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Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet | https://ieeexplore.ieee.org/document/9982275/ | [
"Prashanth Ramadoss",
"Giulio Romualdi",
"Stefano Dafarra",
"Silvio Traversaro",
"Daniele Pucci",
"Prashanth Ramadoss",
"Giulio Romualdi",
"Stefano Dafarra",
"Silvio Traversaro",
"Daniele Pucci"
] | Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base position-and-orientation and its linear velocity along with the augmented states of feet position-and-orientation. We refer to such filters as flat-foot filters. How... |
ParaPose: Parameter and Domain Randomization Optimization for Pose Estimation using Synthetic Data | https://ieeexplore.ieee.org/document/9981511/ | [
"Frederik Hagelskjær",
"Anders Glent Buch",
"Frederik Hagelskjær",
"Anders Glent Buch"
] | Pose estimation is the task of determining the 6D position of an object in a scene. Pose estimation aid the abilities and flexibility of robotic set-ups. However, the system must be configured towards the use case to perform adequately. This configuration is time-consuming and limits the usability of pose estimation and, thereby, robotic systems. Deep learning is a method to overcome this configur... |
LiSnowNet: Real-time Snow Removal for LiDAR Point Clouds | https://ieeexplore.ieee.org/document/9982248/ | [
"Ming-Yuan Yu",
"Ram Vasudevan",
"Matthew Johnson-Roberson",
"Ming-Yuan Yu",
"Ram Vasudevan",
"Matthew Johnson-Roberson"
] | Light Detection And Rangings (LiDARs) have been widely adopted to modern self-driving vehicles, providing 3D information of the scene and surrounding objects. However, adverser weather conditions still pose significant challenges to LiDARs since point clouds captured during snowfall can easily be corrupted. The resulting noisy point clouds degrade downstream tasks such as mapping. Existing works i... |
Application of Ghost-DeblurGAN to Fiducial Marker Detection | https://ieeexplore.ieee.org/document/9981701/ | [
"Yibo Liu",
"Amaldev Haridevan",
"Hunter Schofield",
"Jinjun Shan",
"Yibo Liu",
"Amaldev Haridevan",
"Hunter Schofield",
"Jinjun Shan"
] | Feature extraction or localization based on the fiducial marker could fail due to motion blur in real-world robotic applications. To solve this problem, a lightweight generative adversarial network, named Ghost-DeblurGAN, for real-time motion deblurring is developed in this paper. Furthermore, on account that there is no existing deblurring benchmark for such task, a new large-scale dataset, York-... |
Learning Important Regions via Attention for Video Streaming on Cloud Robotics | https://ieeexplore.ieee.org/document/9981132/ | [
"Hayato Itsumi",
"Florian Beye",
"Vitthal Charvi",
"Koichi Nihei",
"Hayato Itsumi",
"Florian Beye",
"Vitthal Charvi",
"Koichi Nihei"
] | Cloud robotics, i.e., controlling robots from the cloud, make it possible to perform more complex processes, make robots smaller, and coordinate multi-robots by sharing information between robots and utilizing abundant computing resources. In cloud robotics, robots need to transmit videos to the cloud in real time to recognize their surroundings. Lowering the video quality reduces the bitrate in l... |
Unsupervised Simultaneous Learning for Camera Re-Localization and Depth Estimation from Video | https://ieeexplore.ieee.org/document/9982213/ | [
"Shun Taguchi",
"Noriaki Hirose",
"Shun Taguchi",
"Noriaki Hirose"
] | We present an unsupervised simultaneous learning framework for the task of monocular camera re-localization and depth estimation from unlabeled video sequences. Monocular camera re-localization refers to the task of estimating the absolute camera pose from an instance image in a known environment, which has been intensively studied for alternative localization in GPS-denied environments. In recent... |
HyperPocket: Generative Point Cloud Completion | https://ieeexplore.ieee.org/document/9981829/ | [
"P. Spurek",
"A. Kasymov",
"M. Mazur",
"D. Janik",
"S.K. Tadeja",
"Ł. Struski",
"J. Tabor",
"T. Trzciński",
"P. Spurek",
"A. Kasymov",
"M. Mazur",
"D. Janik",
"S.K. Tadeja",
"Ł. Struski",
"J. Tabor",
"T. Trzciński"
] | Scanning real-life scenes with modern registration devices typically give incomplete point cloud representations, mostly due to the limitations of the scanning process and 3D occlusions. Therefore, completing such partial representations remains a fundamental challenge of many computer vision applications. Most of the existing approaches aim to solve this problem by learning to reconstruct individ... |
Flexible Collision-free Platooning Method for Unmanned Surface Vehicle with Experimental Validations | https://ieeexplore.ieee.org/document/9981043/ | [
"Bin Du",
"Bin Lin",
"Wei Xie",
"Weidong Zhang",
"Rudy R. Negenborn",
"Yusong Pang",
"Bin Du",
"Bin Lin",
"Wei Xie",
"Weidong Zhang",
"Rudy R. Negenborn",
"Yusong Pang"
] | This paper addresses the flexible formation problem for unmanned surface vehicles in the presence of obstacles. Building upon the leader-follower formation scheme, a hybrid line-of-sight based flexible platooning method is proposed for follower vehicle to keep tracking the leader ship. A fusion artificial potential field collision avoidance approach is tailored to generate optimal collision-free t... |
Development and Field Testing of an Optimal Path Following ASV Controller for Marine Surveys | https://ieeexplore.ieee.org/document/9981691/ | [
"Kleio Baxevani",
"Grant E. Otto",
"Herbert G. Tanner",
"Arthur C. Trembanis",
"Kleio Baxevani",
"Grant E. Otto",
"Herbert G. Tanner",
"Arthur C. Trembanis"
] | Marine autonomous vehicles deployed to conduct marine geophysical surveys are becoming an increasingly used asset in the commercial, academic, and defense industries. However, the ability to collect high-quality data from applicable sensors is directly related to the robustness of vehicle motion caused by environmental disturbances. In this paper we designed and integrated a new path following con... |
Inertial-measurement-based catenary shape estimation of underwater cables for tethered robots | https://ieeexplore.ieee.org/document/9981980/ | [
"Juliette Drupt",
"Claire Dune",
"Andrew I. Comport",
"Sabine Seillier",
"Vincent Hugel",
"Juliette Drupt",
"Claire Dune",
"Andrew I. Comport",
"Sabine Seillier",
"Vincent Hugel"
] | This paper deals with the estimation of the shape of a catenary for a negatively buoyant cable, connecting a pair of underwater robots in a robot chain. The new estimation method proposed here is based on the calculation of local tangents thanks to the data acquired from inertial measurement units (IMUs), which are attached to the cable near its ends. This method is compared with a vision-based es... |
Motion Attribute-based Clustering and Collision Avoidance of Multiple In-water Obstacles by Autonomous Surface Vehicle | https://ieeexplore.ieee.org/document/9981226/ | [
"Mingi Jeong",
"Alberto Quattrini Li",
"Mingi Jeong",
"Alberto Quattrini Li"
] | Navigation and obstacle avoidance in aquatic en-vironments for autonomous surface vehicles (ASVs) in high-traffic maritime scenarios is still an open challenge, as the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) is not defined for multi-encounter situations. Current state-of-the-art methods resolve single-to-single encounters with sequential actions and a... |
Training Dynamic Motion Primitives using Deep Reinforcement Learning to Control a Robotic Tadpole | https://ieeexplore.ieee.org/document/9981112/ | [
"Imran Hameed",
"Xu Chao",
"David Navarro-Alarcon",
"Xingjian Jing",
"Imran Hameed",
"Xu Chao",
"David Navarro-Alarcon",
"Xingjian Jing"
] | Developing a good control strategy for biomimetic robots is challenging. Robust control methods require an accurate model of the robot. Nowadays, model-free methods are being extensively explored for the control and navigation of terrestrial robots. In this paper, we consider a novel deep reinforcement learning-based model-free swimming control for our bio-inspired robotic tadpole. To realize this... |
An Underwater Target Perception Framework for Underwater Operation Scene | https://ieeexplore.ieee.org/document/9981170/ | [
"Jue Gao",
"Chi Zhu",
"Jue Gao",
"Chi Zhu"
] | This paper proposes an underwater target perception framework to comprehensively explore target information in underwater scenes, to improve the work efficiency and safety of underwater operations. This framework adopts a layered processing mechanism including water column imaging, constant false alarm rate detection (CFAR) detection, and local feature analysis, to accurately distinguish between f... |
Self-morphing Soft Parallel-and-coplanar Electroadhesive Grippers Based on Laser-scribed Graphene Oxide Electrodes | https://ieeexplore.ieee.org/document/9981267/ | [
"Jianglong Guo",
"Djen Kuhnel",
"Qiukai Qi",
"Chaoqun Xiang",
"Van Anh Ho",
"Charl Faul",
"Jonathan Rossiter",
"Jianglong Guo",
"Djen Kuhnel",
"Qiukai Qi",
"Chaoqun Xiang",
"Van Anh Ho",
"Charl Faul",
"Jonathan Rossiter"
] | Electroadhesion is a versatile and controllable adhesion mechanism that has been used extensively in robotics. Soft electroadhesion embodies electrostatic adhesion in soft materials and is required for shape-adaptive and safe grasping of curved objects and delicate materials. In this work, we present a soft electroadhesive fabrication method based on laser scribing graphene oxide on a silicone fil... |
Embeddable Coiled Soft Sensor-Based Joint Angle Sensing for Flexible Surgical Manipulator | https://ieeexplore.ieee.org/document/9981505/ | [
"Yesung Yi",
"Jung-Hwan Youn",
"Ki-Uk Kyung",
"Dong-Soo Kwon",
"Yesung Yi",
"Jung-Hwan Youn",
"Ki-Uk Kyung",
"Dong-Soo Kwon"
] | Tendon-driven flexible endoscopic surgical robots have been developed to access narrow curved paths without incision. Robot shape information is essential for precise control and to prevent unwanted tissue damage. In this paper, we propose a joint angle sensing method using coiled soft sensors to estimate the shape of the hyperredundant manipulator, which is commonly used in flexible endoscopic su... |
A Soft Fluidic Sensor-Actuator for Active Sensing of Force and Displacement in Biomedical Applications | https://ieeexplore.ieee.org/document/9981059/ | [
"Joanna Jones",
"Dana D. Damian",
"Joanna Jones",
"Dana D. Damian"
] | Achieving compact and biocompatible actuators with sensing capabilities is a key challenge for the safety critical and highly patient-specific biomedical field. In this study, a compact and versatile soft fluidic sensor-actuator capable of measuring both force and displacement in static and dynamic conditions is presented. Pressure and resistance are shown to be interchangeable in predicting load ... |
Sensor-Based Reconstruction of Slender Flexible Beams Undergoing Large-scale Deflection | https://ieeexplore.ieee.org/document/9981608/ | [
"Junjie Luo",
"Yuanhao Xun",
"Jiaji Yao",
"Genliang Chen",
"Hao Wang",
"Junjie Luo",
"Yuanhao Xun",
"Jiaji Yao",
"Genliang Chen",
"Hao Wang"
] | This paper presents a model-based approach to reconstructing the large deformations of slender flexible beams through strain-gauge deflection sensors. Using the principal axes decomposition of structural compliance, a closed-form kinetostatics model can be obtained to characterize the non-linear force-deformation behavior of the flexible beams under-going large-scale deflection. Owing to analytica... |
Development of a 6 DOF Soft Robotic Manipulator with Integrated Sensing Skin | https://ieeexplore.ieee.org/document/9981437/ | [
"Shen Treratanakulchai",
"Enrico Franco",
"Arnau Garriga-Casanovas",
"Hu Minghao",
"Panagiotis Kassanos",
"Ferdinando Rodriguez y Baena",
"Shen Treratanakulchai",
"Enrico Franco",
"Arnau Garriga-Casanovas",
"Hu Minghao",
"Panagiotis Kassanos",
"Ferdinando Rodriguez y Baena"
] | This paper presents a new 6 DOF soft robotic manipulator intended for colorectal surgery. The manipulator, based on a novel design that employs an inextensible tube to limit axial extension, is shown to maximize the force exerted at its tip and the bending angle, the latter being measured with a soft sensing skin. Manufacturing of the prototype is achieved with a lost-wax silicone-casting techniqu... |
Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing | https://ieeexplore.ieee.org/document/9982141/ | [
"Jorge F. Lazo",
"Chun-Feng Lai",
"Sara Moccia",
"Benoit Rosa",
"Michele Catellani",
"Michel de Mathelin",
"Giancarlo Ferrigno",
"Paul Breedveld",
"Jenny Dankelman",
"Elena De Momi",
"Jorge F. Lazo",
"Chun-Feng Lai",
"Sara Moccia",
"Benoit Rosa",
"Michele Catellani",
"Michel de Mathelin",
"Giancarlo Ferrigno",
"Paul Breedveld",
"Jenny Dankelman",
"Elena De Momi"
] | Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain tasks could alleviate the physical and mental load of doctors during interventions allowing them to focus on diagnosis and decision-making tasks. In this paper we... |
FSM: Correspondenceless scan-matching of panoramic 2D range scans | https://ieeexplore.ieee.org/document/9981228/ | [
"Alexandros Filotheou",
"Georgios D. Sergiadis",
"Antonis G. Dimitriou",
"Alexandros Filotheou",
"Georgios D. Sergiadis",
"Antonis G. Dimitriou"
] | Recent years have seen the introduction of more affordable but less accurate 2D range sensors whose field of view is $2\pi$. Scan-matching with these has been insufficiently researched, while being a challenge due to these sensors' increased measurement uncertainty. This paper proposes a real-time method for matching scans extracted from panoramic 2D LIDAR sensors. The method leverages properties ... |
VMVG-Loc: Visual Localization for Autonomous Driving using Vector Map and Voxel Grid Map | https://ieeexplore.ieee.org/document/9981776/ | [
"Kento Yabuuchi",
"Shinpei Kato",
"Kento Yabuuchi",
"Shinpei Kato"
] | This study proposes a visual localization method using a vector map and voxel grid map with a stereo camera. The two maps provide different modality advantages and are integrated using a particle filter. In contrast to other vector map-based methods, our method does not use road markings because creating and maintaining vector maps that include high-accuracy road markings is laborious. Furthermore... |
Learnable Spatio-Temporal Map Embeddings for Deep Inertial Localization | https://ieeexplore.ieee.org/document/9981092/ | [
"Dennis Melamed",
"Karnik Ram",
"Vivek Roy",
"Kris Kitani",
"Dennis Melamed",
"Karnik Ram",
"Vivek Roy",
"Kris Kitani"
] | Indoor localization systems often fuse inertial odometry with map information via hand-defined methods to reduce odometry drift, but such methods are sensitive to noise and struggle to generalize across odometry sources. To address the robustness problem in map utilization, we propose a data-driven prior on possible user locations in a map by combining learned spatial map embeddings and temporal o... |
CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognition | https://ieeexplore.ieee.org/document/9981113/ | [
"Yuhang Ming",
"Xingrui Yang",
"Guofeng Zhang",
"Andrew Calway",
"Yuhang Ming",
"Xingrui Yang",
"Guofeng Zhang",
"Andrew Calway"
] | We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the first stage is trained for the auxiliary task of semantic segmentation and the second stage uses features from layers in the first stage to generate discriminate... |
A New Dense Hybrid Stereo Visual Odometry Approach | https://ieeexplore.ieee.org/document/9981814/ | [
"Ziming Liu",
"Ezio Malis",
"Philippe Martinet",
"Ziming Liu",
"Ezio Malis",
"Philippe Martinet"
] | Visual odometry is an important part of the perception module of autonomous robots. Recent advances in deep learning approaches have given rise to hybrid visual odometry approaches that combine both deep networks and traditional pose estimation methods. One limitation of deep learning approaches is the availability of ground truth data needed to train the neural networks. For example, it is extrem... |
BoxGraph: Semantic Place Recognition and Pose Estimation from 3D LiDAR | https://ieeexplore.ieee.org/document/9981266/ | [
"Georgi Pramatarov",
"Daniele De Martini",
"Matthew Gadd",
"Paul Newman",
"Georgi Pramatarov",
"Daniele De Martini",
"Matthew Gadd",
"Paul Newman"
] | This paper is about extremely robust and lightweight localisation using LiDAR point clouds based on instance segmentation and graph matching. We model 3D point clouds as fully-connected graphs of semantically identified components where each vertex corresponds to an object instance and encodes its shape. Optimal vertex association across graphs allows for full 6-Degree-of-Freedom (DoF) pose estima... |
Towards holistic autonomous obstacle detection in railways by complementing of on-board vision with UAV-based object localization | https://ieeexplore.ieee.org/document/9981156/ | [
"Marten Franke",
"Chaitra Reddy",
"Danijela Ristić-Durrant",
"Jehan Jayawardana",
"Kai Michels",
"Milan Banić",
"Miloš Simonović",
"Marten Franke",
"Chaitra Reddy",
"Danijela Ristić-Durrant",
"Jehan Jayawardana",
"Kai Michels",
"Milan Banić",
"Miloš Simonović"
] | This paper presents the two sub-systems of the first holistic system for autonomous obstacle detection (OD) in railways, the on-board vision system and unmanned aerial vehicle (UAV) vision system for object localization (OL) on and near the rail tracks. The main goal of such a holistic system is to enable long-range detection of obstacles on the rail tracks ahead of the train where the UAV-based O... |
Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion | https://ieeexplore.ieee.org/document/9981134/ | [
"Simon Boche",
"Xingxing Zuo",
"Simon Schaefer",
"Stefan Leutenegger",
"Simon Boche",
"Xingxing Zuo",
"Simon Schaefer",
"Stefan Leutenegger"
] | Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield accurate and locally consistent results in short-term applications. Unfortunately, visual-inertial state estimators suffer from the accumulation of drift for long-t... |
Continuous Self-Localization on Aerial Images Using Visual and Lidar Sensors | https://ieeexplore.ieee.org/document/9982195/ | [
"Florian Fervers",
"Sebastian Bullinger",
"Christoph Bodensteiner",
"Michael Arens",
"Rainer Stiefelhagen",
"Florian Fervers",
"Sebastian Bullinger",
"Christoph Bodensteiner",
"Michael Arens",
"Rainer Stiefelhagen"
] | This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo- tracking methods offer the potential to supplant noisy signals from global navigation satellite systems (GNSS) and expensive and hard to maintain prior maps that are typically used fo... |
Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback | https://ieeexplore.ieee.org/document/9981425/ | [
"Rohit Dhakate",
"Christian Brommer",
"Christoph Bohm",
"Harald Gietler",
"Stephan Weiss",
"Jan Steinbrener",
"Rohit Dhakate",
"Christian Brommer",
"Christoph Bohm",
"Harald Gietler",
"Stephan Weiss",
"Jan Steinbrener"
] | This article presents an entirely data-driven approach for autonomous control of redundant manipulators with hydraulic actuation. The approach only requires minimal system information, which is inherited from a simulation model. The non-linear hydraulic actuation dynamics are modeled using actuator networks from the data gathered during the manual operation of the manipulator to effectively emulat... |
DRL-ISP: Multi-Objective Camera ISP with Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9981361/ | [
"Ukcheol Shin",
"Kyunghyun Lee",
"In So Kweon",
"Ukcheol Shin",
"Kyunghyun Lee",
"In So Kweon"
] | In this paper, we propose a multi-objective camera ISP framework that utilizes Deep Reinforcement Learning (DRL) and camera ISP toolbox that consist of network-based and conventional ISP tools. The proposed DRL-based camera ISP framework iteratively selects a proper tool from the toolbox and applies it to the image to maximize a given vision task-specific reward function. For this purpose, we impl... |
Renaissance Robot: Optimal Transport Policy Fusion for Learning Diverse Skills | https://ieeexplore.ieee.org/document/9981105/ | [
"Julia Tan",
"Ransalu Senanayake",
"Fabio Ramos",
"Julia Tan",
"Ransalu Senanayake",
"Fabio Ramos"
] | Deep reinforcement learning (RL) is a promising approach to solving complex robotics problems. However, the process of learning through trial-and-error interactions is often highly time-consuming, despite recent advancements in RL algorithms. Additionally, the success of RL is critically dependent on how well the reward-shaping function suits the task, which is also time-consuming to design. As ag... |
SKILL-IL: Disentangling Skill and Knowledge in Multitask Imitation Learning | https://ieeexplore.ieee.org/document/9981375/ | [
"Bian Xihan",
"Oscar Mendez",
"Simon Hadfield",
"Bian Xihan",
"Oscar Mendez",
"Simon Hadfield"
] | In this work, we introduce a new perspective for learning transferable content in multi-task imitation learning. Humans are capable of transferring skills and knowledge. If we can cycle to work and drive to the store, we can also cycle to the store and drive to work. We take inspiration from this and hypothesize the latent memory of a policy network can be disentangled into two partitions. These c... |
Towards Adaptive Continuous Control of Soft Robotic Manipulator using Reinforcement Learning | https://ieeexplore.ieee.org/document/9981335/ | [
"Yingqi Li",
"Xiaomei Wang",
"Ka-Wai Kwok",
"Yingqi Li",
"Xiaomei Wang",
"Ka-Wai Kwok"
] | Although the soft robot is gaining considerable popularity in dexterous and safe manipulation, accurate motion control is still an open problem to be explored. Recent investigations suggest that reinforcement learning (RL) is a promising solution but lacks efficient adaptability for Sim2Real transfer or environment variations. In this paper, we present a deep deterministic policy gradient (DDPG)-b... |
Efficient Sampling-Based Planning for Subterranean Exploration | https://ieeexplore.ieee.org/document/9982169/ | [
"Shakeeb Ahmad",
"J. Sean Humbert",
"Shakeeb Ahmad",
"J. Sean Humbert"
] | The paper proposes a path planning solution for autonomous robotic exploration of complex subterranean environments. The work contributes to the family of graph-based planners by bringing the following improvements. Firstly, an occupancy grid-based sample-and-project solution to terrain-assessment is proposed instead of building an explicit elevation map of the environment. Secondly, the solution-... |
A Novel Robot with Rolling and Climbing Modes for Power Transmission Line Inspection | https://ieeexplore.ieee.org/document/9981434/ | [
"Qiang Fu",
"Yisheng Guan",
"Haifei Zhu",
"Qiang Fu",
"Yisheng Guan",
"Haifei Zhu"
] | As a hard high-altitude work, power transmission line inspection increasingly demands robots to conduct in place of the human being. A variety of robots have been developed to this end, with basic locomotion and inspection implemented on the lines. However, most current line inspection robots (LIRs) are only mobile platforms with complex structures and large weights, lacking sufficiently dexterous... |
Autonomous Pipeline Tracking Using Bernoulli Filter for Unmanned Underwater Surveys | https://ieeexplore.ieee.org/document/9981114/ | [
"Vibhav Bharti",
"Sen Wang",
"Vibhav Bharti",
"Sen Wang"
] | Inspection of subsea pipelines is crucial for avoiding any hazards and minimizing the risks to infrastructure and the environment. These inspections are achieved using Autonomous Underwater Vehicles (AUVs) in favour of reduced operational costs. This work presents a vehicle agnostic approach for tracking subsea pipelines at close-range for autonomous guidance along the pipeline using an AUV. A mul... |
Evaluation of position-keeping strategies for symmetrically-shaped autonomous water-surface robots under disturbances | https://ieeexplore.ieee.org/document/9982124/ | [
"Yasuyuki Fujii",
"Dinh Tuan Tran",
"Joo-Ho Lee",
"Yasuyuki Fujii",
"Dinh Tuan Tran",
"Joo-Ho Lee"
] | Extensive research has been conducted on autonomous surface robots and underwater robots for various tasks in aquatic environments. The duration of the operation of autonomous field robots depends on the capacity of the mounted battery, as they are not typically connected to an external power supply. Therefore, smart strategies which are optimized for each task are required to extend the working t... |
Capability-Aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments | https://ieeexplore.ieee.org/document/9981631/ | [
"Muhammad Fadhil Ginting",
"Kyohei Otsu",
"Mykel J. Kochenderfer",
"Ali-akbar Agha-mohammadi",
"Muhammad Fadhil Ginting",
"Kyohei Otsu",
"Mykel J. Kochenderfer",
"Ali-akbar Agha-mohammadi"
] | To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous capabilities. We formulate a multi-robot exploration mission and compute an operation policy to maintain robot team productivity and maximize mission success. The environment description, robot capability, and mission outcome are modeled as a Markov decision pro... |
MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation | https://ieeexplore.ieee.org/document/9981108/ | [
"Nikhil Khedekar",
"Mihir Kulkarni",
"Kostas Alexis",
"Nikhil Khedekar",
"Mihir Kulkarni",
"Kostas Alexis"
] | This paper presents a framework for Multi-Modal SLAM (MIMOSA) that utilizes a nonlinear factor graph as the underlying representation to provide loosely-coupled fusion of any number of sensing modalities. Tailored to the goal of enabling resilient robotic autonomy in GPS-denied and perceptually-degraded environments, MIMOSA currently contains modules for pointcloud registration, fusion of multiple... |
PUTN: A Plane-fitting based Uneven Terrain Navigation Framework | https://ieeexplore.ieee.org/document/9981038/ | [
"Zhuozhu Jian",
"Zihong Lu",
"Xiao Zhou",
"Bin Lan",
"Anxing Xiao",
"Xueqian Wang",
"Bin Liang",
"Zhuozhu Jian",
"Zihong Lu",
"Xiao Zhou",
"Bin Lan",
"Anxing Xiao",
"Xueqian Wang",
"Bin Liang"
] | Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a plane-fitting based uneven terrain navigation framework (PUTN) to solve this problem. The implementation of PUTN is divided into three steps. First, based on Rapidly... |
A Standards-based Pipeline Route Drawing System using a Towed Sensing Unit | https://ieeexplore.ieee.org/document/9981626/ | [
"Atsushi Kakogawa",
"Chihiro Hirose",
"Shugen Ma",
"Atsushi Kakogawa",
"Chihiro Hirose",
"Shugen Ma"
] | This paper presents a method of drawing pipeline routes using a sensing unit with a rotary encoder and IMU (Inertial Measurement Unit), which is towed by a self-propelled in-pipe inspection robot. However, the IMU information generally contains integration errors, making it difficult to draw accurate pipeline routes. In this study, we propose a method combining gradient descent using a gyroscopic ... |
Speeding up POMDP Planning via Simplification | https://ieeexplore.ieee.org/document/9981442/ | [
"Ori Sztyglic",
"Vadim Indelman",
"Ori Sztyglic",
"Vadim Indelman"
] | In this paper, we consider online planning in par-tially observable domains. Solving the corresponding POMDP problem is a very challenging task, particularly in an online setting. Our key contribution is a novel algorithmic approach, Simplified Information Theoretic Belief Space Planning (SITH-BSP), which aims to speed up POMDP planning considering belief-dependent rewards, without compromising th... |
Speeding Up Optimization-based Motion Planning through Deep Learning | https://ieeexplore.ieee.org/document/9981717/ | [
"Johannes Tenhumberg",
"Darius Burschka",
"Berthold Bäuml",
"Johannes Tenhumberg",
"Darius Burschka",
"Berthold Bäuml"
] | Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful motion plans in a neural network. However, this “neural motion planning” did not scale to complex robots in unseen 3D environments as needed for real-world appl... |
Improved A-Search Guided Tree for Autonomous Trailer Planning | https://ieeexplore.ieee.org/document/9982121/ | [
"Jessica Leu",
"Yebin Wang",
"Masayoshi Tomizuka",
"Stefano Di Cairano",
"Jessica Leu",
"Yebin Wang",
"Masayoshi Tomizuka",
"Stefano Di Cairano"
] | This paper presents a motion planning strategy that utilizes the improved A -search guided tree to enable autonomous parking of a general 3-trailer with a car-like tractor. Different from the state-of-the-art state-lattice-based methods, where numerous motion primitives are necessary to ensure successful planning, our work allows quick off-lattice exploration to find a solution. Our treatment brin... |
TerraPN: Unstructured Terrain Navigation using Online Self-Supervised Learning | https://ieeexplore.ieee.org/document/9981942/ | [
"Adarsh Jagan Sathyamoorthy",
"Kasun Weerakoon",
"Tianrui Guan",
"Jing Liang",
"Dinesh Manocha",
"Adarsh Jagan Sathyamoorthy",
"Kasun Weerakoon",
"Tianrui Guan",
"Jing Liang",
"Dinesh Manocha"
] | We present TerraPN, a novel method that learns the surface properties (traction, bumpiness, deformability, etc.) of complex outdoor terrains directly from robot-terrain interactions through self-supervised learning, and uses it for autonomous robot navigation. Our method uses RGB images of terrain surfaces and the robot's velocities as inputs, and the IMU vibrations and odometry errors experienced... |
Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logic | https://ieeexplore.ieee.org/document/9981382/ | [
"Charles Dawson",
"Chuchu Fan",
"Charles Dawson",
"Chuchu Fan"
] | Signal temporal logic (STL) provides a powerful, flexible framework for specifying complex autonomy tasks; however, existing methods for planning based on STL specifications have difficulty scaling to long-horizon tasks and are not robust to external disturbances. In this paper, we present an algorithm for finding robust plans that satisfy STL specifications. Our method alternates between local op... |
CGLR: Dense Multi-Agent Navigation Using Voronoi Cells and Congestion Metric-based Replanning | https://ieeexplore.ieee.org/document/9982110/ | [
"Senthil Hariharan Arul",
"Dinesh Manocha",
"Senthil Hariharan Arul",
"Dinesh Manocha"
] | We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local and global planning techniques to efficiently navigate in scenarios with multiple corridors. To handle dense scenes with narrow passages, our approach computes... |
Collective Decision-Making with Bayesian Robots in Dynamic Environments | https://ieeexplore.ieee.org/document/9982019/ | [
"Kai Pfister",
"Heiko Hamann",
"Kai Pfister",
"Heiko Hamann"
] | Collective decision-making enables self-organizing robot swarms to act autonomously on a swarm level and is essential to coordinate their actions as a whole. When robots only share and communicate information locally a distributed and decentralized approach is required. In a previous paper [4], an efficient method based on a distributed Bayesian algorithm was created to distinguish a binary enviro... |
Decentralized Control of Minimalistic Robotic Swarms For Guaranteed Target Encapsulation | https://ieeexplore.ieee.org/document/9981959/ | [
"Himani Sinhmar",
"Hadas Kress-Gazit",
"Himani Sinhmar",
"Hadas Kress-Gazit"
] | We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the environment while avoiding collisions with both static and dynamic obstacles. The novelty of this work is the guaranteed generation of desired complex swarm be... |
A Dynamical System Approach to Decentralized Collision-free Autonomous Coordination of a Mobile Assistive Furniture Swarm | https://ieeexplore.ieee.org/document/9981583/ | [
"Federico M. Conzelmann",
"Lukas Huber",
"Diego Paez-Granados",
"Anastasia Bolotnikova",
"Auke Ijspeert",
"Aude Billard",
"Federico M. Conzelmann",
"Lukas Huber",
"Diego Paez-Granados",
"Anastasia Bolotnikova",
"Auke Ijspeert",
"Aude Billard"
] | In order to facilitate and assist the indoor mobility of people with special needs, the classically static objects in the environment, such as furniture, can be rendered mobile. The need for efficient and safe autonomous coordination of a mobile furniture swarm arises. We present a closed-form approach for mobile furniture obstacle avoidance and navigation within an indoor environment. The approac... |
Collective Decision Making in Communication-Constrained Environments | https://ieeexplore.ieee.org/document/9981622/ | [
"Thomas G. Kelly",
"Mohammad Divband Soorati",
"Klaus-Peter Zauner",
"Sarvapali D. Ramchurn",
"Danesh Tarapore",
"Thomas G. Kelly",
"Mohammad Divband Soorati",
"Klaus-Peter Zauner",
"Sarvapali D. Ramchurn",
"Danesh Tarapore"
] | One of the main tasks for autonomous robot swarms is to collectively decide on the best available option. Achieving that requires a high quality communication between the agents that may not always be available in a real world environment. In this paper we introduce the communication-constrained collective decision-making problem where some areas of the environment limit the agents' ability to com... |
Deliberative Democracy with Robot Swarms | https://ieeexplore.ieee.org/document/9981649/ | [
"Merihan Alhafnawi",
"Edmund R. Hunt",
"Severin Lemaignan",
"Paul O'Dowd",
"Sabine Hauert",
"Merihan Alhafnawi",
"Edmund R. Hunt",
"Severin Lemaignan",
"Paul O'Dowd",
"Sabine Hauert"
] | Decision-making among groups of humans can benefit from open discussion and inclusion of a diversity of opinions, promoting deliberative democracy. In this work, we test whether a swarm of robots can help facilitate decision-making by visually representing the diversity of opinions. We used a swarm of robots we built, called MOSAIX, that consists of 4-inch touchscreens-on-wheels robots called Tile... |
Particle Swarm Optimizer-based Attack Strategy with Swarm Robots | https://ieeexplore.ieee.org/document/9981215/ | [
"Huan Liu",
"JunQi Zhang",
"MengChu Zhou",
"Huan Liu",
"JunQi Zhang",
"MengChu Zhou"
] | An environment where a robot swarm attacks a territory protected by another one leads to an attack-defense confrontation problem. Commonly-used deep reinforcement learning-based methods rely on pre-training and become intractable due to the curse of dimensionality. To develop effective attack strategies, inspired by a particle swarm optimizer (PSO), this work proposes a PSO-based strategy for a ro... |
Multi-Objective Geometric Optimization of A Multi-Link Manipulator Using Parameterized Design Method | https://ieeexplore.ieee.org/document/9982094/ | [
"Xiaomeng Hu",
"Weiwei Wan",
"Liang Du",
"Jianjun Yuan",
"Shugen Ma",
"Xiaomeng Hu",
"Weiwei Wan",
"Liang Du",
"Jianjun Yuan",
"Shugen Ma"
] | The performance of a robot is closely related to its structure. From the initial design of link lengths to structural optimization, it is still the research hotspot in recent years. To make the manipulator lightweight and ensure its working range and flexibility, researchers have proposed many optimization methods, most of which are for specific working scenarios, requirements, and robot structure... |
A Configurable Skill Oriented Architecture Based on OPC UA | https://ieeexplore.ieee.org/document/9982164/ | [
"Jorge Blesa Gracia",
"Felix Leber",
"Mohamed Aburaia",
"Wilfried Wöber",
"Jorge Blesa Gracia",
"Felix Leber",
"Mohamed Aburaia",
"Wilfried Wöber"
] | Over the last years, research done in automation and industrial robotics has established the foundations for skill-oriented systems based on the OPC UA standard. Nevertheless, utilizing these advances in other areas of robotics research can be challenging and time consuming. We present a framework aiming to reduce this entry threshold. Our solution is an open source, easy to configure tool based o... |
Accurate edge detection for robotic welding through tactile exploration | https://ieeexplore.ieee.org/document/9981824/ | [
"Shameek Ganguly",
"Oussama Khatib",
"Shameek Ganguly",
"Oussama Khatib"
] | Programming paths for robotic welding conventionally requires precise positioning of workpieces, detailed 3D models and/or tedious teach pendant programming. A new method is introduced in this paper that enables an operator to teach the weld path to the robot through a haptic-visual interface. The operator teaches the path by guiding the tool tip to contact on the workpiece surface with force feed... |
Vision-Based Safety System for Barrierless Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9981689/ | [
"Lina María Amaya-Mejía",
"Nicolás Duque-Suárez",
"Daniel Jaramillo-Ramírez",
"Carol Martinez",
"Lina María Amaya-Mejía",
"Nicolás Duque-Suárez",
"Daniel Jaramillo-Ramírez",
"Carol Martinez"
] | Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents and the need for solutions that ensure a safe Human-Robot Collaboration. This paper proposes a safety system that implements Speed and Separation Monitoring (S... |
An All-in-one Cable-driven Parallel Robot with Flexible Workspace and Its Auto-calibration Method | https://ieeexplore.ieee.org/document/9982214/ | [
"Hao An",
"Hang Liu",
"Xintian Liu",
"Han Yuan",
"Hao An",
"Hang Liu",
"Xintian Liu",
"Han Yuan"
] | For traditional cable-driven parallel robots (CD-PRs), changing the workspace is relatively difficult, which needs to reconfigure the anchor points and the external frame. The main reason is that the winch is separated from the moving platform, and a series of pulleys are applied to guide the driving cables. This paper proposes a novel all-in-one suspended CDPR that integrates all components in th... |
Experimental Study on Impact Resistance of Multi-DOF Electro-Hydrostatic Robot Systems Using Hydracer, a 6DOF Arm | https://ieeexplore.ieee.org/document/9981130/ | [
"Mitsuo Komagata",
"Yutaro Imashiro",
"Ryoya Suzuki",
"Kento Oishi",
"Ko Yamamoto",
"Yoshihiko Nakamura",
"Mitsuo Komagata",
"Yutaro Imashiro",
"Ryoya Suzuki",
"Kento Oishi",
"Ko Yamamoto",
"Yoshihiko Nakamura"
] | Industrial robots require force controllability and impact resistance to ensure safe physical interactions. An electro-hydrostaic actuator (EHA) is expected to be suitable for such applications because it has high backdrivability which improve both force controllability at contact and impact resistance. However, EHAs had been rarely used in multi-axes robotic systems. The previous works validated ... |
On a Balanced Delta Robot for Precise Aerial Manipulation: Implementation, Testing, and Lessons for Future Designs | https://ieeexplore.ieee.org/document/9981736/ | [
"Angus B. Clark",
"Nicholas Baron",
"Lachlan Orr",
"Mirko Kovac",
"Nicolas Rojas",
"Angus B. Clark",
"Nicholas Baron",
"Lachlan Orr",
"Mirko Kovac",
"Nicolas Rojas"
] | Using a delta-manipulator for stabilisation of an end-effector to perform precise spatial positioning is a current area of interest in aerial manipulation. High speed precision movements of a manipulator can cause disturbances to the aerial platform, which hinders trajectory tracking and in some cases could be sufficient to cause a loss of control of the vehicle. In this paper, a statically balanc... |
Locally Optimal Estimation and Control of Cable Driven Parallel Robots using Time Varying Linear Quadratic Gaussian Control | https://ieeexplore.ieee.org/document/9981144/ | [
"Gerry Chen",
"Seth Hutchinson",
"Frank Dellaert",
"Gerry Chen",
"Seth Hutchinson",
"Frank Dellaert"
] | We present a locally optimal tracking controller for Cable Driven Parallel Robot (CDPR) control based on a time-varying Linear Quadratic Gaussian (TV-LQG) controller. In contrast to many methods which use fixed feedback gains, our time-varying controller computes the optimal gains depending on the location in the workspace and the future trajectory. Meanwhile, we rely heavily on offline computatio... |
Learning Object Manipulation Skills from Video via Approximate Differentiable Physics | https://ieeexplore.ieee.org/document/9982084/ | [
"Vladimír Petrík",
"Mohammad Nomaan Qureshi",
"Josef Sivic",
"Makar Tapaswi",
"Vladimír Petrík",
"Mohammad Nomaan Qureshi",
"Josef Sivic",
"Makar Tapaswi"
] | We aim to teach robots to perform simple object manipulation tasks by watching a single video demonstration. Towards this goal, we propose an optimization approach that outputs a coarse and temporally evolving 3D scene to mimic the action demonstrated in the input video. Similar to previous work, a differentiable renderer ensures perceptual fidelity between the 3D scene and the 2D video. Our key n... |
Imitation of Manipulation Skills Using Multiple Geometries | https://ieeexplore.ieee.org/document/9981683/ | [
"Boyang Ti",
"Yongsheng Gao",
"Jie Zhao",
"Sylvain Calinon",
"Boyang Ti",
"Yongsheng Gao",
"Jie Zhao",
"Sylvain Calinon"
] | Daily manipulation tasks are characterized by geometric primitives related to actions and object shapes. Such geometric descriptors are poorly represented by only using Cartesian coordinate systems. In this paper, we propose a learning approach to extract the optimal representation from a dictionary of coordinate systems to encode an observed movement/behavior. This is achieved by using an extensi... |
Robot Learning from Demonstration Using Elastic Maps | https://ieeexplore.ieee.org/document/9981241/ | [
"Brendan Hertel",
"Matthew Pelland",
"S. Reza Ahmadzadeh",
"Brendan Hertel",
"Matthew Pelland",
"S. Reza Ahmadzadeh"
] | Learning from Demonstration (LfD) is a popular method of reproducing and generalizing robot skills from human-provided demonstrations. In this paper, we propose a novel optimization-based LfD method that encodes demon-strations as elastic maps. An elastic map is a graph of nodes connected through a mesh of springs. We build a skill model by fitting an elastic map to the set of demonstrations. The ... |
Robot Policy Learning from Demonstration Using Advantage Weighting and Early Termination | https://ieeexplore.ieee.org/document/9981056/ | [
"Abdalkarim Mohtasib",
"Gerhard Neumann",
"Heriberto Cuayáhuitl",
"Abdalkarim Mohtasib",
"Gerhard Neumann",
"Heriberto Cuayáhuitl"
] | Learning robotic tasks in the real world is still highly challenging and effective practical solutions remain to be found. Traditional methods used in this area are imitation learning and reinforcement learning, but they both have limitations when applied to real robots. Combining reinforcement learning with pre-collected demonstrations is a promising approach that can help in learning control pol... |
Inverse Reinforcement Learning with Hybrid-weight Trust-region Optimization and Curriculum Learning for Autonomous Maneuvering | https://ieeexplore.ieee.org/document/9981103/ | [
"Yu Shen",
"Weizi Li",
"Ming C. Lin",
"Yu Shen",
"Weizi Li",
"Ming C. Lin"
] | Despite significant advancements, collision-free navigation in autonomous driving is still challenging, considering the navigation module needs to balance learning and planning to achieve efficient and effective control of the vehicle. We propose a novel framework of inverse reinforcement learning with hybrid-weight trust-region optimization and curriculum learning (IRL-HC) for autonomous maneuver... |
WFA-IRL: Inverse Reinforcement Learning of Autonomous Behaviors Encoded as Weighted Finite Automata | https://ieeexplore.ieee.org/document/9981874/ | [
"Tianyu Wang",
"Nikolay Atanasov",
"Tianyu Wang",
"Nikolay Atanasov"
] | This paper presents a method for learning logical task specifications and cost functions from demonstrations. Constructing specifications by hand is challenging for complex objectives and constraints in autonomous systems. Instead, we consider demonstrated task executions, whose logic structure and transition costs need to be inferred by an autonomous agent. We employ a spectral learning approach ... |
SSP-Pose: Symmetry-Aware Shape Prior Deformation for Direct Category-Level Object Pose Estimation | https://ieeexplore.ieee.org/document/9981506/ | [
"Ruida Zhang",
"Yan Di",
"Fabian Manhardt",
"Federico Tombari",
"Xiangyang Ji",
"Ruida Zhang",
"Yan Di",
"Fabian Manhardt",
"Federico Tombari",
"Xiangyang Ji"
] | Category-level pose estimation is a challenging problem due to intra-class shape variations. Recent methods deform pre-computed shape priors to map the observed point cloud into the normalized object coordinate space and then retrieve the pose via post-processing, i.e., Umeyama's Algorithm. The shortcomings of this two-stage strategy lie in two aspects: 1) The surrogate supervision on the intermed... |
VGPN: 6-DoF Grasp Pose Detection Network Based on Hough Voting | https://ieeexplore.ieee.org/document/9981925/ | [
"Liming Zheng",
"Yinghao Cai",
"Tao Lu",
"Shuo Wang",
"Liming Zheng",
"Yinghao Cai",
"Tao Lu",
"Shuo Wang"
] | In this paper, we propose a novel Voting based Grasp Pose Network (VGPN) to detect 6-DoF grasps in cluttered scenes. The motivation of this paper is that local object geometry can provide useful clues about where the object can be grasped. Generated by the sampled seed points from raw point cloud, the votes allow seed points in different object regions to contribute to locations where the object c... |
Leveraging Publicly Available Textual Object Descriptions for Anthropomorphic Robotic Grasp Predictions | https://ieeexplore.ieee.org/document/9981541/ | [
"Niko Kleer",
"Martin Feick",
"Michael Feld",
"Niko Kleer",
"Martin Feick",
"Michael Feld"
] | Robotic systems using anthropomorphic end-effectors face tremendous challenges choosing a suitable pose for grasping an object. The fact that the choice of a grasp is influenced by the physical properties of an object, the intended task, and the environment results in a considerable amount of variables. The majority of models targeted towards enabling such robots to determine a suitable grasping p... |
Effects of Design and Hydrodynamic Parameters on Optimized Swimming for Simulated, Fish-inspired Robots | https://ieeexplore.ieee.org/document/9981478/ | [
"Donghao Li",
"Hankun Deng",
"Yagiz E. Bayiz",
"Bo Cheng",
"Donghao Li",
"Hankun Deng",
"Yagiz E. Bayiz",
"Bo Cheng"
] | In this work, we developed a mathematical model and a simulation platform for a fish-inspired robotic template, namely Magnetic, Modular, Undulatory Robot $(\mu \text{Bot})$. Through this platform, we systematically explored the effects of robot design and fluid parameters on swimming performance via reinforcement learning. The mathematical model was composed of two interacting subsystems, the rob... |
Hoverability Analysis and Development of a Quadrotor Only with Clockwise Rotors | https://ieeexplore.ieee.org/document/9981431/ | [
"Shusuke Mochida",
"Ryotaro Onuki",
"Takahiro Kawagoe",
"Takumi Ito",
"Tatsuya Ibuki",
"Riku Funada",
"Mitsuji Sampei",
"Shusuke Mochida",
"Ryotaro Onuki",
"Takahiro Kawagoe",
"Takumi Ito",
"Tatsuya Ibuki",
"Riku Funada",
"Mitsuji Sampei"
] | This paper presents novel quadrotor structures composed of only clockwise rotors. A multirotor unmanned aerial vehicle (UAV) generally has both clockwise and counterclockwise rotors to counteract the torques from the rotors. While the proposed structures have only clockwise rotors, those rotors are tilted to cancel the torques around the yaw angle of the body. This paper investigates the condition... |
A Robotic Aerial Platform with Functionally Anthropomorphic Arms designed for Physical Interaction | https://ieeexplore.ieee.org/document/9981910/ | [
"Fanyi Kong",
"Simone Monteleone",
"Giorgio Grioli",
"Manuel G. Catalano",
"Antonio Bicchi",
"Fanyi Kong",
"Simone Monteleone",
"Giorgio Grioli",
"Manuel G. Catalano",
"Antonio Bicchi"
] | Frequently, ground robots are hampered by debris and objects on the ground, and safely surpassing them is not always trivial. On the contrary, a robot capable of flying is intrinsically immune to such obstacles and, therefore, greatly enhances the possibility of inspecting and intervening in adverse surroundings for humans. This work introduces a novel teleoperated aerial platform for inspection a... |
Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case | https://ieeexplore.ieee.org/document/9981045/ | [
"Gianluca Corsini",
"Martin Jacquet",
"Hemjyoti Das",
"Amr Afifi",
"Daniel Sidobre",
"Antonio Franchi",
"Gianluca Corsini",
"Martin Jacquet",
"Hemjyoti Das",
"Amr Afifi",
"Daniel Sidobre",
"Antonio Franchi"
] | In this article, we consider the problem of delivering an object to a human coworker by means of an aerial robot (AR). To this aim, we present an ergonomics-aware Nonlinear Model Predictive Control (NMPC) designed to autonomously perform the handover. The method is general enough to be applied to any multi-rotor aerial vehicle (MRAV) with a minimal adaptation of the robot model. The formulation of... |
Stabilization of Tangent and Normal Contact Forces for a Quadrotor subject to Disturbances | https://ieeexplore.ieee.org/document/9981890/ | [
"C. Izaguirre-Espinosa",
"A. Muñoz-Vazquez",
"A. Sánchez-Orta",
"V. Parra-Vega",
"R. Garcia-Rodriguez",
"P. Castillo",
"D. Arreguín-Jasso",
"C. Izaguirre-Espinosa",
"A. Muñoz-Vazquez",
"A. Sánchez-Orta",
"V. Parra-Vega",
"R. Garcia-Rodriguez",
"P. Castillo",
"D. Arreguín-Jasso"
] | Force exertion, object manipulation, and interaction are novel trending research topics of autonomous flying robots that can yield hoovering. Moreover, specifically with quadrotors, the vibration caused by the high natural frequency of rotating propellers exacerbates the problem of maintaining contact and exerting force against a rigidly fixed object. This contact vibration transfers back kinetic ... |
Risk-sensitive MPCs with Deep Distributional Inverse RL for Autonomous Driving | https://ieeexplore.ieee.org/document/9981223/ | [
"Keuntaek Lee",
"David Isele",
"Evangelos A. Theodorou",
"Sangjae Bae",
"Keuntaek Lee",
"David Isele",
"Evangelos A. Theodorou",
"Sangjae Bae"
] | In robot learning from demonstration (LfD), a visual representation of a cost function inferred from Inverse Reinforcement Learning (IRL) provides an intuitive tool for humans to quickly interpret the underlying objectives of the demonstration. The inferred cost function can be used by controllers, for example, Model Predictive Controllers (MPCs). In this work, we improve the recently developed IR... |
Learning Turn-Taking Behavior from Human Demonstrations for Social Human-Robot Interactions | https://ieeexplore.ieee.org/document/9981243/ | [
"Pourya Shahverdi",
"Alexander Tyshka",
"Madeline Trombly",
"Wing-Yue Geoffrey Louie",
"Pourya Shahverdi",
"Alexander Tyshka",
"Madeline Trombly",
"Wing-Yue Geoffrey Louie"
] | Turn-taking is a fundamental behavior during human interactions and robots must be capable of turn-taking to interact with humans. Current state-of-the-art approaches in turn-taking focus on developing general models to predict the end of turn (EoT) across all contexts. This demands an all-inclusive verbal and non-verbal behavioral dataset from all possible contexts of interaction. Before robot de... |
A Framework for Transferring Surface Finishing Skills to New Surface Geometries | https://ieeexplore.ieee.org/document/9981163/ | [
"Yitaek Kim",
"Christoffer Sloth",
"Aljaz Kramberger",
"Yitaek Kim",
"Christoffer Sloth",
"Aljaz Kramberger"
] | This paper presents a framework for transferring surface finishing skills to new surface geometries while preserving the surface finish quality. The main idea is to estimate the contact area between the workpiece and the tool by using 3D point cloud approach and replicate a given material removal rate and the accumulated material removal, as these quantities are the main parameters for quality. Th... |
Learning Temporal Task Models from Human Bimanual Demonstrations | https://ieeexplore.ieee.org/document/9981068/ | [
"Christian R.G. Dreher",
"Tamim Asfour",
"Christian R.G. Dreher",
"Tamim Asfour"
] | Learning temporal relations between actions in a bimanual manipulation task is important for capturing the constraints of actions required to achieve the task's goal. However, given several demonstrations of a bimanual manipulation task, the problem of identifying the true temporal dependencies between actions - if there are any - is very challenging due to contradictions. We propose a model-drive... |
Learning Implicit Priors for Motion Optimization | https://ieeexplore.ieee.org/document/9981264/ | [
"Julen Urain",
"An T. Le",
"Alexander Lambert",
"Georgia Chalvatzaki",
"Byron Boots",
"Jan Peters",
"Julen Urain",
"An T. Le",
"Alexander Lambert",
"Georgia Chalvatzaki",
"Byron Boots",
"Jan Peters"
] | Motion optimization is an effective framework for generating smooth and safe trajectories for robotic manipulation tasks. However, it suffers from local optima that hinder its applicability, especially for multi-objective tasks. In this paper, we study this problem in light of the integration of Energy-Based Models (EBM) as guiding priors in motion optimization. EBMs are probabilistic models with ... |
Multi-Level Task Learning Based on Intention and Constraint Inference for Autonomous Robotic Manipulation | https://ieeexplore.ieee.org/document/9981288/ | [
"Christoph Willibald",
"Dongheui Lee",
"Christoph Willibald",
"Dongheui Lee"
] | To perform tasks in unstructured environments, robots need to be able to apply learned skills to different contexts and to autonomously make decisions online. We, therefore, developed a novel data-driven task learning approach that segments a task demonstration into simpler skills and structures them in a high-level task graph. In contrast to other state-of-the-art methods, the presented approach ... |
HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot | https://ieeexplore.ieee.org/document/9981367/ | [
"Juho Kalliokoski",
"Basak Sakcak",
"Markku Suomalainen",
"Katherine J. Mimnaugh",
"Alexis P. Chambers",
"Timo Ojala",
"Steven M. LaValle",
"Juho Kalliokoski",
"Basak Sakcak",
"Markku Suomalainen",
"Katherine J. Mimnaugh",
"Alexis P. Chambers",
"Timo Ojala",
"Steven M. LaValle"
] | This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user, but the user might still want to modify the path, for example, to go further away from other people, or to go closer to landmarks she wants to see on the way. We propose Human-Influenced Dynamic Window Approach (HI-DWA),... |
A Method For Automated Drone Viewpoints to Support Remote Robot Manipulation | https://ieeexplore.ieee.org/document/9982063/ | [
"Emmanuel Senft",
"Michael Hagenow",
"Pragathi Praveena",
"Robert Radwin",
"Michael Zinn",
"Michael Gleicher",
"Bilge Mutlu",
"Emmanuel Senft",
"Michael Hagenow",
"Pragathi Praveena",
"Robert Radwin",
"Michael Zinn",
"Michael Gleicher",
"Bilge Mutlu"
] | Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not focus on two important aspects of using a drone as an automated view provider. The first is how the drone should select from a range of quality viewpoints within... |
On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G | https://ieeexplore.ieee.org/document/9981833/ | [
"Xiao Chen",
"Lars Johannsmeier",
"Hamid Sadeghian",
"Erfan Shahriari",
"Martin Danneberg",
"Anselm Nicklas",
"Fan Wu",
"Gerhard Fettweis",
"Sami Haddadin",
"Xiao Chen",
"Lars Johannsmeier",
"Hamid Sadeghian",
"Erfan Shahriari",
"Martin Danneberg",
"Anselm Nicklas",
"Fan Wu",
"Gerhard Fettweis",
"Sami Haddadin"
] | Teleoperated robots are believed to play an important role for future applications in industry, medicine and other domains. Examples for this are remote assembly and maintenance, surgery, diagnosis or deep-sea and space exploration. Such applications are made possible by state-of-the-art tactile manipulators, well-researched control schemes and novel communication technologies such as the fifth ge... |
On Stabilizing Communication Law for Bilateral Force-reflecting Teleoperation Systems | https://ieeexplore.ieee.org/document/9981557/ | [
"Ho Duc Tho",
"Takanori Miyoshi",
"Ho Duc Tho",
"Takanori Miyoshi"
] | This brief proposes a new stabilizing communication law to allow the wave transformation-based teleoperation architecture to accommodate direct environmental contact force feedback, potentially increasing the human operator's experience of telepresence. Simulation results are provided. |
Towards Robot Avatars: Systems and Methods for Teleinteraction at Avatar XPRIZE Semi-Finals | https://ieeexplore.ieee.org/document/9982258/ | [
"Rui Luo",
"Chunpeng Wang",
"Eric Schwarm",
"Colin Keil",
"Evelyn Mendoza",
"Pushyami Kaveti",
"Stephen Alt",
"Hanumant Singh",
"TaŞkin Padir",
"John Peter Whitney",
"Rui Luo",
"Chunpeng Wang",
"Eric Schwarm",
"Colin Keil",
"Evelyn Mendoza",
"Pushyami Kaveti",
"Stephen Alt",
"Hanumant Singh",
"TaŞkin Padir",
"John Peter Whitney"
] | There has been a drastic shift to remote interaction for professional, industrial and personal interactions. Improving the overall quality of these interactions by removing any sense of distance between the users is the ultimate goal. Video conferencing has been widely adopted as an improvement to audio-only interactions. Having added visuals to audio communication, the next frontier is to add phy... |
Multi-Phase Multi-Modal Haptic Teleoperation | https://ieeexplore.ieee.org/document/9981525/ | [
"Maximilian Mühlbauer",
"Franz Steinmetz",
"Freek Stulp",
"Thomas Hulin",
"Alin Albu-Schäffer",
"Maximilian Mühlbauer",
"Franz Steinmetz",
"Freek Stulp",
"Thomas Hulin",
"Alin Albu-Schäffer"
] | Virtual Fixtures facilitate teleoperation, for in-stance by guiding the human operator. Developing these Virtual Fixtures in tasks with tight tolerances remains challenging. Fixtures with a high stiffness allow for more precise guidance, whereas a lower stiffness is required to allow for corrections. We observed that many assembly operations can be split into different phases - approaching, positi... |
Optimal Joint TDPA Formulation for Kinematically Redundant Robot Manipulators | https://ieeexplore.ieee.org/document/9981371/ | [
"Francesco Porcini",
"Massimiliano Solazzi",
"Antonio Frisoli",
"Francesco Porcini",
"Massimiliano Solazzi",
"Antonio Frisoli"
] | The accomplishment of a successful teleoperation task requires guaranteeing system stability and transparency. Communication delay (in particular variable time delay), quantization and discretization negatively affect system stability and might be overcome with Time Domain Passivity Approach (TDPA), a model-free and robust way to cope with energy injection due to communication delay. However, this... |
The Role of Tactile Sensing in Learning and Deploying Grasp Refinement Algorithms | https://ieeexplore.ieee.org/document/9981915/ | [
"Alexander Koenig",
"Zixi Liu",
"Lucas Janson",
"Robert Howe",
"Alexander Koenig",
"Zixi Liu",
"Lucas Janson",
"Robert Howe"
] | A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first experiment investigates the need for rich tactile sensing in the rewards of RL-based grasp refinement algorithms for multi-fingered robotic hands. We systematically in... |
Learning to Singulate Layers of Cloth using Tactile Feedback | https://ieeexplore.ieee.org/document/9981341/ | [
"Sashank Tirumala",
"Thomas Weng",
"Daniel Seita",
"Oliver Kroemer",
"Zeynep Temel",
"David Held",
"Sashank Tirumala",
"Thomas Weng",
"Daniel Seita",
"Oliver Kroemer",
"Zeynep Temel",
"David Held"
] | Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe self-occlusions when in folded or crumpled configurations. Prior work on robotic manipulation of cloth relies primarily on vision sensors alone, which may pose chal... |
Multi-fingered Tactile Servoing for Grasping Adjustment under Partial Observation | https://ieeexplore.ieee.org/document/9981464/ | [
"Hanzhong Liu",
"Bidan Huang",
"Qiang Li",
"Yu Zheng",
"Yonggen Ling",
"Wangwei Lee",
"Yi Liu",
"Ya-Yen Tsai",
"Chenguang Yang",
"Hanzhong Liu",
"Bidan Huang",
"Qiang Li",
"Yu Zheng",
"Yonggen Ling",
"Wangwei Lee",
"Yi Liu",
"Ya-Yen Tsai",
"Chenguang Yang"
] | Grasping of objects using multi-fingered robotic hands often fails due to small uncertainties in the hand motion control and the object's pose estimation. To tackle this problem, we propose a grasping adjustment strategy based on tactile seroving. Our technique employs feedback from a sensorized multi-fingered robotic hand to collaboratively servo the fingers and palm to achieve the desired grasp.... |
Soft Tactile Contour Following for Robot-Assisted Wiping and Bathing | https://ieeexplore.ieee.org/document/9982071/ | [
"Isabella Huang",
"Dylan Chow",
"Ruzena Bajcsy",
"Isabella Huang",
"Dylan Chow",
"Ruzena Bajcsy"
] | The automated cleaning of surfaces such as furniture, bathroom sinks, and even human bodies is challenging due to the three-dimensional nature of their geometries. Yet, enabling robots to effectively and safely perform these tasks would not only reduce user efforts spent on household cleaning chores, but would also alleviate the strenuous workload of caretakers as the elderly population continues ... |
A Deep-Learning-based System for Indoor Active Cleaning | https://ieeexplore.ieee.org/document/9982137/ | [
"Yike Yun",
"Linjie Hou",
"Zijian Feng",
"Wei Jin",
"Yang Liu",
"Heng Wang",
"Ruonan He",
"Weitao Guo",
"Bo Han",
"Baoxing Qin",
"Jiaxin Li",
"Yike Yun",
"Linjie Hou",
"Zijian Feng",
"Wei Jin",
"Yang Liu",
"Heng Wang",
"Ruonan He",
"Weitao Guo",
"Bo Han",
"Baoxing Qin",
"Jiaxin Li"
] | Cleaning public areas like commercial complexes is challenging due to their sophisticated surroundings and the vast kinds of real-life dirt. Robots are required to distinguish dirts and apply corresponding cleaning strategies. In this work, we proposed an active-cleaning framework by utilizing deep-learning methods for both solid wastes detection and liquid stains segmentation. Our system consists... |
Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing | https://ieeexplore.ieee.org/document/9981863/ | [
"Zilin Si",
"Zirui Zhu",
"Arpit Agarwal",
"Stuart Anderson",
"Wenzhen Yuan",
"Zilin Si",
"Zirui Zhu",
"Arpit Agarwal",
"Stuart Anderson",
"Wenzhen Yuan"
] | Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile simulation. This makes the sim-to-real transfer for tactile-based manipulation tasks still challenging. In this work, we integrate simulation of robot dynamics and vi... |
Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators | https://ieeexplore.ieee.org/document/9982122/ | [
"Michael A. Lin",
"Emilio Reyes",
"Jeannette Bohg",
"Mark R. Cutkosky",
"Michael A. Lin",
"Emilio Reyes",
"Jeannette Bohg",
"Mark R. Cutkosky"
] | Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired sensors that attach to the surface of a robot manipulator to sense its surrounding through light contacts. We obtain a sensor model using a calibration process that... |
Comparing Human Haptic Perception and Robotic Force/Torque Sensing in a Simulated Surgical Palpation Task | https://ieeexplore.ieee.org/document/9981495/ | [
"Timo Markert",
"Sebastian Matich",
"Elias Hoerner",
"Jonas Pfannes",
"Andreas Theissler",
"Martin Atzmueller",
"Timo Markert",
"Sebastian Matich",
"Elias Hoerner",
"Jonas Pfannes",
"Andreas Theissler",
"Martin Atzmueller"
] | In minimally invasive surgery (MIS), the reliable detection of hard inclusions in soft tissue is crucial for the success of the intervention. In robot-assisted surgery (RAS) however, limited technologies are available for intracorporeal tissue stiffness assessment due to the lack of force and tactile feedback from the robot tool tip. This paper investigates both, human haptic perception and roboti... |
SwitchHit: A Probabilistic, Complementarity-Based Switching System for Improved Visual Place Recognition in Changing Environments | https://ieeexplore.ieee.org/document/9981722/ | [
"Maria Waheed",
"Michael Milford",
"Klaus McDonald-Maier",
"Shoaib Ehsan",
"Maria Waheed",
"Michael Milford",
"Klaus McDonald-Maier",
"Shoaib Ehsan"
] | Visual place recognition (VPR) - a fundamental task in computer vision and robotics - is the problem of identifying a place mainly based on visual information. View-point and appearance changes, such as due to weather and seasonal variations, make this task challenging. Currently, there is no universal VPR technique that can work in all types of environments, on a variety of robotic platforms, and... |
A Robust Sidewalk Navigation Method for Mobile Robots Based on Sparse Semantic Point Cloud | https://ieeexplore.ieee.org/document/9981281/ | [
"Mingxing Wen",
"Yunxiang Dai",
"Tairan Chen",
"Chunyang Zhao",
"Jun Zhang",
"Danwei Wang",
"Mingxing Wen",
"Yunxiang Dai",
"Tairan Chen",
"Chunyang Zhao",
"Jun Zhang",
"Danwei Wang"
] | Last-mile delivery robots are usually required to navigate on the sidewalk through a fixed route. The current solutions heavily rely on the image-based perception and GPS localization to successfully complete delivery tasks. However, it is prone to fail and become unreliable when the robot runs in challenging conditions, such as operating in different illuminations, or under canopies of trees or b... |
RCA: Ride Comfort-Aware Visual Navigation via Self-Supervised Learning | https://ieeexplore.ieee.org/document/9981494/ | [
"Xinjie Yao",
"Ji Zhang",
"Jean Oh",
"Xinjie Yao",
"Ji Zhang",
"Jean Oh"
] | Under shared autonomy, wheelchair users expect vehicles to provide safe and comfortable rides while following users' high-level navigation plans. To find such a path, vehicles negotiate with different terrains and assess their traversal difficulty. Most prior works model surroundings either through geometric representations or semantic classifications, which do not reflect perceived motion intensi... |
Ω2: Optimal Hierarchical Planner for Object Search in Large Environments via Mobile Manipulation | https://ieeexplore.ieee.org/document/9981194/ | [
"Yoonyoung Cho",
"Donghoon Shin",
"Beomjoon Kim",
"Yoonyoung Cho",
"Donghoon Shin",
"Beomjoon Kim"
] | We propose a hierarchical planning algorithm that efficiently computes an optimal plan for finding a target object in large environments where a robot must simultaneously consider both navigation and manipulation. One key challenge that arises from large domains is the substantial increase in search space complexity that stems from considering mobile manipulation actions and the increase in number... |
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