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion | https://ieeexplore.ieee.org/document/10161470/ | [
"Xuxin Cheng",
"Ashish Kumar",
"Deepak Pathak",
"Xuxin Cheng",
"Ashish Kumar",
"Deepak Pathak"
] | Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the legs beyond locomotion to perform several basic manipulation tasks like interacting with objects and climbing. In this paper, we take a step towards bridging th... |
Force control for Robust Quadruped Locomotion: A Linear Policy Approach | https://ieeexplore.ieee.org/document/10161080/ | [
"Aditya Shirwatkar",
"Vamshi Kumar Kurva",
"Devaraju Vinoda",
"Aman Singh",
"Aditya Sagi",
"Himanshu Lodha",
"Bhavya Giri Goswami",
"Shivam Sood",
"Ketan Nehete",
"Shishir Kolathaya",
"Aditya Shirwatkar",
"Vamshi Kumar Kurva",
"Devaraju Vinoda",
"Aman Singh",
"Aditya Sagi",
"Himanshu Lodha",
"Bhavya Giri Goswami",
"Shivam Sood",
"Ketan Nehete",
"Shishir Kolathaya"
] | This work presents a simple linear policy for direct force control for quadrupedal robot locomotion. The motivation is that force control is essential for highly dynamic and agile motions. We learn a linear policy to generate end-foot trajectory parameters and a centroidal wrench, which is then distributed among the legs based on the foot contact information using a quadratic program (QP) to get t... |
Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning | https://ieeexplore.ieee.org/document/10160751/ | [
"Eric Vollenweider",
"Marko Bjelonic",
"Victor Klemm",
"Nikita Rudin",
"Joonho Lee",
"Marco Hutter",
"Eric Vollenweider",
"Marko Bjelonic",
"Victor Klemm",
"Nikita Rudin",
"Joonho Lee",
"Marco Hutter"
] | Reinforcement learning (RL) has emerged as a powerful approach for locomotion control of highly articulated robotic systems. However, one major challenge is the tedious process of tuning the reward function to achieve the desired motion style. To address this issue, imitation learning approaches such as adversarial motion priors have been proposed, which encourage a pre-defined motion style. In th... |
Deep Reinforcement Learning based Personalized Locomotion Planning for Lower-Limb Exoskeletons | https://ieeexplore.ieee.org/document/10161559/ | [
"Javad K. Mehr",
"Eddie Guo",
"Mojtaba Akbari",
"Vivian K. Mushahwar",
"Mahdi Tavakoli",
"Javad K. Mehr",
"Eddie Guo",
"Mojtaba Akbari",
"Vivian K. Mushahwar",
"Mahdi Tavakoli"
] | This paper introduces intelligent central pattern generators (iCPGs) that can plan personalized walking trajectories for lower-limb exoskeletons. This can make walking more comfortable for the users by resolving one of the significant shortcomings of most commercially available exoskeletons, which is the use of pre-defined fixed trajectories for all users. The proposed method combines reinforcemen... |
Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation | https://ieeexplore.ieee.org/document/10160776/ | [
"Guilherme Christmann",
"Ying-Sheng Luo",
"Jonathan Hans Soeseno",
"Wei-Chao Chen",
"Guilherme Christmann",
"Ying-Sheng Luo",
"Jonathan Hans Soeseno",
"Wei-Chao Chen"
] | This paper proposes the transition-net, a robust transition strategy that expands the versatility of robot locomotion in the real-world setting. To this end, we start by distributing the complexity of different gaits into dedicated locomotion policies applicable to real-world robots. Next, we expand the versatility of the robot by unifying the policies with robust transitions into a single coheren... |
Sim-to-Real Transfer for Quadrupedal Locomotion via Terrain Transformer | https://ieeexplore.ieee.org/document/10160497/ | [
"Hang Lai",
"Weinan Zhang",
"Xialin He",
"Chen Yu",
"Zheng Tian",
"Yong Yu",
"Jun Wang",
"Hang Lai",
"Weinan Zhang",
"Xialin He",
"Chen Yu",
"Zheng Tian",
"Yong Yu",
"Jun Wang"
] | Deep reinforcement learning has recently emerged as an appealing alternative for legged locomotion over multiple terrains by training a policy in physical simulation and then transferring it to the real world (i.e., sim-to-real transfer). Despite considerable progress, the capacity and scalability of traditional neural networks are still limited, which may hinder their applications in more complex... |
Agile and Versatile Robot Locomotion via Kernel-based Residual Learning | https://ieeexplore.ieee.org/document/10160704/ | [
"Milo Carroll",
"Zhaocheng Liu",
"Mohammadreza Kasaei",
"Zhibin Li",
"Milo Carroll",
"Zhaocheng Liu",
"Mohammadreza Kasaei",
"Zhibin Li"
] | This work developed a kernel-based residual learning framework for quadrupedal robotic locomotion. Ini-tially, a kernel neural network is trained with data collected from an MPC controller. Alongside a frozen kernel network, a residual controller network is trained using reinforcement learning to acquire generalized locomotion skills and robust-ness against external perturbations. The proposed fra... |
DribbleBot: Dynamic Legged Manipulation in the Wild | https://ieeexplore.ieee.org/document/10160325/ | [
"Yandong Ji",
"Gabriel B. Margolis",
"Pulkit Agrawal",
"Yandong Ji",
"Gabriel B. Margolis",
"Pulkit Agrawal"
] | DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same real-world conditions as humans. We identify key challenges of in-the-wild soccer ball manipulation, including variable ball motion dynamics and perception using body-mounted cameras. To overcome these challenges, we propose a domain and task specification for learn... |
Knowledge Distillation for Feature Extraction in Underwater VSLAM | https://ieeexplore.ieee.org/document/10161047/ | [
"Jinghe Yang",
"Mingming Gong",
"Girish Nair",
"Jung Hoon Lee",
"Jason Monty",
"Ye Pu",
"Jinghe Yang",
"Mingming Gong",
"Girish Nair",
"Jung Hoon Lee",
"Jason Monty",
"Ye Pu"
] | In recent years, learning-based feature detection and matching have outperformed manually-designed methods in in-air cases. However, it is challenging to learn the features in the underwater scenario due to the absence of annotated underwater datasets. This paper proposes a cross-modal knowl-edge distillation framework for training an underwater feature detection and matching network (UFEN). In pa... |
OysterNet: Enhanced Oyster Detection Using Simulation | https://ieeexplore.ieee.org/document/10160830/ | [
"Xiaomin Lin",
"Nitin J. Sanket",
"Nare Karapetyan",
"Yiannis Aloimonos",
"Xiaomin Lin",
"Nitin J. Sanket",
"Nare Karapetyan",
"Yiannis Aloimonos"
] | Oysters play a pivotal role in the bay living ecosystem and are considered the living filters for the ocean. In recent years, oyster reefs have undergone major devastation caused by commercial over-harvesting, requiring preservation to maintain ecological balance. The foundation of this preservation is to estimate the oyster density which requires accurate oyster detection. However, systems for ac... |
SyreaNet: A Physically Guided Underwater Image Enhancement Framework Integrating Synthetic and Real Images | https://ieeexplore.ieee.org/document/10161531/ | [
"Junjie Wen",
"Jinqiang Cui",
"Zhenjun Zhao",
"Ruixin Yan",
"Zhi Gao",
"Lihua Dou",
"Ben M. Chen",
"Junjie Wen",
"Jinqiang Cui",
"Zhenjun Zhao",
"Ruixin Yan",
"Zhi Gao",
"Lihua Dou",
"Ben M. Chen"
] | Underwater image enhancement (UIE) is vital for high-level vision-related underwater tasks. Although learning-based UIE methods have made remarkable achievements in recent years, it's still challenging for them to consistently deal with various underwater conditions, which could be caused by: 1) the use of the simplified atmospheric image formation model in UIE may result in severe errors; 2) the ... |
Real-Time Dense 3D Mapping of Underwater Environments | https://ieeexplore.ieee.org/document/10160266/ | [
"Weihan Wang",
"Bharat Joshi",
"Nathaniel Burgdorfer",
"Konstantinos Batsosc",
"Alberto Quattrini Lid",
"Philippos Mordohaia",
"Ioannis Rekleitisb",
"Weihan Wang",
"Bharat Joshi",
"Nathaniel Burgdorfer",
"Konstantinos Batsosc",
"Alberto Quattrini Lid",
"Philippos Mordohaia",
"Ioannis Rekleitisb"
] | This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external forces, limited visibility, and absence of global positioning. Obstacle avoidance and effective path planning require online dense reconstructions of the enviro... |
SM/VIO: Robust Underwater State Estimation Switching Between Model-based and Visual Inertial Odometry | https://ieeexplore.ieee.org/document/10161407/ | [
"Bharat Joshi",
"Hunter Damron",
"Sharmin Rahman",
"Ioannis Rekleitis",
"Bharat Joshi",
"Hunter Damron",
"Sharmin Rahman",
"Ioannis Rekleitis"
] | This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization schemes are prone to failure due to poor visibility conditions, color loss, and lack of features. The proposed approach utilizes a model of the robot's kinemati... |
Image-Based Visual Servoing Switchable Leader-follower Control of Heterogeneous Multi-agent Underwater Robot System | https://ieeexplore.ieee.org/document/10160853/ | [
"Kanzhong Yao",
"Nathalie Bauschmann",
"Thies L Alff",
"Wei Cheah",
"Daniel A Duecker",
"Keir Groves",
"Ognjen Marjanovic",
"Simon Watson",
"Kanzhong Yao",
"Nathalie Bauschmann",
"Thies L Alff",
"Wei Cheah",
"Daniel A Duecker",
"Keir Groves",
"Ognjen Marjanovic",
"Simon Watson"
] | Confined and cluttered aquatic environments present a number of significant challenges with respect to inspection by robotic platforms, including localisation and communications. Some of these can be mitigated by using collaborative heterogeneous multi-robot teams. An important element of such a system is collaborative control. This paper addresses this challenge by presenting an Image-Based Visua... |
Buoyancy enabled autonomous underwater construction with cement blocks | https://ieeexplore.ieee.org/document/10160589/ | [
"Samuel Lensgraf",
"Devin Balkcom",
"Alberto Quattrini Li",
"Samuel Lensgraf",
"Devin Balkcom",
"Alberto Quattrini Li"
] | We present the first free-floating autonomous underwater construction system capable of using active bal-lasting to transport cement building blocks efficiently. It is the first free-floating autonomous construction robot to use a paired set of resources: compressed air for buoyancy and a battery for thrusters. In construction trials, our system built structures of up to 12 components and weighing... |
Mapping Waves with an Uncrewed Surface Vessel via Gaussian Process Regression | https://ieeexplore.ieee.org/document/10160568/ | [
"Thomas M. C. Sears",
"M. Riley Cooper",
"Joshua A. Marshall",
"Thomas M. C. Sears",
"M. Riley Cooper",
"Joshua A. Marshall"
] | Mobile robots are well suited for environmental surveys because they can travel to any area of interest and react to observations without the need for pre-existing infrastructure or significant setup time. However, vehicle motion constraints limit where and when measurements occur. This is challenging for a single vehicle observing a time-varying phenomenon, such as coastal waves, but the ability ... |
Enforcing Constraints for Dynamic Obstacle Avoidance by Compliant Robots | https://ieeexplore.ieee.org/document/10160360/ | [
"Leonidas Koutras",
"Konstantinos Vlachos",
"George S. Kanakis",
"Fotios Dimeas",
"Zoe Doulgeri",
"George A. Rovithakis",
"Leonidas Koutras",
"Konstantinos Vlachos",
"George S. Kanakis",
"Fotios Dimeas",
"Zoe Doulgeri",
"George A. Rovithakis"
] | In this work a control scheme is proposed to enforce dynamic obstacle avoidance constraints to the full body of actively compliant robots. We argue that both compliance and accuracy are necessary to build safe collaborative robotic systems; obstacle avoidance is usually not enough, due to the reliance on perception systems which exhibit delays and errors. Our scheme is able to successfully avoid o... |
Increasing Admittance of Industrial Robots By Velocity Feedback Inner-Loop Shaping | https://ieeexplore.ieee.org/document/10161035/ | [
"Kangwagye Samuel",
"Kevin Haninger",
"Sehoon Oh",
"Kangwagye Samuel",
"Kevin Haninger",
"Sehoon Oh"
] | Admittance and impedance controllers are often purely feedforward, using measured external force or motion, respectively, to generate a reference for an inner-loop controller. In this case, the range of dynamics which can be rendered is limited by the inner-loop, which causes, e.g. contact stability issues for low admittance industrial robots in stiff contact. When both position and force are meas... |
Bounded Compensation with Friction Estimation for Accurate Motion Tracking and Compliant Behavior of Industrial Manipulators | https://ieeexplore.ieee.org/document/10160818/ | [
"Dongwoo Ko",
"Donghyeon Lee",
"Wan Kyun Chung",
"Keehoon Kim",
"Dongwoo Ko",
"Donghyeon Lee",
"Wan Kyun Chung",
"Keehoon Kim"
] | This paper proposes a control structure for accurate tracking and compliant behavior of industrial manipulators without additional sensors. To achieve control objectives, friction, one of the biggest causes of performance degradation, should be compensated. For tracking performance, the estimated friction cancels most friction effects as a feed-forward, and the modified robust control structure el... |
A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud | https://ieeexplore.ieee.org/document/10160366/ | [
"Xiao Chen",
"Hamid Sadeghian",
"Lingyun Chen",
"Mario Tröbinger",
"Abadalla Swirkir",
"Abdeldjallil Naceri",
"Sami Haddadin",
"Xiao Chen",
"Hamid Sadeghian",
"Lingyun Chen",
"Mario Tröbinger",
"Abadalla Swirkir",
"Abdeldjallil Naceri",
"Sami Haddadin"
] | As robots become more and more intelligent, the complexity of the algorithms behind them is increasing. Since these algorithms require high computation power from the onboard robot controller, the weight of the robot and energy consumption increases. A promising solution to tackle this issue is to relocate the expensive computation to the cloud. In this pioneering work, the possibility of relocati... |
A Framework for Simultaneous Workpiece Registration in Robotic Machining Applications | https://ieeexplore.ieee.org/document/10160445/ | [
"Steffan Lloyd",
"Rishad Irani",
"Mojtaba Ahmadi",
"Steffan Lloyd",
"Rishad Irani",
"Mojtaba Ahmadi"
] | This article presents a novel framework called Simultaneous Registration and Machining (SRAM), a generalized method to improve workpiece registration using real-time acquired data in robotic contouring applications. The method allows for online corrections to the toolpath, while a live covariance estimate is simultaneously leveraged to adaptively tune the force controller aggressively when uncerta... |
Contact Force Control with Continuously Compliant Robotic Legs | https://ieeexplore.ieee.org/document/10160269/ | [
"Robin Bendfeld",
"C. David Remy",
"Robin Bendfeld",
"C. David Remy"
] | This paper presents a novel robotic leg design and an associated control approach, which aims at providing an extension to the classical series elastic actuation concept. We propose to directly integrate the series compliance into the structure of the robotic leg itself, as opposed to co-locating spring and motor as done in traditional series elastic actuators. Our approach will eliminate mechanic... |
Generalization of Impact Response Factors for Proprioceptive Collaborative Robots | https://ieeexplore.ieee.org/document/10160613/ | [
"Carlos Relaño",
"Daniel Sanz-Merodio",
"Miguel López",
"Concepción A. Monje",
"Carlos Relaño",
"Daniel Sanz-Merodio",
"Miguel López",
"Concepción A. Monje"
] | Physical Human-Robot Interaction(pHRI) re-quires taking safety into account from the design board to the collaborative operation of any robot. For collaborative robotic environments, where human and machine are sharing space and interacting physically, the analysis and quantification of impacts becomes very relevant and necessary. Furthermore, analyses of this kind are a valuable source of informa... |
Robotic Fastening with a Manual Screwdriver | https://ieeexplore.ieee.org/document/10161139/ | [
"Ling Tang",
"Yan-Bin Jia",
"Ling Tang",
"Yan-Bin Jia"
] | The robotic hand is still no match for the human hand on many skills. Manipulation of hand tools, which usually requires sophisticated finger movements and fine controls, not only poses a clear technical challenge but also carries a great potential for enabling the robot to assist humans in a wide range of tasks accomplishable using tools. This paper takes a first step to investigate how a robotic... |
Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing | https://ieeexplore.ieee.org/document/10161472/ | [
"Jonathan Becker",
"Nadine Imholz",
"Luca Schwarzenbach",
"Edoardo Ghignone",
"Nicolas Baumann",
"Michele Magno",
"Jonathan Becker",
"Nadine Imholz",
"Luca Schwarzenbach",
"Edoardo Ghignone",
"Nicolas Baumann",
"Michele Magno"
] | Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational constraint and complexity often limit the use of Model Predictive Control (MPC). As a consequence, geometric controllers are the most frequently deployed controll... |
Extremum Seeking-Based Adaptive Sliding Mode Control with Sliding Perturbation Observer for Robot Manipulators | https://ieeexplore.ieee.org/document/10160262/ | [
"Hamza Khan",
"Min Cheol Lee",
"Hamza Khan",
"Min Cheol Lee"
] | This paper proposed an adaptive robust sliding mode control (SMC) with a nonlinear sliding perturbation observer (SPO) for robot manipulators. SPO estimates the perturbation (nonlinearities, uncertainties, and disturbances) with minimal system information and enhances the controller performance. The estimation is mainly dependent on the selection of SMCSPO gain, and if not tuned well, it might res... |
Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm | https://ieeexplore.ieee.org/document/10161397/ | [
"Sjoerd Drost",
"Pietro Pustina",
"Franco Angelini",
"Alessandro De Luca",
"Gerwin Smit",
"Cosimo Della Santina",
"Sjoerd Drost",
"Pietro Pustina",
"Franco Angelini",
"Alessandro De Luca",
"Gerwin Smit",
"Cosimo Della Santina"
] | Performing precise, repetitive motions is essential in many robotic and automation systems. Iterative learning control (ILC) allows determining the necessary control command by using a very rough system model to speed up the process. Functional iterative learning control is a novel technique that promises to solve several limitations of classic ILC. It operates by merging the input space into a la... |
Robust Output Feedback controller for a Serial Robotic Manipulator with Unknown Nonlinearities and External Disturbances | https://ieeexplore.ieee.org/document/10160921/ | [
"Mohammad Al Saaideh",
"Almuatazbellah M. Boker",
"Mohammad Al Janaideh",
"Mohammad Al Saaideh",
"Almuatazbellah M. Boker",
"Mohammad Al Janaideh"
] | This paper presents a robust output feedback controller for a n-link serial robotic manipulator with unknown dynamics and external disturbances. First, the robotic manipulator's model is formulated with unknown dynamics, including joint coupling, nonlinearities, and external disturbances. Second, an output feedback controller is proposed by combining a backstepping controller and an extended high-... |
Collaborative Control Based on Payload- leading for the Multi-quadrotor Transportation Systems | https://ieeexplore.ieee.org/document/10161414/ | [
"Yuan Ping",
"Mingming Wang",
"Juntong Qi",
"Chong Wu",
"Jinjin Guo",
"Yuan Ping",
"Mingming Wang",
"Juntong Qi",
"Chong Wu",
"Jinjin Guo"
] | This paper presents a collaborative control method based on payload-leading for the multi-quadrotor transportation systems. The goal is to keep the relative distance between the quadrotors and the payload as constant as possible during the transportation, so as to ensure the stable attitude of the payload. The control mechanism consists of a guidance control law that generates the common desired v... |
Torque Control with Joints Position and Velocity Limits Avoidance | https://ieeexplore.ieee.org/document/10160693/ | [
"Venus Pasandi",
"Daniele Pucci",
"Venus Pasandi",
"Daniele Pucci"
] | The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control architecture for fully actuated manipulators for tracking the desired time-varying trajectory while ensuring the joints position and velocity limits. The presented archit... |
Low-level controller in response to changes in quadrotor dynamics | https://ieeexplore.ieee.org/document/10160987/ | [
"Jae-Kyung Cho",
"Chan Kim",
"Mohamed Khalid M Jaffar",
"Michael W. Otte",
"Seong-Woo Kim",
"Jae-Kyung Cho",
"Chan Kim",
"Mohamed Khalid M Jaffar",
"Michael W. Otte",
"Seong-Woo Kim"
] | The dynamics of all real quadrotors inevitably differ even if they are the same product. In particular, the dynamics can change significantly during the flight due to additional device attachments or overheating motors. In this study, we focus on training a low-level controller, which operates in response to dynamics-changes without prior knowledge or fine-tuning of the parameters, using reinforce... |
Biodegradable Origami Gripper Actuated with Gelatin Hydrogel for Aerial Sensor Attachment to Tree Branches | https://ieeexplore.ieee.org/document/10160316/ | [
"Christian Geckeler",
"Benito Armas Pizzani",
"Stefano Mintchev",
"Christian Geckeler",
"Benito Armas Pizzani",
"Stefano Mintchev"
] | Forest canopies are vital ecosystems, but remain understudied due to difficult access. Forests could be monitored with a network of biodegradable sensors that break down into environmentally friendly substances at the end of their life. As a first step in this direction, this paper details the development of a biodegradable origami gripper to attach conventional sensors to branches, deployable wit... |
PARSEC: An Aerial Platform for Autonomous Deployment of Self-Anchoring Payloads on Natural Vertical Surfaces | https://ieeexplore.ieee.org/document/10161380/ | [
"Patrick Spieler",
"Skylar X. Wei",
"Monica Li",
"Andrew Galassi",
"Kyle Uckert",
"Arash Kalantari",
"Joel W. Burdick",
"Patrick Spieler",
"Skylar X. Wei",
"Monica Li",
"Andrew Galassi",
"Kyle Uckert",
"Arash Kalantari",
"Joel W. Burdick"
] | PARSEC (Payload Anchoring Robotic System for the Exploration of Cliffs) is an autonomy-equipped aerial manipulator that can deploy self-anchoring payloads on rocky vertical surfaces. It consists of a hexacopter and a two Degrees of Freedom (2 DoF) mass balancing manipulator, which can autonomously deploy a self-anchoring payload from its custom end-effector. The payload anchors itself via an actua... |
Autonomous Control for Orographic Soaring of Fixed-Wing UAVs | https://ieeexplore.ieee.org/document/10161578/ | [
"Tom Suys",
"Sunyou Hwang",
"Guido C.H.E. De Croon",
"Bart D.W. Remes",
"Tom Suys",
"Sunyou Hwang",
"Guido C.H.E. De Croon",
"Bart D.W. Remes"
] | We present a novel controller for fixed-wing UAVs that enables autonomous soaring in an orographic wind field, extending flight endurance. Our method identifies soaring regions and addresses position control challenges by introducing a target gradient line (TGL) on which the UAV achieves an equilibrium soaring position, where sink rate and updraft are balanced. Experimental testing validates the c... |
Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface | https://ieeexplore.ieee.org/document/10161172/ | [
"Jeonghyun Byun",
"Byeongjun Kim",
"Changhyeon Kim",
"Donggeon David Oh",
"H. Jin Kim",
"Jeonghyun Byun",
"Byeongjun Kim",
"Changhyeon Kim",
"Donggeon David Oh",
"H. Jin Kim"
] | This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this end, we model the force exerted on the end-effector as the Kelvin-Voigt linear model and estimate its parameters by recursive least-squares estimator. Then, the ... |
Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator | https://ieeexplore.ieee.org/document/10161060/ | [
"Eugenio Cuniato",
"Christian Geckeler",
"Maximilian Brunner",
"Dario Strübin",
"Elia Bähler",
"Fabian Ospelt",
"Marco Tognon",
"Stefano Mintchev",
"Roland Siegwart",
"Eugenio Cuniato",
"Christian Geckeler",
"Maximilian Brunner",
"Dario Strübin",
"Elia Bähler",
"Fabian Ospelt",
"Marco Tognon",
"Stefano Mintchev",
"Roland Siegwart"
] | This work presents the mechanical design and control of a novel small-size and lightweight Micro Aerial Vehicle (MAV) for aerial manipulation. To our knowledge, with a total take-off mass of only 2.0 kg, the proposed system is the most lightweight Aerial Manipulator (AM) that has 8-DOF independently controllable: 5 for the aerial platform and 3 for the articulated arm. We designed the robot to be ... |
Simplifying Aerial Manipulation Using Intentional Collisions | https://ieeexplore.ieee.org/document/10161462/ | [
"Mark Nail",
"Nick Jänne",
"Olivia Ma",
"Gabriel Arellano",
"Ella Atkins",
"R. Brent Gillespie",
"Mark Nail",
"Nick Jänne",
"Olivia Ma",
"Gabriel Arellano",
"Ella Atkins",
"R. Brent Gillespie"
] | Aerial manipulation describes a process that includes physical interaction between an unmanned aircraft system (UAS) and its environment. We aim to apply aerial manipulation to sample leaves and small branches from rain forest trees. Current approaches to aerial manipulation involve extended periods of UAS-environment interaction, during which forces and moments can lead to a loss in attitude or p... |
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation | https://ieeexplore.ieee.org/document/10160718/ | [
"Yuri S. Sarkisov",
"Andre Coelho",
"Maihara G. Santos",
"Min Jun Kim",
"Dzmitry Tsetserukou",
"Christian Ott",
"Konstantin Kondak",
"Yuri S. Sarkisov",
"Andre Coelho",
"Maihara G. Santos",
"Min Jun Kim",
"Dzmitry Tsetserukou",
"Christian Ott",
"Konstantin Kondak"
] | During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winch-based actuation for the crane-stationed cable-s... |
Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot | https://ieeexplore.ieee.org/document/10160347/ | [
"Max Polzin",
"Frank Centamori",
"Josie Hughes",
"Max Polzin",
"Frank Centamori",
"Josie Hughes"
] | The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted by overhangs which are challenging to navigate, particularly so with the high payloads required for environmental monitoring. We propose utilizin... |
Vector Field Aided Trajectory Tracking by a 10-gram Flapping-Wing Micro Aerial Vehicle | https://ieeexplore.ieee.org/document/10160976/ | [
"A. Ndoye",
"J. J. Castillo-Zamora",
"S. Samorah-Laki",
"R. Miot",
"E. Van Ruymbeke",
"F. Ruffier",
"A. Ndoye",
"J. J. Castillo-Zamora",
"S. Samorah-Laki",
"R. Miot",
"E. Van Ruymbeke",
"F. Ruffier"
] | Here we describe how a 10-gram Flapping-Wing Micro Aerial Vehicle (FWMAV) was able to perform an automatic trajectory tracking task based on a vector field method. In this study, the desired heading was provided by a vector field which was computed depending on the desired trajectory. The FWMAV's heading was changed by a rear steering mechanism. This rear mechanism simultaneously (i) tenses one wi... |
Globally Defined Dynamic Modelling and Geometric Tracking Controller Design for Aerial Manipulator | https://ieeexplore.ieee.org/document/10160860/ | [
"Byeongjun Kim",
"Dongjae Lee",
"Jeonghyun Byun",
"H. Jin Kim",
"Byeongjun Kim",
"Dongjae Lee",
"Jeonghyun Byun",
"H. Jin Kim"
] | This study presents a globally defined dynamics for a conventional multirotor equipped with a single $n\mathbf{-DOF}$ manipulator using modified Lagrangian dynamics. This enables the reformulation of entire dynamics directly on $\text{SO}(3)$ without exploiting any local coordinates, and thus problems such as the singularity of Euler angles can be avoided. Since skew-symmetric property of Coriolis... |
FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors | https://ieeexplore.ieee.org/document/10160454/ | [
"Nathaniel Simon",
"Allen Z. Ren",
"Alexander Piqué",
"David Snyder",
"Daphne Barretto",
"Marcus Hultmark",
"Anirudha Majumdar",
"Nathaniel Simon",
"Allen Z. Ren",
"Alexander Piqué",
"David Snyder",
"Daphne Barretto",
"Marcus Hultmark",
"Anirudha Majumdar"
] | Unmanned aerial vehicles (UAVs) are finding use in applications that place increasing emphasis on robustness to external disturbances including extreme wind. However, traditional multirotor UAV platforms do not directly sense wind; conventional flow sensors are too slow, insensitive, or bulky for widespread integration on UAVs. Instead, drones typically observe the effects of wind indirectly throu... |
AutoCharge: Autonomous Charging for Perpetual Quadrotor Missions | https://ieeexplore.ieee.org/document/10161503/ | [
"Alessandro Saviolo",
"Jeffrey Mao",
"Roshan Balu T M B",
"Vivek Radhakrishnan",
"Giuseppe Loianno",
"Alessandro Saviolo",
"Jeffrey Mao",
"Roshan Balu T M B",
"Vivek Radhakrishnan",
"Giuseppe Loianno"
] | Battery endurance represents a key challenge for long-term autonomy and long-range operations, especially in the case of aerial robots. In this paper, we propose AutoCharge, an autonomous charging solution for quadrotors that combines a portable ground station with a flexible, lightweight charging tether and is capable of universal, highly efficient, and robust charging. We design and manufacture ... |
DQN-based on-line Path Planning Method for Automatic Navigation of Miniature Robots | https://ieeexplore.ieee.org/document/10161023/ | [
"Jialin Jiang",
"Lidong Yang",
"Li Zhang",
"Jialin Jiang",
"Lidong Yang",
"Li Zhang"
] | Untethered magnetic microrobots with control-lable locomotion property and multiple functions have attracted lots of attention in recent years. Owing to the small scale, micro-robots with automatic navigation possess a promising perspec-tive for biomedical applications including precise delivery and targeted therapy in confined and narrow space, especially for in-vivo scenario. However, the practi... |
Rendezvous and Docking of Magnetic Helical Microrobots Along Arc Orbits for Field-directed Assembly and Disassembly | https://ieeexplore.ieee.org/document/10160397/ | [
"Shuideng Wang",
"Zejie Yu",
"Chaojian Hou",
"Kun Wang",
"Lixin Dong",
"Shuideng Wang",
"Zejie Yu",
"Chaojian Hou",
"Kun Wang",
"Lixin Dong"
] | Due to the limited cargo/functional element loading and other capabilities of individual microrobots, assembling them for locomotion and disassembling them as arriving at the target is more effective. An approach called rendezvous and docking is proposed in this paper to control the assembly and disassembly of helical microrobots actuated by a uniform rotating magnetic field. Docking is realized a... |
MRI-powered Magnetic Miniature Capsule Robot with HIFU-controlled On-demand Drug Delivery | https://ieeexplore.ieee.org/document/10161197/ | [
"Mehmet Efe Tiryaki",
"Fatih Doğangün",
"Cem Balda Dayan",
"Paul Wrede",
"Metin Sitti",
"Mehmet Efe Tiryaki",
"Fatih Doğangün",
"Cem Balda Dayan",
"Paul Wrede",
"Metin Sitti"
] | Magnetic resonance imaging (MRI)-guided robotic systems offer great potential for new minimally invasive medical tools, including MRI-powered miniature robots. By re-purposing the imaging hardware of an MRI scanner, the magnetic miniature robot could be navigated into the remote part of the patient's body without needing tethered endoscopic tools. However, state-of-art MRI-powered magnetic miniatu... |
Structural Design and Frequency Tuning of Piezoelectric Energy Harvesters Based on Topology Optimization | https://ieeexplore.ieee.org/document/10161313/ | [
"Abbas Homayouni-Amlashi",
"Micky Rakotondrabe",
"Abdenbi Mohand-Ousaid",
"Abbas Homayouni-Amlashi",
"Micky Rakotondrabe",
"Abdenbi Mohand-Ousaid"
] | Vibrational piezoelectric energy harvesters (vPEH) are of great interest in several fields such as autonomous sensors and wireless sensor networks, bird tracking devices, or autonomous miniaturized robotic systems. They capture energy from mechanical vibrations available in the ambient environment and convert it into electrical one to power those systems. Basically, a vPEH is composed of three mai... |
Input-Output Boundedness of a Magnetically-Actuated Helical Device | https://ieeexplore.ieee.org/document/10160556/ | [
"Leendert-Jan W. Ligtenberg",
"Islam S. M. Khalil",
"Leendert-Jan W. Ligtenberg",
"Islam S. M. Khalil"
] | To date, all previous research in the wireless magnetic actuation of untethered helical devices has achieved motion stability using feedback control in vitro. However, feedback control systems are likely to be affected by the increased sensory uncertainty during in vivo trials. In this study we investigate the input-output boundedness of an interconnection between a helical device and a single rot... |
Atomic-level Tracking and Analyzing of Quantum-dot Motion Steered by an Electrostatic Field Positioned by a Nanorobotic Manipulation Tip | https://ieeexplore.ieee.org/document/10161087/ | [
"Zhi Qu",
"Wenqi Zhang",
"Lixin Dong",
"Zhi Qu",
"Wenqi Zhang",
"Lixin Dong"
] | Field-control-based nanorobotic manipulation of ions at the single atomic level is an enabling technique for such applications as in-situ prototyping and characterization for fundamental research and rapid product development of nanoscale and quantum devices such as sensors, batteries, neuromorphic devices, and neuro/brain interfaces. Taking the motion of quantum dots (QDs) manipulated by an elect... |
3D-Printed Adaptive Microgripper Driven by Thin-Film NiTi Actuators | https://ieeexplore.ieee.org/document/10160829/ | [
"Sukjun Kim",
"Sarah Bergbreiter",
"Sukjun Kim",
"Sarah Bergbreiter"
] | Creating microscale actuated mechanisms in 3D space is extremely challenging due to limitations in microfabrication processes. In this work, we present a 3D-printed adaptive microgripper that is driven by thin-film NiTi microactuators with 3D-printed linkage mechanisms. The microgripper's fingers are passively adaptive so that the microgripper can provide conformal gripping on 3D objects. The micr... |
Automatic Cell Rotation Method Based on Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/10161043/ | [
"Huiying Gong",
"Yujie Zhang",
"Yaowei Liu",
"Qili Zhao",
"Xin Zhao",
"Mingzhu Sun",
"Huiying Gong",
"Yujie Zhang",
"Yaowei Liu",
"Qili Zhao",
"Xin Zhao",
"Mingzhu Sun"
] | Cell rotation is widely used to adjust cell posture in sub-cellular micromanipulations. The trajectory planning of the injection micropipette is needed, so that the cells can be rotated with the minimum deformation to reduce cell damage and keep cell viability. Due to the uncertainty of cell properties and manipulation environment, it is difficult to identify the parameters of the mechanical model... |
Noncontact Particle Manipulation on Water Surface with Ultrasonic Phased Array System and Microscopic Vision | https://ieeexplore.ieee.org/document/10160724/ | [
"Yexin Zhang",
"Jiaqi Li",
"Yuyu Jia",
"Teng Li",
"Yang Wang",
"David C. Jeong",
"Hu Su",
"Song Liu",
"Yexin Zhang",
"Jiaqi Li",
"Yuyu Jia",
"Teng Li",
"Yang Wang",
"David C. Jeong",
"Hu Su",
"Song Liu"
] | Noncontact particle manipulation (NPM) shows great application potential than its conventional counterpart particularly in terms of non-invasiveness, and thus has significantly extended robotic manipulation capacity into bio- medical engineering, material science, etc. As NPM by means of electric, magnetic, and optical field has successfully demonstrated powerful strength in both academia and indu... |
Real-time Acoustic Holography with Iterative Unsupervised Learning for Acoustic Robotic Manipulation | https://ieeexplore.ieee.org/document/10160962/ | [
"Chengxi Zhong",
"Zhenhuan Sun",
"Teng Li",
"Hu Su",
"Song Liu",
"Chengxi Zhong",
"Zhenhuan Sun",
"Teng Li",
"Hu Su",
"Song Liu"
] | Phase-only acoustic holography is a fundamental and promising technique for contactless robotic manipulation. Through independently controlling phase-only hologram (POH) of phase array of transducers (PAT) and simultaneously driving each channel by sophisticated circuits, a certain acoustic field is dynamically generated in working medium (e.g., air, water or biological tissues) at certain moment.... |
ROSMC: A High-Level Mission Operation Framework for Heterogeneous Robotic Teams | https://ieeexplore.ieee.org/document/10161133/ | [
"Ryo Sakagami",
"Sebastian G. Brunner",
"Andreas Dömel",
"Armin Wedler",
"Freek Stulp",
"Ryo Sakagami",
"Sebastian G. Brunner",
"Andreas Dömel",
"Armin Wedler",
"Freek Stulp"
] | Heterogeneous teams of multiple mobile robots will be important for future scientific explorations of extraterrestrial surfaces or hazardous areas. Mission operation in such harsh, unknown environments poses diverse challenges. Robots need to cooperate autonomously due to the large network latency to the ground station while operators need to adapt the ongoing mission flexibly based on new discove... |
Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement | https://ieeexplore.ieee.org/document/10161054/ | [
"Fen Liu",
"Shenghai Yuan",
"Wei Meng",
"Rong Su",
"Lihua Xie",
"Fen Liu",
"Shenghai Yuan",
"Wei Meng",
"Rong Su",
"Lihua Xie"
] | This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment by boosting its speed to maximum for a short duration. In extreme conditions, where GPS signals are not available, weight restrictions are present, and ground g... |
Estimation of continuous environments by robot swarms: Correlated networks and decision-making | https://ieeexplore.ieee.org/document/10161354/ | [
"Mohsen Raoufi",
"Pawel Romanczuk",
"Heiko Hamann",
"Mohsen Raoufi",
"Pawel Romanczuk",
"Heiko Hamann"
] | Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions selecting from a limited number of options. Here we assign a decentralized robot system with the task of exploring an unbounded environment, finding consensus on... |
FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2 | https://ieeexplore.ieee.org/document/10161307/ | [
"Jeffrey Ichnowski",
"Kaiyuan Chen",
"Karthik Dharmarajan",
"Simeon Adebola",
"Michael Danielczuk",
"Víctor Mayoral-Vilches",
"Nikhil Jha",
"Hugo Zhan",
"Edith Llontop",
"Derek Xu",
"Camilo Buscaron",
"John Kubiatowicz",
"Ion Stoica",
"Joseph Gonzalez",
"Ken Goldberg",
"Jeffrey Ichnowski",
"Kaiyuan Chen",
"Karthik Dharmarajan",
"Simeon Adebola",
"Michael Danielczuk",
"Víctor Mayoral-Vilches",
"Nikhil Jha",
"Hugo Zhan",
"Edith Llontop",
"Derek Xu",
"Camilo Buscaron",
"John Kubiatowicz",
"Ion Stoica",
"Joseph Gonzalez",
"Ken Goldberg"
] | Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run contemporary robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing power and increasingly low latency on demand, but tapping into that power from a robot is non-trivial. We present FogROS2, an open-source platform to facilitat... |
Stackelberg Games for Learning Emergent Behaviors During Competitive Autocurricula | https://ieeexplore.ieee.org/document/10160875/ | [
"Boling Yang",
"Liyuan Zheng",
"Lillian J. Ratliff",
"Byron Boots",
"Joshua R. Smith",
"Boling Yang",
"Liyuan Zheng",
"Lillian J. Ratliff",
"Byron Boots",
"Joshua R. Smith"
] | Autocurricular training is an important sub-area of multi-agent reinforcement learning (MARL) that allows multiple agents to learn emergent skills in an unsupervised co-evolving scheme. The robotics community has experimented auto-curricular training with physically grounded problems, such as robust control and interactive manipulation tasks. However, the asymmetric nature of these tasks makes the... |
On Legible and Predictable Robot Navigation in Multi-Agent Environments | https://ieeexplore.ieee.org/document/10160572/ | [
"Jean-Luc Bastarache",
"Christopher Nielsen",
"Stephen L. Smith",
"Jean-Luc Bastarache",
"Christopher Nielsen",
"Stephen L. Smith"
] | Legible motion is intent-expressive, which when employed during social robot navigation, allows others to quickly infer the intended avoidance strategy. Predictable motion matches an observer's expectation which, during navigation, allows others to confidently carryout the interaction. In this work, we present a navigation framework capable of reasoning on its legibility and predictability with re... |
Explainable Action Advising for Multi-Agent Reinforcement Learning | https://ieeexplore.ieee.org/document/10160557/ | [
"Yue Guo",
"Joseph Campbell",
"Simon Stepputtis",
"Ruiyu Li",
"Dana Hughes",
"Fei Fang",
"Katia Sycara",
"Yue Guo",
"Joseph Campbell",
"Simon Stepputtis",
"Ruiyu Li",
"Dana Hughes",
"Fei Fang",
"Katia Sycara"
] | Action advising is a knowledge transfer technique for reinforcement learning based on the teacher-student paradigm. An expert teacher provides advice to a student during training in order to improve the student's sample efficiency and policy performance. Such advice is commonly given in the form of state-action pairs. However, it makes it difficult for the student to reason with and apply to novel... |
A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms | https://ieeexplore.ieee.org/document/10160312/ | [
"Karthik Soma",
"Koresh Khateri",
"Mahdi Pourgholi",
"Mohsen Montazeri",
"Lorenzo Sabattini",
"Giovanni Beltrame",
"Karthik Soma",
"Koresh Khateri",
"Mahdi Pourgholi",
"Mohsen Montazeri",
"Lorenzo Sabattini",
"Giovanni Beltrame"
] | The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a swarm topology. The set is complete in the sense that any other possible set of manipulation operations can be performed by a sequence of operations from our se... |
Decentralized Multi-agent Exploration with Limited Inter-agent Communications | https://ieeexplore.ieee.org/document/10160599/ | [
"Hans J. He",
"Alec Koppel",
"Amrit Singh Bedi",
"Daniel J. Stilwell",
"Mazen Farhood",
"Benjamin Biggs",
"Hans J. He",
"Alec Koppel",
"Amrit Singh Bedi",
"Daniel J. Stilwell",
"Mazen Farhood",
"Benjamin Biggs"
] | We consider the problem of decentralized multiagent environmental learning through maximizing the joint information gain among a team of agents. Inspired by subsea applications where bandwidth is severely limited, we explicitly consider the challenge of restricted communication between agents. The environment is modeled as a Gaussian process (GP), and the global information gain maximization probl... |
A Distributed Online Optimization Strategy for Cooperative Robotic Surveillance | https://ieeexplore.ieee.org/document/10160700/ | [
"Lorenzo Pichierri",
"Guido Carnevale",
"Lorenzo Sforni",
"Andrea Testa",
"Giuseppe Notarstefano",
"Lorenzo Pichierri",
"Guido Carnevale",
"Lorenzo Sforni",
"Andrea Testa",
"Giuseppe Notarstefano"
] | In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization problem inspired by the emerging distributed aggregative framework. In particular, each defending robot determines its own position depending on (i) the relative pos... |
Risk-aware Recharging Rendezvous for a Collaborative Team of UAVs and UGVs | https://ieeexplore.ieee.org/document/10161446/ | [
"Ahmad Bilal Asghar",
"Guangyao Shi",
"Nare Karapetyan",
"James Humann",
"Jean-Paul Reddinger",
"James Dotterweich",
"Pratap Tokekar",
"Ahmad Bilal Asghar",
"Guangyao Shi",
"Nare Karapetyan",
"James Humann",
"Jean-Paul Reddinger",
"James Dotterweich",
"Pratap Tokekar"
] | We introduce and investigate the recharging rendezvous problem for a collaborative team of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), in which UAVs with limited battery capacity and UGVS persistently monitor an area. The UGVs also act as mobile recharging stations for the UAVs. In contrast to prior work on such problems, we consider the challenge of dealing with stochasti... |
Cross-Agent Relocalization for Decentralized Collaborative SLAM | https://ieeexplore.ieee.org/document/10160941/ | [
"Philipp Bänninger",
"Ignacio Alzugaray",
"Marco Karrer",
"Margarita Chli",
"Philipp Bänninger",
"Ignacio Alzugaray",
"Marco Karrer",
"Margarita Chli"
] | State-of-the-art decentralized collaborative Simultaneous Localization And Mapping (SLAM) systems crucially lack the ability to effectively use well-mapped areas generated by other agents in the team for relocalization. This often leads to map redundancy between agents, inefficient communication, and the need for costly re-mapping of areas previously mapped by other agents. In this work, we propos... |
Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models | https://ieeexplore.ieee.org/document/10160604/ | [
"Filippos Christianos",
"Peter Karkus",
"Boris Ivanovic",
"Stefano V. Albrecht",
"Marco Pavone",
"Filippos Christianos",
"Peter Karkus",
"Boris Ivanovic",
"Stefano V. Albrecht",
"Marco Pavone"
] | Reasoning with occluded traffic agents is a significant open challenge for planning for autonomous vehicles. Recent deep learning models have shown impressive results for predicting occluded agents based on the behaviour of nearby visible agents; however, as we show in experiments, these models are difficult to integrate into downstream planning. To this end, we propose Bi-Ievel Variational Occlus... |
Robust Forecasting for Robotic Control: A Game-Theoretic Approach | https://ieeexplore.ieee.org/document/10160721/ | [
"Shubhankar Agarwal",
"David Fridovich-Keil",
"Sandeep P. Chinchali",
"Shubhankar Agarwal",
"David Fridovich-Keil",
"Sandeep P. Chinchali"
] | Modern robots require accurate forecasts to make optimal decisions in the real world. For example, self-driving cars need an accurate forecast of other agents' future actions to plan safe trajectories. Current methods rely heavily on historical time series to accurately predict the future. However, relying entirely on the observed history is problematic since it could be corrupted by noise, have o... |
Spatial-Temporal-Aware Safe Multi-Agent Reinforcement Learning of Connected Autonomous Vehicles in Challenging Scenarios | https://ieeexplore.ieee.org/document/10161216/ | [
"Zhili Zhang",
"Songyang Han",
"Jiangwei Wang",
"Fei Miao",
"Zhili Zhang",
"Songyang Han",
"Jiangwei Wang",
"Fei Miao"
] | Communication technologies enable coordination among connected and autonomous vehicles (CAVs). However, it remains unclear how to utilize shared information to improve the safety and efficiency of the CAV system in dynamic and complicated driving scenarios. In this work, we propose a framework of constrained multi-agent reinforcement learning (MARL) with a parallel Safety Shield for CAVs in challe... |
Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Library | https://ieeexplore.ieee.org/document/10161027/ | [
"Xinyu Cai",
"Wentao Jiang",
"Runsheng Xu",
"Wenquan Zhao",
"Jiaqi Ma",
"Si Liu",
"Yikang Li",
"Xinyu Cai",
"Wentao Jiang",
"Runsheng Xu",
"Wenquan Zhao",
"Jiaqi Ma",
"Si Liu",
"Yikang Li"
] | Recently, Vehicle-to-Everything (V2X) cooperative perception has attracted increasing attention. Infrastructure sensors play a critical role in this research field; however, how to find the optimal placement of infrastructure sensors is rarely studied. In this paper, we investigate the problem of infrastructure sensor placement and propose a pipeline that can efficiently and effectively find optim... |
Uncertainty Quantification of Collaborative Detection for Self-Driving | https://ieeexplore.ieee.org/document/10160367/ | [
"Sanbao Su",
"Yiming Li",
"Sihong He",
"Songyang Han",
"Chen Feng",
"Caiwen Ding",
"Fei Miao",
"Sanbao Su",
"Yiming Li",
"Sihong He",
"Songyang Han",
"Chen Feng",
"Caiwen Ding",
"Fei Miao"
] | Sharing information between connected and autonomous vehicles (CAVs) fundamentally improves the performance of collaborative object detection for self-driving. However, CAVs still have uncertainties on object detection due to practical challenges, which will affect the later modules in self-driving such as planning and control. Hence, uncertainty quantification is crucial for safety-critical syste... |
WS-3D-Lane: Weakly Supervised 3D Lane Detection With 2D Lane Labels | https://ieeexplore.ieee.org/document/10161184/ | [
"Jianyong Ai",
"Wenbo Ding",
"Jiuhua Zhao",
"Jiachen Zhong",
"Jianyong Ai",
"Wenbo Ding",
"Jiuhua Zhao",
"Jiachen Zhong"
] | Compared to 2D lanes, real 3D lane data is difficult to collect accurately. In this paper, we propose a novel method for training 3D lanes with only 2D lane labels, called weakly supervised 3D lane detection WS-3D-Lane. By assumptions of constant lane width and equal height on adjacent lanes, we indirectly supervise 3D lane heights in the training. To overcome the problem of the dynamic change of ... |
One Training for Multiple Deployments: Polar-based Adaptive BEV Perception for Autonomous Driving | https://ieeexplore.ieee.org/document/10161552/ | [
"Huitong Yang",
"Xuyang Bai",
"Xinge Zhu",
"Yuexin Ma",
"Huitong Yang",
"Xuyang Bai",
"Xinge Zhu",
"Yuexin Ma"
] | Current on-board chips usually have different computing power, which means multiple training processes are needed for adapting the same learning-based algorithm to different chips, costing huge computing resources. The situation becomes even worse for 3D perception methods with large models. Previous vision-centric 3D perception approaches are trained with regular grid-represented feature maps of ... |
Deep Occupancy-Predictive Representations for Autonomous Driving | https://ieeexplore.ieee.org/document/10160559/ | [
"Eivind Meyer",
"Lars Frederik Peiss",
"Matthias Althoff",
"Eivind Meyer",
"Lars Frederik Peiss",
"Matthias Althoff"
] | Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work proposes to learn which features are task-relevant. Given its immediate relevance to motion planning, our proposed architecture encodes the probabilistic occupanc... |
PriorLane: A Prior Knowledge Enhanced Lane Detection Approach Based on Transformer | https://ieeexplore.ieee.org/document/10161356/ | [
"Qibo Qiu",
"Haiming Gao",
"Wei Hua",
"Gang Huang",
"Xiaofei He",
"Qibo Qiu",
"Haiming Gao",
"Wei Hua",
"Gang Huang",
"Xiaofei He"
] | Lane detection is one of the fundamental modules in self-driving. In this paper we employ a transformer-only method for lane detection, thus it could benefit from the blooming development of fully vision transformer and achieve the state-of-the-art (SOTA) performance on both CULane and TuSimple benchmarks, by fine-tuning the weight fully pre-trained on large datasets. More importantly, this paper ... |
Reinforcement Learning with Probabilistically Safe Control Barrier Functions for Ramp Merging | https://ieeexplore.ieee.org/document/10161418/ | [
"Soumith Udatha",
"Yiwei Lyu",
"John Dolan",
"Soumith Udatha",
"Yiwei Lyu",
"John Dolan"
] | Prior work has looked at applying reinforcement learning (RL) approaches to autonomous driving scenarios, but the safety of the algorithm is often compromised due to instability or the presence of ill-defined reward functions. With the use of control barrier functions embedded into the RL policy, we arrive at safe policies to optimize the performance of the autonomous driving vehicle through the a... |
Self-Improving Safety Performance of Reinforcement Learning Based Driving with Black-Box Verification Algorithms | https://ieeexplore.ieee.org/document/10160883/ | [
"Resul Dagdanov",
"Halil Durmus",
"Nazim Kemal Ure",
"Resul Dagdanov",
"Halil Durmus",
"Nazim Kemal Ure"
] | In this work, we propose a self-improving artificial intelligence system to enhance the safety performance of reinforcement learning (RL)-based autonomous driving (AD) agents using black-box verification methods. RL algorithms have become popular in AD applications in recent years. However, the performance of existing RL algorithms heavily depends on the diversity of training scenarios. A lack of ... |
Multi-source Domain Adaptation for Unsupervised Road Defect Segmentation | https://ieeexplore.ieee.org/document/10161099/ | [
"Jongmin Yu",
"Hyeontaek Oh",
"Sebastiano Fichera",
"Paolo Paoletti",
"Shan Luo",
"Jongmin Yu",
"Hyeontaek Oh",
"Sebastiano Fichera",
"Paolo Paoletti",
"Shan Luo"
] | The performance of road defect segmentation (a.k.a. pixel-level road defect detection) has been improved alongside with remarkable achievement of deep learning. Those improvements need a large-scale and well-constructed dataset. However, road surface materials or designs vary from country to country, and the patterns of defects are hard to pre-define. In this paper, we propose a novel multi-source... |
A Contextual Bandit Approach for Learning to Plan in Environments with Probabilistic Goal Configurations | https://ieeexplore.ieee.org/document/10160473/ | [
"Sohan Rudra",
"Saksham Goel",
"Anirban Santara",
"Claudio Gentile",
"Laurent Perron",
"Fei Xia",
"Vikas Sindhwani",
"Carolina Parada",
"Gaurav Aggarwal",
"Sohan Rudra",
"Saksham Goel",
"Anirban Santara",
"Claudio Gentile",
"Laurent Perron",
"Fei Xia",
"Vikas Sindhwani",
"Carolina Parada",
"Gaurav Aggarwal"
] | Object-goal navigation (Object-nav) entails searching, recognizing and navigating to a target object. Object-nav has been extensively studied by the Embodied-AI community, but most solutions are often restricted to considering static objects (e.g., television, fridge, etc.), We propose a modular framework for object-nav that is able to efficiently search indoor environments for not just static obj... |
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