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Environmentally Adaptive Control Including Variance Minimization Using Stochastic Predictive Network with Parametric Bias: Application to Mobile Robots | https://ieeexplore.ieee.org/document/9636416/ | [
"Kento Kawaharazuka",
"Koki Shinjo",
"Yoichiro Kawamura",
"Kei Okada",
"Masayuki Inaba",
"Kento Kawaharazuka",
"Koki Shinjo",
"Yoichiro Kawamura",
"Kei Okada",
"Masayuki Inaba"
] | In this study, we propose a predictive model composed of a recurrent neural network including parametric bias and stochastic elements, and an environmentally adaptive robot control method including variance minimization using the model. Robots which have flexible bodies or whose states can only be partially observed are difficult to modelize, and their predictive models often have stochastic behav... |
Traversability-based Trajectory Planning with Quasi-Dynamic Vehicle Model in Loose Soil | https://ieeexplore.ieee.org/document/9635891/ | [
"Reiya Takemura",
"Genya Ishigami",
"Reiya Takemura",
"Genya Ishigami"
] | This paper presents a framework for trajectory planning that explicitly considers robotic traversability based on a quasi-dynamic vehicle model of a mobile robot in loose soil. The quasi-dynamic model estimates the slip effect due to wheel-terrain interaction forces regardless of solving complicated multibody dynamics. Therefore, our proposed model is computationally efficient for quantifying how ... |
Marine Autonomous Navigation for Biomimetic Underwater Robots Based on Deep Stereo Attention Network | https://ieeexplore.ieee.org/document/9636159/ | [
"Shuaizheng Yan",
"Zhengxing Wu",
"Jian Wang",
"Min Tan",
"Junzhi Yu",
"Shuaizheng Yan",
"Zhengxing Wu",
"Jian Wang",
"Min Tan",
"Junzhi Yu"
] | This paper proposes a multi-objective visionbased navigation network for biomimetic underwater robots to cope with scientific observation, target selection, and obstacle avoidance in marine missions. Structurally, a stereo block attention module is first constructed to serially extract the channel and spatial attention portion of the real-time visual feedback. Next, the parallax attention mechanis... |
Bat Bot 2.0: bio-inspired anisotropic skin, passive wrist joints, and redesigned flapping mechanism | https://ieeexplore.ieee.org/document/9636496/ | [
"Jonathan Hoff",
"Nicole Jeon",
"Patrick Li",
"Joohyung Kim",
"Jonathan Hoff",
"Nicole Jeon",
"Patrick Li",
"Joohyung Kim"
] | Bat flight has been an underdeveloped area of bio-inspired robotics because of the vast complexities of biological bat flight and the over 40 degrees of freedom present in their bodies. The robotic flapping system Bat Bot (B2) has been shown to exhibit fundamental properties of biological bat flight with its articulated wings, its deformable membrane, and its controllable hindlimbs. However, the s... |
Evolving Infotaxis for Meandering Environments | https://ieeexplore.ieee.org/document/9636779/ | [
"João Macedo",
"Lino Marques",
"Ernesto Costa",
"João Macedo",
"Lino Marques",
"Ernesto Costa"
] | Locating odour sources with mobile robots is a difficult task with many real world applications. Over the years, researchers have devised bio-inspired and cognitive methods to enable mobile robots to fulfil this task. One of the most popular cognitive approaches is Infotaxis, which computes a probability map for the location of the chemical source and, on each time step, moves the robot in the dir... |
A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots | https://ieeexplore.ieee.org/document/9636571/ | [
"Zhenhua Yu",
"S.M. Hadi Sadati",
"Hasitha Wegiriya",
"Peter Childs",
"Thrishantha Nanayakkara",
"Zhenhua Yu",
"S.M. Hadi Sadati",
"Hasitha Wegiriya",
"Peter Childs",
"Thrishantha Nanayakkara"
] | This paper shows analytical and experimental evidence of using the vibration dynamics of a compliant whisker for accurate terrain classification during steady state motion of a mobile robot. A Hall effect sensor was used to measure whisker vibrations due to perturbations from the ground. Analytical results predict that the whisker vibrations will have one dominant frequency at the vertical perturb... |
Robust top-down and bottom-up visual saliency for mobile robots using bio-inspired design principles | https://ieeexplore.ieee.org/document/9636800/ | [
"Uziel Jaramillo-Avila",
"Jonathan M. Aitken",
"Kevin Gurney",
"Sean R. Anderson",
"Uziel Jaramillo-Avila",
"Jonathan M. Aitken",
"Kevin Gurney",
"Sean R. Anderson"
] | Modern camera systems in robotics tend to pro-duce overwhelming amounts of visual information due to their high resolutions and high frame rates. This raises a fundamental question of how robots should focus attention on a region of the visual scene, and how they should process information in the periphery. This is particularly an issue for mobile robots, where the computational resources of low-p... |
Design of galloping robots with elastic spine: tracking relations between dynamic model parameters based on motion analysis of a real cheetah | https://ieeexplore.ieee.org/document/9636859/ | [
"Olga Borisova",
"Ivan Borisov",
"Sergey Kolyubin",
"Stefano Stramigioli",
"Olga Borisova",
"Ivan Borisov",
"Sergey Kolyubin",
"Stefano Stramigioli"
] | One way to create a quadruped galloping robot from scratch is to design a brick-shaped body and utilize relatively simple open-chain leg mechanisms controlled with relatively complex control algorithms. Alternatively, we can look at how nature solved the same task designing fast mammals such as cheetah, and by means of morphological computation, we can design a complex mechanical system that has m... |
Autonomous Decision Making in a Bioinspired Adaptive Robotic Anchoring Module | https://ieeexplore.ieee.org/document/9636378/ | [
"Rasoul Sadeghian",
"Pooya Sareh",
"Shahrooz Shahin",
"Sina Sareh",
"Rasoul Sadeghian",
"Pooya Sareh",
"Shahrooz Shahin",
"Sina Sareh"
] | This paper proposes a bioinspired adaptive anchoring module that can be integrated into robots to enhance their mobility and manipulation abilities. The design of the module is inspired by the structure of the mouth in Chilean lamprey (Mordacia lapicida) where a combination of suction and several arrays of teeth with different sizes around the mouth opening is used for catching preys and anchoring... |
A Hierarchical Framework for Quadruped Locomotion Based on Reinforcement Learning | https://ieeexplore.ieee.org/document/9636757/ | [
"Wenhao Tan",
"Xing Fang",
"Wei Zhang",
"Ran Song",
"Teng Chen",
"Yu Zheng",
"Yibin Li",
"Wenhao Tan",
"Xing Fang",
"Wei Zhang",
"Ran Song",
"Teng Chen",
"Yu Zheng",
"Yibin Li"
] | Quadruped locomotion is a challenging task for learning-based algorithms. It requires tedious manual tuning and is difficult to deploy in reality due to the reality gap. In this paper, we propose a quadruped robot learning system for agile locomotion which does not require any pre-training and works well in various real-world terrains. We introduce a hierarchical learning framework that uses reinf... |
Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain | https://ieeexplore.ieee.org/document/9636011/ | [
"Maurice Rahme",
"Ian Abraham",
"Matthew L. Elwin",
"Todd D. Murphey",
"Maurice Rahme",
"Ian Abraham",
"Matthew L. Elwin",
"Todd D. Murphey"
] | The availability of inexpensive 3D-printed quadrupedal robots motivates the development of learning-based methods compatible with low-cost embedded processors and position-controlled hobby servos. In this work, we show that a linear policy is sufficient to modulate an open-loop trajectory generator, enabling a quadruped to walk over rough, unknown terrain, with limited sensing. The policy is train... |
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots | https://ieeexplore.ieee.org/document/9636537/ | [
"Wyatt Ubellacker",
"Noel Csomay-Shanklin",
"Tamas G. Molnar",
"Aaron D. Ames",
"Wyatt Ubellacker",
"Noel Csomay-Shanklin",
"Tamas G. Molnar",
"Aaron D. Ames"
] | Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This architecture has been widely studied in the context of quasi-static and dynamics-independent systems. However, applications of this concept to dynamical systems are relatively sparse, despite extensive research on individual d... |
Rapid Stability Margin Estimation for Contact-Rich Locomotion | https://ieeexplore.ieee.org/document/9636474/ | [
"Romeo Orsolino",
"Siddhant Gangapurwala",
"Oliwier Melon",
"Mathieu Geisert",
"Ioannis Havoutis",
"Maurice Fallon",
"Romeo Orsolino",
"Siddhant Gangapurwala",
"Oliwier Melon",
"Mathieu Geisert",
"Ioannis Havoutis",
"Maurice Fallon"
] | The efficient evaluation the dynamic stability of legged robots on non-coplanar terrains is important when developing motion planning and control policies. The inference time of this measure has a strong influence on how fast a robot can react to unexpected events, plan its future footsteps or its body trajectory. Existing approaches suitable for real-time decision making are either limited to fla... |
GPU-Accelerated Rapid Planar Region Extraction for Dynamic Behaviors on Legged Robots | https://ieeexplore.ieee.org/document/9636009/ | [
"Bhavyansh Mishra",
"Duncan Calvert",
"Sylvain Bertrand",
"Stephen McCrory",
"Robert Griffin",
"Hakki Erhan Sevil",
"Bhavyansh Mishra",
"Duncan Calvert",
"Sylvain Bertrand",
"Stephen McCrory",
"Robert Griffin",
"Hakki Erhan Sevil"
] | Legged robots require fast and accurate representation of their surrounding terrain to achieve behaviors such as running, push recovery, continuous walking, backflips, while also utilizing on-board computational resources efficiently. The desired tasks can be achieved efficiently by representing the environment using planar regions. However, existing methods for planar region extraction are either... |
Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control | https://ieeexplore.ieee.org/document/9635838/ | [
"Dongho Kang",
"Simon Zimmermann",
"Stelian Coros",
"Dongho Kang",
"Simon Zimmermann",
"Stelian Coros"
] | In this paper, we explore the challenge of generating animal-like walking motions for legged robots. To this end, we propose a versatile and robust control pipeline that combines a state-of-the-art model-based controller with a data-driven technique that is commonly used in computer animation. We demonstrate the efficacy of our control framework on a variety of quadrupedal robots in simulation. We... |
Run Like a Dog: Learning Based Whole-Body Control Framework for Quadruped Gait Style Transfer | https://ieeexplore.ieee.org/document/9636805/ | [
"Fulong Yin",
"Annan Tang",
"Liangwei Xu",
"Yue Cao",
"Yu Zheng",
"Zhengyou Zhang",
"Xiangyu Chen",
"Fulong Yin",
"Annan Tang",
"Liangwei Xu",
"Yue Cao",
"Yu Zheng",
"Zhengyou Zhang",
"Xiangyu Chen"
] | In this paper, a learning-based whole-body loco-motion controller is proposed, which enables quadruped robots to perform running in the style of real animals. We use a low-level controller based on multi-rigid body dynamics to calculate desired torques for each joint, while the high-level neural network policy planning the expected gait and foothold. The policy is trained with reinforcement learni... |
Simultaneous Actuation and Localization of Magnetic Robots Using Mobile Coils and Eye-In-Hand Hall-Effect Sensors | https://ieeexplore.ieee.org/document/9635953/ | [
"Moqiu Zhang",
"Lidong Yang",
"Chong Zhang",
"Zhengxin Yang",
"Li Zhang",
"Moqiu Zhang",
"Lidong Yang",
"Chong Zhang",
"Zhengxin Yang",
"Li Zhang"
] | Large workspace localization of magnetic robots is important for medical applications. This paper presents a novel localization strategy to achieve simultaneous localization and actuation of magnetic robots using hall-effect sensors. We integrate 25 sensors into a sensing probe and mount it on to the mobile-coil system, which realizes accurate sensing and actuation of magnetic devices within a cyl... |
Modeling of Bilayer Hydrogel Springs for Microrobots with Adaptive Locomotion | https://ieeexplore.ieee.org/document/9636693/ | [
"Liyuan Tan",
"David J. Cappelleri",
"Liyuan Tan",
"David J. Cappelleri"
] | Adaptive locomotion of microrobots can be achieved by using a smart polymer such as a hydrogel. For hydrogel-based bilayer helical microrobots, the change of environment such as temperature and pH can result in shape deformation into helical shapes differing from their initial state and hence swimming performance. In this work, we proposed a model for studying the parameters that affect the shape ... |
Open-Loop Magnetic Actuation of Helical Robots using Position-Constrained Rotating Dipole Field | https://ieeexplore.ieee.org/document/9636564/ | [
"Ritwik Avaneesh",
"Roberto Venezian",
"Chang-Sei Kim",
"Jong-Oh Park",
"Sarthak Misra",
"Islam S. M. Khalil",
"Ritwik Avaneesh",
"Roberto Venezian",
"Chang-Sei Kim",
"Jong-Oh Park",
"Sarthak Misra",
"Islam S. M. Khalil"
] | Control of tetherless magnetically actuated helical robots using rotating dipole fields has a wide variety of medical applications. The most promising technique in manipulation of these robots involves a rotating permanent magnet controlled by a robotic manipulator. In this work, we study the open-loop response of helical robots (in viscous fluids characterized by low Reynolds numbers) in the pres... |
Analysis of the Effect of Clearance in Spherical Joints on the Rotation Accuracy of Parallel Type Micro-Robotic Systems | https://ieeexplore.ieee.org/document/9636853/ | [
"Michael Pumphrey",
"Mahmoud Al-Tamimi",
"Aylar Abouzarkhanifard",
"Mohammad Al Janaideh",
"Stéphane Régnier",
"Mokrane Boudaoud",
"Michael Pumphrey",
"Mahmoud Al-Tamimi",
"Aylar Abouzarkhanifard",
"Mohammad Al Janaideh",
"Stéphane Régnier",
"Mokrane Boudaoud"
] | The spherical joint is an effective solution to design parallel micro-robotic systems with rotation capabilities in the three-dimensional space. This type of joint has however some non-linear characteristics, such as the clearance, which affect the positioning accuracy in micro-robotic tasks. The starting point of this study lies in experimental observations of rotation errors from a 3-PPPS 6-DOF ... |
A Portable Remote Optoelectronic Tweezer System for Microobjects Manipulation | https://ieeexplore.ieee.org/document/9636265/ | [
"Yuqing Cao",
"Shuzhang Liang",
"Hanlong Chen",
"Chunyuan Gan",
"Li Song",
"Chaonan Zhang",
"Fumihito Arai",
"Lin Feng",
"Yuqing Cao",
"Shuzhang Liang",
"Hanlong Chen",
"Chunyuan Gan",
"Li Song",
"Chaonan Zhang",
"Fumihito Arai",
"Lin Feng"
] | Non-contact manipulation technology has extensive application in the manipulation and fabrication of micro/nanomaterials. However, the manipulation devices are often precise and complex, operated only by professionals and subject to site constraints. We propose a simple optoelectronic tweezer platform, which can be controlled remotely and simply for the manipulation of microparticles at different ... |
Let’s Play for Action: Recognizing Activities of Daily Living by Learning from Life Simulation Video Games | https://ieeexplore.ieee.org/document/9636381/ | [
"Alina Roitberg",
"David Schneider",
"Aulia Djamal",
"Constantin Seibold",
"Simon Reiß",
"Rainer Stiefelhagen",
"Alina Roitberg",
"David Schneider",
"Aulia Djamal",
"Constantin Seibold",
"Simon Reiß",
"Rainer Stiefelhagen"
] | Recognizing Activities of Daily Living (ADL) is a vital process for intelligent assistive robots, but collecting large annotated datasets requires time-consuming temporal labeling and raises privacy concerns, e.g., if the data is collected in a real household. In this work, we explore the concept of constructing training examples for ADL recognition by playing life simulation video games and intro... |
The Radar Ghost Dataset – An Evaluation of Ghost Objects in Automotive Radar Data | https://ieeexplore.ieee.org/document/9636338/ | [
"Florian Kraus",
"Nicolas Scheiner",
"Werner Ritter",
"Klaus Dietmayer",
"Florian Kraus",
"Nicolas Scheiner",
"Werner Ritter",
"Klaus Dietmayer"
] | Radar sensors have a long tradition in advanced driver assistance systems (ADAS) and also play a major role in current concepts for autonomous vehicles. Their importance is reasoned by their high robustness against meteorological effects, such as rain, snow, or fog, and the radar’s ability to measure relative radial velocity differences via the Doppler effect. The cause for these advantages, namel... |
ChangeSim: Towards End-to-End Online Scene Change Detection in Industrial Indoor Environments | https://ieeexplore.ieee.org/document/9636350/ | [
"Jin-Man Park",
"Jae-Hyuk Jang",
"Sahng-Min Yoo",
"Sun-Kyung Lee",
"Ue-Hwan Kim",
"Jong-Hwan Kim",
"Jin-Man Park",
"Jae-Hyuk Jang",
"Sahng-Min Yoo",
"Sun-Kyung Lee",
"Ue-Hwan Kim",
"Jong-Hwan Kim"
] | We present a challenging dataset, ChangeSim, aimed at online scene change detection (SCD) and more. The data is collected in photo-realistic simulation environments with the presence of environmental non-targeted variations, such as air turbidity and light condition changes, as well as targeted object changes in industrial indoor environments. By collecting data in simulations, multi-modal sensor ... |
Indoor Future Person Localization from an Egocentric Wearable Camera | https://ieeexplore.ieee.org/document/9635868/ | [
"Jianing Qiu",
"Frank P.-W. Lo",
"Xiao Gu",
"Yingnan Sun",
"Shuo Jiang",
"Benny Lo",
"Jianing Qiu",
"Frank P.-W. Lo",
"Xiao Gu",
"Yingnan Sun",
"Shuo Jiang",
"Benny Lo"
] | Accurate prediction of future person location and movement trajectory from an egocentric wearable camera can benefit a wide range of applications, such as assisting visually impaired people in navigation, and the development of mobility assistance for people with disability. In this work, a new egocentric dataset was constructed using a wearable camera, with 8,250 short clips of a targeted person ... |
Grounding Linguistic Commands to Navigable Regions | https://ieeexplore.ieee.org/document/9636172/ | [
"Nivedita Rufus",
"Kanishk Jain",
"Unni Krishnan R Nair",
"Vineet Gandhi",
"K Madhava Krishna",
"Nivedita Rufus",
"Kanishk Jain",
"Unni Krishnan R Nair",
"Vineet Gandhi",
"K Madhava Krishna"
] | Humans have a natural ability to effortlessly comprehend linguistic commands such as “park next to the yellow sedan” and instinctively know which region of the road the vehicle should navigate. Extending this ability to autonomous vehicles is the next step towards creating fully autonomous agents that respond and act according to human commands. To this end, we propose the novel task of Referring ... |
TUM-VIE: The TUM Stereo Visual-Inertial Event Dataset | https://ieeexplore.ieee.org/document/9636728/ | [
"Simon Klenk",
"Jason Chui",
"Nikolaus Demmel",
"Daniel Cremers",
"Simon Klenk",
"Jason Chui",
"Nikolaus Demmel",
"Daniel Cremers"
] | Event cameras are bio-inspired vision sensors which measure per pixel brightness changes. They offer numerous benefits over traditional, frame-based cameras, including low latency, high dynamic range, high temporal resolution and low power consumption. Thus, these sensors are suited for robotics and virtual reality applications. To foster the development of 3D perception and navigation algorithms ... |
Diverse Complexity Measures for Dataset Curation in Self-Driving | https://ieeexplore.ieee.org/document/9636869/ | [
"Abbas Sadat",
"Sean Segal",
"Sergio Casas",
"James Tu",
"Bin Yang",
"Raquel Urtasun",
"Ersin Yumer",
"Abbas Sadat",
"Sean Segal",
"Sergio Casas",
"James Tu",
"Bin Yang",
"Raquel Urtasun",
"Ersin Yumer"
] | Modern self-driving systems heavily rely on deep learning. As a consequence, their performance is influenced significantly by the quality and richness of the training data. Data collection platforms can generate many hours of raw data on a daily basis, however, it is not feasible to label everything. Therefore, it is critical to have a mechanism to identify "what to label". Active learning approac... |
From Aerobatics to Hydrobatics: Agile Trajectory Planning and Tracking for Micro Underwater Robots | https://ieeexplore.ieee.org/document/9636154/ | [
"Daniel A Duecker",
"Christian Horst",
"Edwin Kreuzer",
"Daniel A Duecker",
"Christian Horst",
"Edwin Kreuzer"
] | Aerobatic quadrotors have been a very active field of research for the last two decades. Their huge community boosted the development of computational light-weight planning and control algorithms. In contrast and despite recent progress, research on agile micro autonomous underwater vehicles (µAUV) is still in its infancy. Both vehicle classes share a close relationship. They achieve high speeds o... |
A Predictive Control Method for Stabilizing a Manipulator-based UAV Landing Platform on Fluctuating Marine Surface | https://ieeexplore.ieee.org/document/9636055/ | [
"Ruoyu Xu",
"Xiaoqiang Ji",
"Jiafan Hou",
"Hengli Liu",
"Huihuan Qian",
"Ruoyu Xu",
"Xiaoqiang Ji",
"Jiafan Hou",
"Hengli Liu",
"Huihuan Qian"
] | In the process of landing unmanned aerial vehicles (UAVs) on an unmanned surface vehicle (USV), a manipulator can be applied to help the UAV land safely and accurately. However, it is a challenge to control the manipulator on a disturbed USV due to joint velocity constraints and bandwidth limitations. To solve this problem, a predictive control framework is proposed in this paper. We leverage a fi... |
Embedded Stochastic Field Exploration with Micro Diving Agents using Bayesian Optimization-Guided Tree-Search and GMRFs | https://ieeexplore.ieee.org/document/9635962/ | [
"Daniel A Duecker",
"Benedikt Mersch",
"Rene C Hochdahl",
"Edwin Kreuzer",
"Daniel A Duecker",
"Benedikt Mersch",
"Rene C Hochdahl",
"Edwin Kreuzer"
] | Exploration and monitoring of hazardous fields in marine environments is one of the most promising tasks to be performed by fleets of low-cost micro autonomous underwater vehicles (μAUVs). In contrast to vehicles in other domains, underwater robots are forced to perform all computations onboard as no powerful communication links are available underwater. This puts the focus on computationally effi... |
Stochastic Guidance of Buoyancy Controlled Vehicles under Ice Shelves using Ocean Currents | https://ieeexplore.ieee.org/document/9635987/ | [
"Federico Rossi",
"Andrew Branch",
"Michael P. Schodlok",
"Timothy Stanton",
"Ian G. Fenty",
"Joshua Vander Hook",
"Evan B. Clark",
"Federico Rossi",
"Andrew Branch",
"Michael P. Schodlok",
"Timothy Stanton",
"Ian G. Fenty",
"Joshua Vander Hook",
"Evan B. Clark"
] | We propose a novel technique for guidance of buoyancy-controlled vehicles in uncertain under-ice ocean flows. In-situ melt rate measurements collected at the grounding zone of Antarctic ice shelves, where the ice shelf meets the underlying bedrock, are essential to constrain models of future sea level rise. Buoyancy-controlled vehicles, which control their vertical position in the water column thr... |
Thrust Direction Control of an Underactuated Oscillating Swimming Robot | https://ieeexplore.ieee.org/document/9636778/ | [
"Gedaliah Knizhnik",
"Mark Yim",
"Gedaliah Knizhnik",
"Mark Yim"
] | The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along trajectories and enable docking to neighboring modules, but have a non-constant cycle time and cannot react to dynamic environments. In this work we present a thr... |
MR-iSAM2: Incremental Smoothing and Mapping with Multi-Root Bayes Tree for Multi-Robot SLAM | https://ieeexplore.ieee.org/document/9636687/ | [
"Yetong Zhang",
"Ming Hsiao",
"Jing Dong",
"Jakob Engel",
"Frank Dellaert",
"Yetong Zhang",
"Ming Hsiao",
"Jing Dong",
"Jakob Engel",
"Frank Dellaert"
] | We present multi-robot iSAM2 (MR-iSAM2), an efficient incremental smoothing and mapping (iSAM) algorithm to solve multi-robot simultaneous localization and mapping (SLAM) inference problems. MR-iSAM2 is based on a novel data structure multi-root Bayes tree (MRBT), which packs multiple Bayes trees with the same undirected clique structure. In multi-robot scenarios, the MRBT enables new measurements... |
A Collaborative Visual SLAM Framework for Service Robots | https://ieeexplore.ieee.org/document/9636798/ | [
"Ming Ouyang",
"Xuesong Shi",
"Yujie Wang",
"Yuxin Tian",
"Yingzhe Shen",
"Dawei Wang",
"Peng Wang",
"Zhiqiang Cao",
"Ming Ouyang",
"Xuesong Shi",
"Yujie Wang",
"Yuxin Tian",
"Yingzhe Shen",
"Dawei Wang",
"Peng Wang",
"Zhiqiang Cao"
] | We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map, update the map, or build new maps, all with a unified interface and low computation and memory cost. We design an elegant communication pipeline to enable real-time... |
ORBBuf: A Robust Buffering Method for Remote Visual SLAM | https://ieeexplore.ieee.org/document/9635950/ | [
"Yu-Ping Wang",
"Zi-Xin Zou",
"Cong Wang",
"Yue-Jiang Dong",
"Lei Qiao",
"Dinesh Manocha",
"Yu-Ping Wang",
"Zi-Xin Zou",
"Cong Wang",
"Yue-Jiang Dong",
"Lei Qiao",
"Dinesh Manocha"
] | The data loss caused by unreliable network seriously impacts the results of remote visual SLAM systems. From our experiment, a loss of less than 1 second of data can cause a visual SLAM algorithm to lose tracking. We present a novel buffering method, ORBBuf, to reduce the impact of data loss on remote visual SLAM systems. We model the buffering problem as an optimization problem by introducing a s... |
Distributed Visual-Inertial Cooperative Localization | https://ieeexplore.ieee.org/document/9636031/ | [
"Pengxiang Zhu",
"Patrick Geneva",
"Wei Ren",
"Guoquan Huang",
"Pengxiang Zhu",
"Patrick Geneva",
"Wei Ren",
"Guoquan Huang"
] | In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure constraints across time and robots. In particular, we leverage covariance intersection (CI) to allow each robot to only estimate its own state and autocovariance and compensate for the unknown correlations between robots... |
Coxgraph: Multi-Robot Collaborative, Globally Consistent, Online Dense Reconstruction System | https://ieeexplore.ieee.org/document/9636645/ | [
"Xiangyu Liu",
"Weicai Ye",
"Chaoran Tian",
"Zhaopeng Cui",
"Hujun Bao",
"Guofeng Zhang",
"Xiangyu Liu",
"Weicai Ye",
"Chaoran Tian",
"Zhaopeng Cui",
"Hujun Bao",
"Guofeng Zhang"
] | Real-time dense reconstruction has been extensively studied for its wide applications in computer vision and robotics, meanwhile much effort has been made for the multi-robot system which plays an irreplaceable role in complicated but time-critical scenarios, e.g., search and rescue tasks. In this paper, we propose an efficient system named Coxgraph for multi-robot collaborative dense reconstructi... |
Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments | https://ieeexplore.ieee.org/document/9635862/ | [
"Shibo Zhao",
"Hengrui Zhang",
"Peng Wang",
"Lucas Nogueira",
"Sebastian Scherer",
"Shibo Zhao",
"Hengrui Zhang",
"Peng Wang",
"Lucas Nogueira",
"Sebastian Scherer"
] | We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in perceptually-degraded environments. Different from traditional sensor-fusion methods, Super Odometry employs an IMU-centric data processing pipeline, which combines the advantages... |
Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions | https://ieeexplore.ieee.org/document/9636844/ | [
"M. Wudenka",
"M. G. Müller",
"N. Demmel",
"A. Wedler",
"R. Triebel",
"D. Cremers",
"W. Stürzl",
"M. Wudenka",
"M. G. Müller",
"N. Demmel",
"A. Wedler",
"R. Triebel",
"D. Cremers",
"W. Stürzl"
] | In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration unhindered by terrain traversability. Robust self-localization is crucial for that. Cameras that are lightweight, cheap and information-rich sensors are already used to ... |
Stereo Perception in the Dark using Uncalibrated Line Laser | https://ieeexplore.ieee.org/document/9636822/ | [
"Srinivasan Vijayarangan",
"David Wettergreen",
"Srinivasan Vijayarangan",
"David Wettergreen"
] | Perception using stereo requires external light. In the absence of natural light, active, structured light provides light where it is needed. In this work, we demonstrate how a free moving line striping laser can be used to perceive and model terrains. In this formulation, we do not need to know the position of the laser with respect to the stereo pair which precludes the need for calibrating the ... |
Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps | https://ieeexplore.ieee.org/document/9635915/ | [
"Riccardo Giubilato",
"Mallikarjuna Vayugundla",
"Wolfgang Stürzl",
"Martin J. Schuster",
"Armin Wedler",
"Rudolph Triebel",
"Riccardo Giubilato",
"Mallikarjuna Vayugundla",
"Wolfgang Stürzl",
"Martin J. Schuster",
"Armin Wedler",
"Rudolph Triebel"
] | Future planetary missions will rely on rovers that can autonomously explore and navigate in unstructured environments. An essential element is the ability to recognize places that were already visited or mapped. In this work, we leverage the ability of stereo cameras to provide both visual and depth information, guiding the search and validation of loop closures from a multi-modal perspective. We ... |
Online Information-Aware Motion Planning with Inertial Parameter Learning for Robotic Free-Flyers | https://ieeexplore.ieee.org/document/9636325/ | [
"Monica Ekal",
"Keenan Albee",
"Brian Coltin",
"Rodrigo Ventura",
"Richard Linares",
"David W. Miller",
"Monica Ekal",
"Keenan Albee",
"Brian Coltin",
"Rodrigo Ventura",
"Richard Linares",
"David W. Miller"
] | Space free-flyers like the Astrobee robots currently operating aboard the International Space Station must operate with inherent system uncertainties. Parametric uncertainties like mass and moment of inertia are especially important to quantify in these safety-critical space systems and can change in scenarios such as on-orbit cargo movement, where unknown grappled payloads significantly change th... |
Surface sliding behavior analysis of space probes in simulated extraterrestrial environments | https://ieeexplore.ieee.org/document/9635958/ | [
"Masataku Sutoh",
"Yuta Sakakieda",
"Masatsugu Otsuki",
"Taizo Kobayashi",
"Masataku Sutoh",
"Yuta Sakakieda",
"Masatsugu Otsuki",
"Taizo Kobayashi"
] | This study analyzes the surface sliding behavior of space probes in simulated extraterrestrial environments. When a space probe lands on an extraterrestrial body, its landing gear (footpad, landing legs) contacts and slides along the ground surface. The influence of various parameters (i.e., footpad size, velocity, ground condition, atmospheric pressure, and gravity) on the friction behavior of fo... |
Deep Neural Skill Assessment and Transfer: Application to Robotic Surgery Training | https://ieeexplore.ieee.org/document/9636627/ | [
"Abed Soleymani",
"Xingyu Li",
"Mahdi Tavakoli",
"Abed Soleymani",
"Xingyu Li",
"Mahdi Tavakoli"
] | Due to the high sensitivity and complexity of robotic surgery tasks, acquiring appropriate skill levels by trainee surgeons through an effective training process is very important and affects the patient’s safety and the quality of surgical outcomes. With the advanced deep learning technology and the recent availability of surgical procedures data, intelligent methods can be deployed to assess and... |
QoE-driven Delay-adaptive Control Scheme Switching for Time-delayed Bilateral Teleoperation with Haptic Data Reduction | https://ieeexplore.ieee.org/document/9636716/ | [
"Xiao Xu",
"Siyuan Zhang",
"Qian Liu",
"Eckehard Steinbach",
"Xiao Xu",
"Siyuan Zhang",
"Qian Liu",
"Eckehard Steinbach"
] | Teleoperation systems with haptic feedback allow a human user to remotely interact with a dangerous or inac-cessible environment, perform various tasks, and perceive the haptic feedback. To ensure system stability while maintaining the best possible quality of experience (QoE), different teleoperation control schemes and haptic communication strategies need to be selected to adapt to varying netwo... |
SemAlign: Annotation-Free Camera-LiDAR Calibration with Semantic Alignment Loss | https://ieeexplore.ieee.org/document/9635964/ | [
"Zhijian Liu",
"Haotian Tang",
"Sibo Zhu",
"Song Han",
"Zhijian Liu",
"Haotian Tang",
"Sibo Zhu",
"Song Han"
] | Multi-sensor solution has been widely adopted in real-world robotics systems (e.g., self-driving vehicles) due to its better robustness. However, its performance is highly dependent on the accurate calibration between different sensors, which is very time-consuming (i.e., hours of human efforts) to acquire. Recent learning-based solutions partially address this yet still require costly ground-trut... |
Kalibrot: A Simple-To-Use Matlab Package for Robot Kinematic Calibration | https://ieeexplore.ieee.org/document/9635859/ | [
"Francesco Cursi",
"Weibang Bai",
"Petar Kormushev",
"Francesco Cursi",
"Weibang Bai",
"Petar Kormushev"
] | Robot modelling is an essential part to properly understand how a robotic system moves and how to control it. The kinematic model of a robot is usually obtained by using Denavit-Hartenberg convention, which relies on a set of parameters to describe the end-effector pose in a Cartesian space. These parameters are assigned based on geometrical considerations of the robotic structure, however, the as... |
Odometry Model Calibration for Self-Driving Vehicles with Noise Correction | https://ieeexplore.ieee.org/document/9635980/ | [
"Máté Fazekas",
"Péter Gáspár",
"Balázs Németh",
"Máté Fazekas",
"Péter Gáspár",
"Balázs Németh"
] | In the era of self-driving vehicles, state estimation has 3 main contradictory requirements, such as accuracy, robustness, and cost-effectiveness. To satisfy all of them, the integration of the wheel encoder measurements is a proper choice besides the generally applied GNSS, inertial and visual-odometry methods. The wheel odometry is a robust and cost-effective method, but the accuracy of the esti... |
Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs | https://ieeexplore.ieee.org/document/9636767/ | [
"Chuan Fang",
"Shuai Ding",
"Zilong Dong",
"Honghua Li",
"Siyu Zhu",
"Ping Tan",
"Chuan Fang",
"Shuai Ding",
"Zilong Dong",
"Honghua Li",
"Siyu Zhu",
"Ping Tan"
] | The integration of multiple cameras and 3D Li-DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it remains tedious and impractical for mass production. Moreover, most devices require re-calibration after usage for certain period of time. In this paper, we prop... |
Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control | https://ieeexplore.ieee.org/document/9636023/ | [
"Chen Wang",
"Rui Wang",
"Ajay Mandlekar",
"Li Fei-Fei",
"Silvio Savarese",
"Danfei Xu",
"Chen Wang",
"Rui Wang",
"Ajay Mandlekar",
"Li Fei-Fei",
"Silvio Savarese",
"Danfei Xu"
] | Imitation Learning (IL) is an effective framework to learn visuomotor skills from offline demonstration data. However, IL methods often fail to generalize to new scene configurations not covered by training data. On the other hand, humans can manipulate objects in varying conditions. Key to such capability is hand-eye coordination, a cognitive ability that enables humans to adaptively direct their... |
Imitation Learning with Approximated Behavior Cloning Loss | https://ieeexplore.ieee.org/document/9636797/ | [
"Corey A. Lowman",
"Joshua S. McClellan",
"Galen E. Mullins",
"Corey A. Lowman",
"Joshua S. McClellan",
"Galen E. Mullins"
] | Recent Imitation Learning (IL) techniques focus on adversarial imitation learning algorithms to learn from a fixed set of expert demonstrations. While these approaches are theoretically sound, they suffer from a number of problems such as poor sample efficiency, poor stability, and a host of issues that Generative Adversarial Networks (GANs) suffer from. In this paper we introduce a generalization... |
Risk Averse Bayesian Reward Learning for Autonomous Navigation from Human Demonstration | https://ieeexplore.ieee.org/document/9635835/ | [
"Christian Ellis",
"Maggie Wigness",
"John Rogers",
"Craig Lennon",
"Lance Fiondella",
"Christian Ellis",
"Maggie Wigness",
"John Rogers",
"Craig Lennon",
"Lance Fiondella"
] | Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for machine learning non-experts to quickly provide information needed to learn complex traversal behaviors. However, a minimal set of demonstrations is unlikely to ca... |
Decentralized, Unlabeled Multi-Agent Navigation in Obstacle-Rich Environments using Graph Neural Networks | https://ieeexplore.ieee.org/document/9636088/ | [
"Xuebo Ji",
"He Li",
"Zherong Pan",
"Xifeng Gao",
"Changhe Tu",
"Xuebo Ji",
"He Li",
"Zherong Pan",
"Xifeng Gao",
"Changhe Tu"
] | We propose a decentralized, learning-based solution to the challenging problem of unlabeled multi-agent navigation among obstacles, where robots need to simultaneously tackle the problems of goal assignment, local collision avoidance, and navigation. Our method has each robot infer their desired action by communicating with each other as well as a set of position-fixed routers. The inference is ca... |
Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks | https://ieeexplore.ieee.org/document/9636675/ | [
"Ekaterina Tolstaya",
"James Paulos",
"Vijay Kumar",
"Alejandro Ribeiro",
"Ekaterina Tolstaya",
"James Paulos",
"Vijay Kumar",
"Alejandro Ribeiro"
] | The multi-robot coverage problem is an essential building block for systems that perform tasks like inspection, exploration, or search and rescue. We discretize the coverage problem to induce a spatial graph of locations and represent robots as nodes in the graph. Then, we train a Graph Neural Network controller that leverages the spatial equivariance of the task to imitate an expert open-loop rou... |
Unsupervised Temporal Segmentation Using Models That Discriminate Between Demonstrations and Unintentional Actions | https://ieeexplore.ieee.org/document/9636688/ | [
"Takayuki Komatsu",
"Yoshiyuki Ohmura",
"Yasuo Kuniyoshi",
"Takayuki Komatsu",
"Yoshiyuki Ohmura",
"Yasuo Kuniyoshi"
] | Segmentation of a compound task with multiple subtasks is crucial for imitation learning. Conventional unsupervised segmentation methods focused on only reproducibility of demonstrations and did not use the property that goal-directed actions rarely occur without intention. In this paper, we propose a novel method to segment demonstrations into goal-directed actions by self-supervised learning. We... |
Transformer-based deep imitation learning for dual-arm robot manipulation | https://ieeexplore.ieee.org/document/9636301/ | [
"Heecheol Kim",
"Yoshiyuki Ohmura",
"Yasuo Kuniyoshi",
"Heecheol Kim",
"Yoshiyuki Ohmura",
"Yasuo Kuniyoshi"
] | Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging. In a dual-arm manipulation setup, the increased number of state dimensions caused by the additional robot manipulators causes distractions and results in poor pe... |
Identifying Valid Robot Configurations via a Deep Learning Approach | https://ieeexplore.ieee.org/document/9636742/ | [
"Tuan Tran",
"Chinwe Ekenna",
"Tuan Tran",
"Chinwe Ekenna"
] | Many state-of-art robotics applications require fast and efficient motion planning algorithms. Existing motion planning methods become less effective as the dimensionality of the robot and its workspace increases, especially the computational cost of collision detection routines. In this work, we present a framework to address the cost of expensive primitive operations in sampling-based motion pla... |
DiGNet: Learning Scalable Self-Driving Policies for Generic Traffic Scenarios with Graph Neural Networks | https://ieeexplore.ieee.org/document/9636376/ | [
"Peide Cai",
"Hengli Wang",
"Yuxiang Sun",
"Ming Liu",
"Peide Cai",
"Hengli Wang",
"Yuxiang Sun",
"Ming Liu"
] | Traditional decision and planning frameworks for self-driving vehicles (SDVs) scale poorly in new scenarios, thus they require tedious hand-tuning of rules and parameters to maintain acceptable performance in all foreseeable cases. Recently, self-driving methods based on deep learning have shown promising results with better generalization capability but less hand engineering effort. However, most... |
A General Approach to State Refinement | https://ieeexplore.ieee.org/document/9636400/ | [
"Gerard Kennedy",
"Jin Gao",
"Zheyu Zhuang",
"Xin Yu",
"Robert Mahony",
"Gerard Kennedy",
"Jin Gao",
"Zheyu Zhuang",
"Xin Yu",
"Robert Mahony"
] | Deep learning algorithms such as Convolutional Neural Networks (CNNs) are currently used to solve a range of robotics and computer vision problems. These networks typically estimate the desired representation in a single forward pass and must therefore learn to converge from a wide range of initial conditions to a precise result. This is challenging, and has led to increased interest in the develo... |
StyleLess layer: Improving robustness for real-world driving | https://ieeexplore.ieee.org/document/9636204/ | [
"Julien Rebut",
"Andrei Bursuc",
"Patrick Pérez",
"Julien Rebut",
"Andrei Bursuc",
"Patrick Pérez"
] | Deep Neural Networks (DNNs) are a critical component for self-driving vehicles. They achieve impressive performance by reaping information from high amounts of labeled data. Yet, the full complexity of the real world cannot be encapsulated in the training data, no matter how big the dataset, and DNNs can hardly generalize to unseen conditions. Robustness to various image corruptions, caused by cha... |
Annotation Cost Reduction of Stream-based Active Learning by Automated Weak Labeling using a Robot Arm | https://ieeexplore.ieee.org/document/9636355/ | [
"Kanata Suzuki",
"Taro Sunagawa",
"Tomotake Sasaki",
"Takashi Katoh",
"Kanata Suzuki",
"Taro Sunagawa",
"Tomotake Sasaki",
"Takashi Katoh"
] | Stream-based active learning (AL) is an efficient training data collection method, and it is used to reduce human annotation cost required in machine learning. However, it is difficult to say that the human cost is low enough because most previous studies have assumed that an oracle is a human with domain knowledge. In this study, we propose a method to replace a part of the oracle’s work in strea... |
Comprehension of Spatial Constraints by Neural Logic Learning from a Single RGB-D Scan | https://ieeexplore.ieee.org/document/9635939/ | [
"Fujian Yan",
"Dali Wang",
"Hongsheng He",
"Fujian Yan",
"Dali Wang",
"Hongsheng He"
] | Autonomous industrial assembly relies on the precise measurement of spatial constraints as designed by computer-aided design (CAD) software such as SolidWorks. This paper proposes a framework for an intelligent industrial robot to understand the spatial constraints for model assembly. An extended generative adversary network (GAN) with a 3D long short-term memory (LSTM) network was designed to com... |
Cognitive Navigation for Indoor Environment Using Floorplan | https://ieeexplore.ieee.org/document/9635850/ | [
"Jun Li",
"Chee Leong Chan",
"Jian Le Chan",
"Zhengguo Li",
"Kong Wah Wan",
"Wei Yun Yau",
"Jun Li",
"Chee Leong Chan",
"Jian Le Chan",
"Zhengguo Li",
"Kong Wah Wan",
"Wei Yun Yau"
] | The recent years have seen the increasing importance of cognitive models for improved robot navigation. In this paper, a novel cognitive navigation package, which consists of topometric map representation and a three-level path planner, is proposed. The topometric maps are built from architectural floor plans with additional features within a limited number of selected regions. The inherent discre... |
Improving Kinodynamic Planners for Vehicular Navigation with Learned Goal-Reaching Controllers | https://ieeexplore.ieee.org/document/9636657/ | [
"Aravind Sivaramakrishnan",
"Edgar Granados",
"Seth Karten",
"Troy McMahon",
"Kostas E. Bekris",
"Aravind Sivaramakrishnan",
"Edgar Granados",
"Seth Karten",
"Troy McMahon",
"Kostas E. Bekris"
] | This paper aims to improve the path quality and computational efficiency of sampling-based kinodynamic planners for vehicular navigation. It proposes a learning framework for identifying promising controls during the expansion process of sampling-based planners. Given a dynamics model, a reinforcement learning process is trained offline to return a low-cost control that reaches a local goal state ... |
Risk Conditioned Neural Motion Planning | https://ieeexplore.ieee.org/document/9636201/ | [
"Xin Huang",
"Meng Feng",
"Ashkan Jasour",
"Guy Rosman",
"Brian Williams",
"Xin Huang",
"Meng Feng",
"Ashkan Jasour",
"Guy Rosman",
"Brian Williams"
] | Risk-bounded motion planning is an important yet difficult problem for safety-critical tasks. While existing mathematical programming methods offer theoretical guarantees in the context of constrained Markov decision processes, they either lack scalability in solving larger problems or produce conservative plans. Recent advances in deep reinforcement learning improve scalability by learning policy... |
Real-Time Volumetric-Semantic Exploration and Mapping: An Uncertainty-Aware Approach | https://ieeexplore.ieee.org/document/9635986/ | [
"Rui Pimentel de Figueiredo",
"Jonas le Fevre Sejersen",
"Jakob Grimm Hansen",
"Martim Brandão",
"Erdal Kayacan",
"Rui Pimentel de Figueiredo",
"Jonas le Fevre Sejersen",
"Jakob Grimm Hansen",
"Martim Brandão",
"Erdal Kayacan"
] | In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon exploration techniques for next-best-view (NBV) planning with geometric and semantic segmentation information provided by state-of-the-art deep convolutional neural netwo... |
Multitask and Transfer Learning of Geometric Robot Motion | https://ieeexplore.ieee.org/document/9636052/ | [
"Satomi Sugaya",
"Mohammad R. Yousefi",
"Andrew R. Ferdinand",
"Marco Morales",
"Lydia Tapia",
"Satomi Sugaya",
"Mohammad R. Yousefi",
"Andrew R. Ferdinand",
"Marco Morales",
"Lydia Tapia"
] | When a learning solution is needed for different robots, a model is often trained for each robot geometry, even if the robotic task is the same and the robots are structurally similar. In this paper, we address the problem of transfer learning of swept volume predictors for the motion of articulated robots with similar geometric structure. The swept volume is a scalar value corresponding to the sp... |
Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments | https://ieeexplore.ieee.org/document/9636217/ | [
"Bardienus P. Duisterhof",
"Shushuai Li",
"Javier Burgués",
"Vijay Janapa Reddi",
"Guido C. H. E. de Croon",
"Bardienus P. Duisterhof",
"Shushuai Li",
"Javier Burgués",
"Vijay Janapa Reddi",
"Guido C. H. E. de Croon"
] | Nano quadcopters are ideal for gas source localization (GSL) as they are safe, agile and inexpensive. However, their extremely restricted sensors and computational resources make GSL a daunting challenge. We propose a novel bug algorithm named ‘Sniffy Bug', which allows a fully autonomous swarm of gas-seeking nano quadcopters to localize a gas source in unknown, cluttered, and GPS-denied environme... |
Cooperative Object Transportation using Gibbs Random Fields | https://ieeexplore.ieee.org/document/9635928/ | [
"Paulo Rezeck",
"Renato M. Assunção",
"Luiz Chaimowicz",
"Paulo Rezeck",
"Renato M. Assunção",
"Luiz Chaimowicz"
] | This paper presents a novel methodology that allows a swarm of robots to perform a cooperative transportation task. Our approach consists of modeling the swarm as a Gibbs Random Field (GRF), taking advantage of this framework’s locality properties. By setting appropriate potential functions, robots can dynamically navigate, form groups, and perform co- operative transportation in a completely dece... |
Extension of Flocking Models to Environments with Obstacles and Degraded Communications | https://ieeexplore.ieee.org/document/9635944/ | [
"Alexandre Bonnefond",
"Olivier Simonin",
"Isabelle Guérin-Lassous",
"Alexandre Bonnefond",
"Olivier Simonin",
"Isabelle Guérin-Lassous"
] | In this paper, we study existing flocking models and propose extensions to improve their abilities to deal with environments having obstacles impacting the communication quality. Often depicted as robust systems, there is yet a lack of understanding how flocking models compare and how they are impacted by the communication quality when they exchange control data. We extend two standard models to i... |
micROS.BT: An Event-Driven Behavior Tree Framework for Swarm Robots | https://ieeexplore.ieee.org/document/9636460/ | [
"Yunlong Wu",
"Jinghua Li",
"Huadong Dai",
"Xiaodong Yi",
"Yanzhen Wang",
"Xuejun Yang",
"Yunlong Wu",
"Jinghua Li",
"Huadong Dai",
"Xiaodong Yi",
"Yanzhen Wang",
"Xuejun Yang"
] | In this paper, we propose micROS.BT, an event-driven behavior tree (BT) framework aiming at supporting swarm-robot coordination. Compared with other BT frame-works, micROS.BT implements the event-driven way under the multi-thread mode, which can effectively save computing resources. Moreover, in order to ensure swarm-robot coordination, we optimize the implementation of the traditional blackboard ... |
Stereo Visual Inertial Odometry for Robots with Limited Computational Resources | https://ieeexplore.ieee.org/document/9636807/ | [
"Stavrow Bahnam",
"Sven Pfeiffer",
"Guido C.H.E. de Croon",
"Stavrow Bahnam",
"Sven Pfeiffer",
"Guido C.H.E. de Croon"
] | Current existing stereo visual odometry algorithms are computationally too expensive for robots with restricted resources. Executing these algorithms on such robots leads to a low frame rate and unacceptable decay in accuracy. We modify S-MSCKF, one of the most computationally efficient stereo Visual Inertial Odometry (VIO) algorithm, to improve its speed and accuracy when tracking low numbers of ... |
Feature-aided Bundle Adjustment Learning Framework for Self-supervised Monocular Visual Odometry | https://ieeexplore.ieee.org/document/9636756/ | [
"Weijun Mai",
"Yoshihiro Watanabe",
"Weijun Mai",
"Yoshihiro Watanabe"
] | Bundle adjustment refines scene geometry and relative camera poses simultaneously via reprojection error, computed by a set of images from different viewpoints, which is the gold standard for visual odometry. However, deep learning methods have not been well exploited within this area of study. This paper introduces a self-supervised learning framework for monocular visual odometry, inside which d... |
Accurate Visual-Inertial SLAM by Feature Re-identification | https://ieeexplore.ieee.org/document/9636186/ | [
"Xiongfeng Peng",
"Zhihua Liu",
"Qiang Wang",
"Yun-Tae Kim",
"Myungjae Jeon",
"Hong-Seok Lee",
"Xiongfeng Peng",
"Zhihua Liu",
"Qiang Wang",
"Yun-Tae Kim",
"Myungjae Jeon",
"Hong-Seok Lee"
] | Most of the state-of-the-art visual inertial SLAM methods pay less attention to 2D-2D and 3D-2D matching with more reliable features in a long time span, which easily results in continuous estimation drift. In this paper, we propose an efficient drift-free visual-inertial SLAM method by a pose guided feature matching method to re-identify existing features from a spatial-temporal sensitive sub-glo... |
Sampson Distance: A New Approach to Improving Visual-Inertial Odometry's Accuracy | https://ieeexplore.ieee.org/document/9636115/ | [
"He Zhang",
"Cang Ye",
"He Zhang",
"Cang Ye"
] | In this paper, we propose a new scheme based on the Sampson distance (SD) to describe visual feature residuals for visual-inertial odometry (VIO). Unlike the epipolar-constraint-based SD for visual odometry (VO), the proposed SD is formulated based on the perspective projection constraint. We proved in theory that the proposed SD retains the good properties of those earlier SD criteria in the lite... |
A Comparison of Modern General-Purpose Visual SLAM Approaches | https://ieeexplore.ieee.org/document/9636615/ | [
"Alexey Merzlyakov",
"Steve Macenski",
"Alexey Merzlyakov",
"Steve Macenski"
] | Advancing maturity in mobile and legged robotics technologies is changing the landscapes where robots are being deployed and found. This innovation calls for a transformation in simultaneous localization and mapping (SLAM) systems to support this new generation of service and consumer robots. No longer can traditionally robust 2D lidar systems dominate while robots are being deployed in multi-stor... |
RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments | https://ieeexplore.ieee.org/document/9636522/ | [
"Karnik Ram",
"Chaitanya Kharyal",
"Sudarshan S. Harithas",
"K. Madhava Krishna",
"Karnik Ram",
"Chaitanya Kharyal",
"Sudarshan S. Harithas",
"K. Madhava Krishna"
] | Modern visual-inertial navigation systems (VINS) are faced with a critical challenge in real-world deployment: they need to operate reliably and robustly in highly dynamic environments. Current best solutions merely filter dynamic objects as outliers based on the semantics of the object category. Such an approach does not scale as it requires semantic classifiers to encompass all possibly-moving o... |
A Visual Inertial Odometry Framework for 3D Points, Lines and Planes | https://ieeexplore.ieee.org/document/9636526/ | [
"Shenbagaraj Kannapiran",
"Jeroen van Baar",
"Spring Berman",
"Shenbagaraj Kannapiran",
"Jeroen van Baar",
"Spring Berman"
] | Recovering rigid registration between successive camera poses lies at the heart of 3D reconstruction, SLAM and visual odometry. Registration relies on the ability to compute discriminative 2D features in successive camera images for determining feature correspondences, which is very challenging in feature-poor environments, i.e. low-texture and/or low-light environments. In this paper, we aim to a... |
A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems | https://ieeexplore.ieee.org/document/9636293/ | [
"Björn Lindqvist",
"Pantelis Sopasakis",
"George Nikolakopoulos",
"Björn Lindqvist",
"Pantelis Sopasakis",
"George Nikolakopoulos"
] | In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles (UAVs) based on nonlinear model predictive control (NMPC), where other agents in the system are considered as dynamic obstacles with respect to the ego agent. Our control scheme operates at a low level and commands roll, pitch and thrust signals at a high frequency, each agent broadcasts it... |
Trust your supervisor: quadrotor obstacle avoidance using controlled invariant sets | https://ieeexplore.ieee.org/document/9636485/ | [
"Luigi Pannocchi",
"Tzanis Anevlavis",
"Paulo Tabuada",
"Luigi Pannocchi",
"Tzanis Anevlavis",
"Paulo Tabuada"
] | Supervision of a nominal controller, to enforce safety, is concerned with appropriately modifying the generated control inputs, if needed, in order to keep a control system within a set of safe states. An integral component in supervision is a controlled invariant set contained in the set of safe states. In this paper, we build on recent results on the computation of polytopic controlled invariant... |
Image-Based Online Command Adaptation and Guidance to Arbitrarily Shaped Objects for Robot-Assisted Medical Procedures | https://ieeexplore.ieee.org/document/9636303/ | [
"Jan Reinhold",
"Jonas Olschewski",
"Sebastian Lippross",
"Thomas Meurer",
"Jan Reinhold",
"Jonas Olschewski",
"Sebastian Lippross",
"Thomas Meurer"
] | Imaging techniques are established aids in surgical procedures and have become indispensable in modern medicine. Combined with robot-assisted systems, significantly higher precision can already be achieved today and work steps can be simplified. We hypothesize that algorithms can make the operations of the future safer and easier. The paper introduces an approach for the control of a robotic manip... |
Continuous-time Gaussian Process Trajectory Generation for Multi-robot Formation via Probabilistic Inference | https://ieeexplore.ieee.org/document/9636573/ | [
"Shuang Guo",
"Bo Liu",
"Shen Zhang",
"Jifeng Guo",
"Changhong Wang",
"Shuang Guo",
"Bo Liu",
"Shen Zhang",
"Jifeng Guo",
"Changhong Wang"
] | In this paper, we extend a famous motion planning approach, GPMP2, to multi-robot cases, yielding a novel centralized trajectory generation method for the multi-robot formation. A sparse Gaussian Process model is employed to represent the continuous-time trajectories of all robots as a limited number of states, which improves computational efficiency due to the sparsity. We add constraints to guar... |
Learning to Navigate in a VUCA Environment: Hierarchical Multi-expert Approach | https://ieeexplore.ieee.org/document/9636370/ | [
"Wenqi Zhang",
"Kai Zhao",
"Peng Li",
"Xiao Zhu",
"Faping Ye",
"Weijie Jiang",
"Huiqiao Fu",
"Tao Wang",
"Wenqi Zhang",
"Kai Zhao",
"Peng Li",
"Xiao Zhu",
"Faping Ye",
"Weijie Jiang",
"Huiqiao Fu",
"Tao Wang"
] | Despite decades of efforts, robot navigation in a real scenario with volatility, uncertainty, complexity, and ambiguity (VUCA for short), remains a challenging topic. Inspired by the central nervous system (CNS), we propose a hierarchical multi-expert learning framework for autonomous navigation in a VUCA environment. With a heuristic exploration mechanism considering target location, path cost, a... |
A Vision-based Irregular Obstacle Avoidance Framework via Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9636512/ | [
"Lingping Gao",
"Jianchuan Ding",
"Wenxi Liu",
"Haiyin Piao",
"Yuxin Wang",
"Xin Yang",
"Baocai Yin",
"Lingping Gao",
"Jianchuan Ding",
"Wenxi Liu",
"Haiyin Piao",
"Yuxin Wang",
"Xin Yang",
"Baocai Yin"
] | Deep reinforcement learning has achieved great success in laser-based collision avoidance work because the laser can sense accurate depth information without too much redundant data, which can maintain the robustness of the algorithm when it is migrated from the simulation environment to the real world. However, high-cost laser devices are not only difficult to apply on a large scale but also have... |
Circumventing Conceptual Flaws in Classical Interaction Control Strategies | https://ieeexplore.ieee.org/document/9636476/ | [
"Maxim Kristalny",
"Jang Ho Cho",
"Maxim Kristalny",
"Jang Ho Cho"
] | This paper studies the problem of interaction control based on force and velocity measurements. Without restricting ourselves to fixed control structures such as admittance or impedance control, we consider the general topology of the problem. Adopting the idea of Youla-based 2DOF control, we reveal a generic control architecture that splits the problem into two independent parts: nominal admittan... |
Human guided trajectory and impedance adaptation for tele-operated physical assistance | https://ieeexplore.ieee.org/document/9636418/ | [
"Guillaume Gourmelen",
"Benjamin Navarro",
"Andrea Cherubini",
"Gowrishankar Ganesh",
"Guillaume Gourmelen",
"Benjamin Navarro",
"Andrea Cherubini",
"Gowrishankar Ganesh"
] | Human physical assistance requires the assistant to tune both his trajectory and impedance in order to assist an individual as well as be guided by him. In this study we propose a controller for teleoperated human assistance that allows the assistant to guide the assisting robot in both trajectory and impedance. We propose to use the inherent perturbations in the task, induced by the elderly or st... |
Impedance Control for a Flexible Robot Enhanced with Energy Tanks in the port-Hamiltonian Framework | https://ieeexplore.ieee.org/document/9636472/ | [
"Martin Mujica",
"Alejandro Donaire",
"Mourad Benoussaad",
"Jean-Yves Fourquet",
"Martin Mujica",
"Alejandro Donaire",
"Mourad Benoussaad",
"Jean-Yves Fourquet"
] | In modern robotics, the manipulators are no longer isolated under fully controlled conditions but rather conceived to work in unconstrained environments. Under these operations, compliant control and passivity properties of the robot are of great importance, and thus the system’s energy function plays a crucial role in the control design. In this work, we propose a new design of cartesian impedanc... |
Multi-Stage Energy-Aware Motion Control with Exteroception-Defined Dynamic Safety Metric | https://ieeexplore.ieee.org/document/9636561/ | [
"Kirill Artemov",
"Sergey Kolyubin",
"Stefano Stramigioli",
"Kirill Artemov",
"Sergey Kolyubin",
"Stefano Stramigioli"
] | We address the problem of motion control for safe physical interaction, and in particular finding new ways for impedance controller parameters’ adaptation to ensure better safety with minimum possible lose in robot performance. We propose an exteroception-based dynamically updated safety metric that takes into account current robot state and inertia as well as external objects’ mass, shape, materi... |
Online Impedance Adaptation Facilitates Manipulating a Whip | https://ieeexplore.ieee.org/document/9636663/ | [
"Xiaofeng Xiong",
"Moses C. Nah",
"Aleksei Krotov",
"Dagmar Sternad",
"Xiaofeng Xiong",
"Moses C. Nah",
"Aleksei Krotov",
"Dagmar Sternad"
] | Manipulation of flexible objects is one of the major challenges in robotics as the nonlinear dynamics of the high-dimensional object structure makes it difficult to apply current control methods. A previous simulation study showed that control with few pre-structured joint trajectories coupled with joint impedance (dynamic primitives) could control a 25-dimensional whip to hit a target. This was p... |
Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice | https://ieeexplore.ieee.org/document/9636427/ | [
"Edgar A. Bolívar-Nieto",
"Gray C. Thomas",
"Elliott Rouse",
"Robert D. Gregg",
"Edgar A. Bolívar-Nieto",
"Gray C. Thomas",
"Elliott Rouse",
"Robert D. Gregg"
] | Natural dynamics, nonlinear optimization, and, more recently, convex optimization are available methods for stiffness design of energy-efficient series elastic actuators. Natural dynamics and general nonlinear optimization only work for a limited set of load kinetics and kinematics, cannot guarantee convergence to a global optimum, or depend on initial conditions to the numerical solver. Convex pr... |
A Safe and Rapidly Switchable Stiffness Hydrostatic Actuator through Valve-controlled Air Springs | https://ieeexplore.ieee.org/document/9636766/ | [
"Sungbin Park",
"Kyungseo Park",
"Hwayeong Jeong",
"Wonseok Shin",
"Jung Kim",
"Sungbin Park",
"Kyungseo Park",
"Hwayeong Jeong",
"Wonseok Shin",
"Jung Kim"
] | Hydrostatic transmission has shown promising results for enabling the manipulator to achieve low effective inertia, high stiffness, and high torque density. However, the incompressibility of fluid causes the lack of compliance, so that it could not provide intrinsic safety. Thus, it would be advantageous to introduce series compliance on the hydrostatic manipulator for adjusting stiffness dependin... |
Gear Ratio Optimization of a Multifunctional Walker Robot Using Dual-Motor Actuation | https://ieeexplore.ieee.org/document/9636482/ | [
"John Bell",
"Emily Kamienski",
"Seiichi Teshigawara",
"Hirofumi Itagaki",
"H. Harry Asada",
"John Bell",
"Emily Kamienski",
"Seiichi Teshigawara",
"Hirofumi Itagaki",
"H. Harry Asada"
] | Optimization of gear ratios for dual-motor actuators is presented for the development of a walker-type assist robot. The robot is reconfigurable to provide an elderly user with multiple physical support functions; one is to assist sitto-stand transitions and the other is to serve as a walker to aid the user in walking. To avoid falling while walking, the robot must react quickly and reconfigure it... |
Slip Modeling and Simulation of Spiral Zipper Friction-Driven Prismatic Actuator | https://ieeexplore.ieee.org/document/9636843/ | [
"Seohyeon Lee",
"Sahoon Ahn",
"Devin Carroll",
"Mark Yim",
"TaeWon Seo",
"Seohyeon Lee",
"Sahoon Ahn",
"Devin Carroll",
"Mark Yim",
"TaeWon Seo"
] | In this study, based on an analysis of experimental results, we propose a method for slip modeling of Spiral Zipper. The Spiral Zipper is a prismatic actuator that extracts a length-changeable cylindrical tube from a flexible ABS band. The band tube is driven by a friction wheel; the slip results due to the lack of synchronization between the motion of the band and that of the friction wheel. Thro... |
Planning Robotic Manipulation with Tight Environment Constraints | https://ieeexplore.ieee.org/document/9636782/ | [
"George Jose Pollayil",
"Giorgio Grioli",
"M. Bonilla",
"Antonio Bicchi",
"George Jose Pollayil",
"Giorgio Grioli",
"M. Bonilla",
"Antonio Bicchi"
] | In many real-world manipulation problems, the constraints imposed by the environment on an object are tight. In these cases, most state-of-the-art planners struggle to fit satisfactorily in low dimensional sub-manifolds, while still ensuring geometric and force feasibility. On the other hand, humans are at ease with such situations and indeed exploit constraints to manipulate objects proficiently.... |
Motion and Force Planning for Manipulating Heavy Objects by Pivoting | https://ieeexplore.ieee.org/document/9636103/ | [
"Amin Fakhari",
"Aditya Patankar",
"Nilanjan Chakraborty",
"Amin Fakhari",
"Aditya Patankar",
"Nilanjan Chakraborty"
] | Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to use a sequence of pivoting motions, wherein, an object is moved while some contact points between the object and a support surface are kept fixed. The goal of t... |
Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach | https://ieeexplore.ieee.org/document/9636652/ | [
"Riddhiman Laha",
"Jonathan Vorndamme",
"Luis F.C. Figueredo",
"Zheng Qu",
"Abdalla Swikir",
"Christoph Jähne",
"Sami Haddadin",
"Riddhiman Laha",
"Jonathan Vorndamme",
"Luis F.C. Figueredo",
"Zheng Qu",
"Abdalla Swikir",
"Christoph Jähne",
"Sami Haddadin"
] | Similar to human work, robotic tasks sometimes require two hands to be accomplished. This requires coordinated motion planning and control. While fulfilling the task in a coordinated manner is already a big challenge, the task at hand becomes even harder when obstacles are introduced in the environment that need to be avoided. Furthermore in the case of dynamic environments, contacts cannot be avo... |
Dynamic Pre-Grasp Planning when Tracing a Moving Object Through a Multi-Agent Perspective | https://ieeexplore.ieee.org/document/9636666/ | [
"Michael Bowman",
"Xiaoli Zhang",
"Michael Bowman",
"Xiaoli Zhang"
] | While a human is tracking a moving object to prepare for later grasping, we naturally change our hand pose to generate optimal pre-grasp to avoid post-grasp adjustment. Robot hand controllers need dynamic pre-grasp planning capability, so they are not limited in dynamic tracking and catching tasks. To fill this gap, we explore the feasibility of using a two-stage optimization method to enable dyna... |
Learning to Hit: A statistical Dynamical System based approach | https://ieeexplore.ieee.org/document/9635976/ | [
"Harshit Khurana",
"Michael Bombile",
"Aude Billard",
"Harshit Khurana",
"Michael Bombile",
"Aude Billard"
] | This paper proposes a manipulation scheme based on learning the motion of objects after being hit by a robotic end-effector. This allows for the object to be positioned at a desired location outside the physical workspace of the robot. An estimate of the object dynamics under friction and collisions is learnt and used to predict the desired hitting parameters (speed and direction), given the initi... |
Dynamic Grasping with Reachability and Motion Awareness | https://ieeexplore.ieee.org/document/9636057/ | [
"Iretiayo Akinola",
"Jingxi Xu",
"Shuran Song",
"Peter K. Allen",
"Iretiayo Akinola",
"Jingxi Xu",
"Shuran Song",
"Peter K. Allen"
] | Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in computation makes prediction necessary. In this paper, we present a dynamic grasping framework that is reachability-aware and motion-aware. Specifically, we model the re... |
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