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Whole-Body Torque Control Without Joint Position Control Using Vibration-Suppressed Friction Compensation for Bipedal Locomotion of Gear-Driven Torque Sensorless Humanoid | https://ieeexplore.ieee.org/document/10341698/ | [
"Takuma Hiraoka",
"Shimpei Sato",
"Naoki Hiraoka",
"Annan Tang",
"Kunio Kojima",
"Kei Okada",
"Masayuki Inaba",
"Koji Kawasaki",
"Takuma Hiraoka",
"Shimpei Sato",
"Naoki Hiraoka",
"Annan Tang",
"Kunio Kojima",
"Kei Okada",
"Masayuki Inaba",
"Koji Kawasaki"
] | Humanoids operate in repeated contact and non-contact with their environment and so the motion of humanoids such as walking on uneven terrain or in a narrow space requires the accurate force and position control. Joint torque control systems are suitable for position and force control, but are prone to friction and other modeling errors. To solve this problem, methods have been proposed to realize... |
An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits | https://ieeexplore.ieee.org/document/10342322/ | [
"Nelson Rosa",
"Bassel Katamish",
"Maximilian Raff",
"C. David Remy",
"Nelson Rosa",
"Bassel Katamish",
"Maximilian Raff",
"C. David Remy"
] | For a class of biped robots with impulsive dynamics and a non-empty set of passive gaits (unactuated, periodic motions of the biped model), we present a method for computing continuous families of locally optimal gaits with respect to a class of commonly used energetic cost functions (e.g., the integral of torque-squared). We compute these families using only the passive gaits of the biped, which ... |
Stair Climbing Using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control | https://ieeexplore.ieee.org/document/10342369/ | [
"Oluwami Dosunmu-Ogunbi",
"Aayushi Shrivastava",
"Grant Gibson",
"Jessy W Grizzle",
"Oluwami Dosunmu-Ogunbi",
"Aayushi Shrivastava",
"Grant Gibson",
"Jessy W Grizzle"
] | A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of bipedal robots. This new paradigm, known as the ALIP model, has shown effectiveness in cases where a robot's center of mass height can be assumed to be constant or near constant as well as in cases where there are no no... |
Real-time Dynamic Bipedal Avoidance | https://ieeexplore.ieee.org/document/10341951/ | [
"Tianze Wang",
"Jason White",
"Christian Hubicki",
"Tianze Wang",
"Jason White",
"Christian Hubicki"
] | In real-world settings, bipedal robots must avoid collisions with people and their environment. Further, a biped can choose between modes of avoidance: (1) adjust its pose while standing or (2) step to gain maneuverability. We present a real-time motion planner and multibody control framework for dynamic bipedal robots that avoids multiple moving obstacles and automatically switches between standi... |
Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics | https://ieeexplore.ieee.org/document/10341396/ | [
"Min Dai",
"Xiaobin Xiong",
"Jaemin Lee",
"Aaron D. Ames",
"Min Dai",
"Xiaobin Xiong",
"Jaemin Lee",
"Aaron D. Ames"
] | This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To this end, we leverage step-to-step (S2S) dynamics which has proven effective in realizing dynamic walking on underactuated robots-assuming known dynamics and environments. This paper considers the case of uncertain models a... |
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion | https://ieeexplore.ieee.org/document/10341263/ | [
"Guillermo A. Castillo",
"Bowen Weng",
"Shunpeng Yang",
"Wei Zhang",
"Ayonga Hereid",
"Guillermo A. Castillo",
"Bowen Weng",
"Shunpeng Yang",
"Wei Zhang",
"Ayonga Hereid"
] | This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL) controller to track the desired task space trajectories. Different from traditional end-to-end learning approaches, our HL policy takes insights from the angular momentu... |
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control | https://ieeexplore.ieee.org/document/10342209/ | [
"Kunal S. Narkhede",
"Dhruv A. Thanki",
"Abhijeet M. Kulkarni",
"Ioannis Poulakakis",
"Kunal S. Narkhede",
"Dhruv A. Thanki",
"Abhijeet M. Kulkarni",
"Ioannis Poulakakis"
] | Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the speed and precision of following a reference path. For example, a robot may want to decide to temporarily deviate from its path to overtake a slowly moving obstacle that shares the same path and is ahead. In this case, pa... |
STL: Surprisingly Tricky Logic (for System Validation) | https://ieeexplore.ieee.org/document/10342290/ | [
"Ho Chit Siu",
"Kevin Leahy",
"Makai Mann",
"Ho Chit Siu",
"Kevin Leahy",
"Makai Mann"
] | Much of the recent work developing formal methods techniques to specify or learn the behavior of autonomous systems is predicated on a belief that formal specifications are interpretable and useful for humans when checking systems. Though frequently asserted, this assumption is rarely tested. We performed a human experiment $(\mathbf{N}=62)$ with a mix of people who were and were not familiar with... |
Real-Time RRT* with Signal Temporal Logic Preferences | https://ieeexplore.ieee.org/document/10341993/ | [
"Alexis Linard",
"Ilaria Torre",
"Ermanno Bartoli",
"Alex Sleat",
"Iolanda Leite",
"Jana Tumova",
"Alexis Linard",
"Ilaria Torre",
"Ermanno Bartoli",
"Alex Sleat",
"Iolanda Leite",
"Jana Tumova"
] | Signal Temporal Logic (STL) is a rigorous specification language that allows one to express various spatio-temporal requirements and preferences. Its semantics (called robustness) allows quantifying to what extent are the STL specifications met. In this work, we focus on enabling STL constraints and preferences in the Real-Time Rapidly Exploring Random Tree (RT-RRT*) motion planning algorithm in a... |
Sensor Selection for Fine-Grained Behavior Verification that Respects Privacy | https://ieeexplore.ieee.org/document/10341877/ | [
"Rishi Phatak",
"Dylan A. Shell",
"Rishi Phatak",
"Dylan A. Shell"
] | A useful capability is that of classifying some agent's behavior using data from a sequence, or trace, of sensor measurements. The sensor selection problem involves choosing a subset of available sensors to ensure that, when generated, observation traces will contain enough information to determine whether the agent's activities match some pattern. In generalizing prior work, this paper studies a ... |
An Interactive System for Multiple-Task Linear Temporal Logic Path Planning | https://ieeexplore.ieee.org/document/10342309/ | [
"Yizhou Chen",
"Xinyi Wang",
"Zixuan Guo",
"Ruoyu Wang",
"Xunkuai Zhou",
"Guidong YANG",
"Shupeng Lai",
"Ben M. Chen",
"Yizhou Chen",
"Xinyi Wang",
"Zixuan Guo",
"Ruoyu Wang",
"Xunkuai Zhou",
"Guidong YANG",
"Shupeng Lai",
"Ben M. Chen"
] | Beyond programming robots to accomplish a single high-level task at a time, people also hope robots follow instructions and complete a series of tasks while meeting their requirements. This paper presents an interactive software system that consists of a multiple-task linear temporal logic (LTL) path planner and a human-machine interface (HMI). The HMI transforms human oral instructions into task ... |
Temporal Logic-Based Intent Monitoring for Mobile Robots | https://ieeexplore.ieee.org/document/10341623/ | [
"Hansol Yoon",
"Sriram Sankaranarayanan",
"Hansol Yoon",
"Sriram Sankaranarayanan"
] | We propose a framework that uses temporal logic specifications to predict and monitor the intent of a robotic agent through passive observations of its actions over time. Our approach uses a set of possible hypothesized intents specified as Büchi automata, obtained from translating temporal logic formulae. Based on observing the actions of the robot, we update the probabilities of each hypothesis ... |
Evaluation Metrics of Object Detection for Quantitative System-Level Analysis of Safety-Critical Autonomous Systems | https://ieeexplore.ieee.org/document/10342465/ | [
"Apurva Badithela",
"Tichakorn Wongpiromsarn",
"Richard M. Murray",
"Apurva Badithela",
"Tichakorn Wongpiromsarn",
"Richard M. Murray"
] | This paper proposes two metrics for evaluating learned object detection models: the proposition-labeled and distance-parametrized confusion matrices. These metrics are leveraged to quantitatively analyze the system with respect to its system-level formal specifications via probabilistic model checking. In particular, we derive transition probabilities from these confusion matrices to compute the p... |
Energy-Aware Planning of Heterogeneous Multi-Agent Systems for Serving Cooperative Tasks with Temporal Logic Specifications | https://ieeexplore.ieee.org/document/10342064/ | [
"Ali Tevfik Buyukkocak",
"Derya Aksaray",
"Yasin Yazıcıoğlu",
"Ali Tevfik Buyukkocak",
"Derya Aksaray",
"Yasin Yazıcıoğlu"
] | We address a coordination problem for a team of heterogeneous and energy-limited agents to achieve cooperative tasks given as team-level spatio-temporal specifications. We assume that agents have stochastic energy dynamics and do not have identical capabilities. We define the team-level specification using Signal Temporal Logic (STL) with integral predicates, which can express tasks that can be co... |
Efficient Symbolic Approaches for Quantitative Reactive Synthesis with Finite Tasks | https://ieeexplore.ieee.org/document/10342496/ | [
"Karan Muvvala",
"Morteza Lahijanian",
"Karan Muvvala",
"Morteza Lahijanian"
] | This work introduces efficient symbolic algorithms for quantitative reactive synthesis. We consider resource-constrained robotic manipulators that need to interact with a human to achieve a complex task expressed in linear temporal logic. Our framework generates reactive strategies that not only guarantee task completion but also seek cooperation with the human when possible. We model the interact... |
Minimal Path Violation Problem with Application to Fault Tolerant Motion Planning of Manipulators | https://ieeexplore.ieee.org/document/10342242/ | [
"Aakriti Upadhyay",
"Mukulika Ghosh",
"Chinwe Ekenna",
"Aakriti Upadhyay",
"Mukulika Ghosh",
"Chinwe Ekenna"
] | Failure of any component in a robotic system during operation is a critical concern, and it is essential to address such incidents promptly. This work investigates a novel technique to recover from failures or changes in the configuration space while avoiding expensive re-computation or re-planning. We propose the Minimal Path Violation (MPV) concept to find the best feasible path with minimal re-... |
Reinforcement Learning Under Probabilistic Spatio-Temporal Constraints with Time Windows | https://ieeexplore.ieee.org/document/10342259/ | [
"Xiaoshan Lin",
"Abbasali Koochakzadeh",
"Yasin Yazıcıoğlu",
"Derya Aksaray",
"Xiaoshan Lin",
"Abbasali Koochakzadeh",
"Yasin Yazıcıoğlu",
"Derya Aksaray"
] | We propose an automata-theoretic approach for reinforcement learning (RL) under complex spatio-temporal constraints with time windows. The problem is formulated using a Markov decision process under a bounded temporal logic constraint. Different from existing RL methods that can eventually learn optimal policies satisfying such constraints, our proposed approach enforces a desired probability of c... |
A Unified Trajectory Generation Algorithm for Dynamic Dexterous Manipulation | https://ieeexplore.ieee.org/document/10342095/ | [
"Cheng Zhou",
"Wentao Gao",
"Weifeng Lu",
"Yanbo Long",
"Sicheng Yang",
"Longfei Zhao",
"Bidan Huang",
"Yu Zheng",
"Cheng Zhou",
"Wentao Gao",
"Weifeng Lu",
"Yanbo Long",
"Sicheng Yang",
"Longfei Zhao",
"Bidan Huang",
"Yu Zheng"
] | This paper proposes a novel efficient multi-phase trajectory generation algorithm for dynamic dexterous manipulation tasks, such as throwing, catching, dynamic regrasping, and dynamic handover, which can be decomposed into multiple manipulation primitives, including sticking, rolling, approaching, separating, colliding, and grasping. Each manipulation primitive is formulate as a free-terminal opti... |
Hybrid Learning- and Model-Based Planning and Control of In-Hand Manipulation | https://ieeexplore.ieee.org/document/10342153/ | [
"Rana Soltani Zarrin",
"Rianna Jitosho",
"Katsu Yamane",
"Rana Soltani Zarrin",
"Rianna Jitosho",
"Katsu Yamane"
] | This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifin-gered robotic hands. While the framework can be applied to the general dexterous manipulation, we focus on a more complex definition of in-hand manipulation, where at the goal pose the hand has to reach a grasp suitable for using the ... |
Vision-Based In-Hand Manipulation of Variously Shaped Objects via Contact Point Prediction | https://ieeexplore.ieee.org/document/10341968/ | [
"Yuzuka Isobe",
"Sunhwi Kang",
"Takeshi Shimamoto",
"Yoshinari Matsuyama",
"Sarthak Pathak",
"Kazunori Umeda",
"Yuzuka Isobe",
"Sunhwi Kang",
"Takeshi Shimamoto",
"Yoshinari Matsuyama",
"Sarthak Pathak",
"Kazunori Umeda"
] | In-hand manipulation (IHM) is an important ability for robotic hands. This ability refers to changing the position and orientation of a grasped object without dropping it from the hand workspace. One major challenge of IHM is to achieve a large range of manipulation (especially rotation), regardless of the shape, size, and the orientation during manipulation of the grasped object. There are two ma... |
Object Manipulation Through Contact Configuration Regulation: Multiple and Intermittent Contacts | https://ieeexplore.ieee.org/document/10341362/ | [
"Orion Taylor",
"Neel Doshi",
"Alberto Rodriguez",
"Orion Taylor",
"Neel Doshi",
"Alberto Rodriguez"
] | In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We further develop our estimator and controller to enable manipulation through more complex contact interactions, including intermittent contact between the robot/object... |
Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation | https://ieeexplore.ieee.org/document/10341520/ | [
"Podshara Chanrungmaneekul",
"Kejia Ren",
"Joshua T. Grace",
"Aaron M. Dollar",
"Kaiyu Hang",
"Podshara Chanrungmaneekul",
"Kejia Ren",
"Joshua T. Grace",
"Aaron M. Dollar",
"Kaiyu Hang"
] | Building hand-object models for dexterous in-hand manipulation remains a crucial and open problem. Major challenges include the difficulty of obtaining the geometric and dynamical models of the hand, object, and time-varying contacts, as well as the inevitable physical and perception uncertainties. Instead of building accurate models to map between the actuation inputs and the object motions, this... |
In-Hand Cube Reconfiguration: Simplified | https://ieeexplore.ieee.org/document/10341521/ | [
"Sumit Patidar",
"Adrian Sieler",
"Oliver Brock",
"Sumit Patidar",
"Adrian Sieler",
"Oliver Brock"
] | We present a simple approach to in-hand cube reconfiguration. By simplifying planning, control, and perception as much as possible, while maintaining robust and general performance, we gain insights into the inherent complexity of in-hand cube reconfiguration. We also demonstrate the effectiveness of combining GOFAI-based planning with the exploitation of environmental constraints and inherently c... |
Dexterous Soft Hands Linearize Feedback-Control for In-Hand Manipulation | https://ieeexplore.ieee.org/document/10341438/ | [
"Adrian Sieler",
"Oliver Brock",
"Adrian Sieler",
"Oliver Brock"
] | This paper presents a feedback-control framework for in-hand manipulation (IHM) with dexterous soft hands that enables the acquisition of manipulation skills in the real-world within minutes. We choose the deformation state of the soft hand as the control variable. To control for a desired deformation state, we use coarsley approximated Jacobians of the actuation-deformation dynamics. These Jacobi... |
In-Hand Manipulation of Unknown Objects with Tactile Sensing for Insertion | https://ieeexplore.ieee.org/document/10341456/ | [
"Chaoyi Pan",
"Marion Lepert",
"Shenli Yuan",
"Rika Antonova",
"Jeannette Bohg",
"Chaoyi Pan",
"Marion Lepert",
"Shenli Yuan",
"Rika Antonova",
"Jeannette Bohg"
] | In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered spaces. We address this limitation by introducing a method to reorient unknown objects using tactile sensing. It incrementally builds a probabilistic estimate of ... |
Bi-Manual Robot Shoe Lacing | https://ieeexplore.ieee.org/document/10341934/ | [
"Haining Luo",
"Yiannis Demiris",
"Haining Luo",
"Yiannis Demiris"
] | Shoe lacing (SL) is a challenging sensorimotor task in daily life and a complex engineering problem in the shoe-making industry. In this paper, we propose a system for autonomous SL. It contains a mathematical definition of the SL task and searches for the best lacing pattern corresponding to the shoe configuration and the user preferences. We propose a set of action primitives and generate plans ... |
Hand Design Approach for Planar Fully Actuated Manipulators | https://ieeexplore.ieee.org/document/10342077/ | [
"Keegan Nave",
"Kyle DuFrene",
"Nigel Swenson",
"Ravi Balasubramanian",
"Cindy Grimm",
"Keegan Nave",
"Kyle DuFrene",
"Nigel Swenson",
"Ravi Balasubramanian",
"Cindy Grimm"
] | Robotic in-hand manipulation increases the capability of robotic hands to interact with the world. The amount of manipulation that a robot is capable of is highly dependent on the design of the robot hand, and previous works have shown success in designing hands to improve performance for different types of grasping and manipulation. In this paper we present a method for designing a fully-actuated... |
Dynamic Finger Gaits via Pivoting and Adapting Contact Forces | https://ieeexplore.ieee.org/document/10342156/ | [
"Yuechuan Xue",
"Ling Tang",
"Yan-Bin Jia",
"Yuechuan Xue",
"Ling Tang",
"Yan-Bin Jia"
] | For over three decades, finger gaiting has remained largely a subject for theoretical inquiries. Successful execution of a sequence of finger gaits does not simply reduce to planning collision-free paths for the involved fingers. A major issue is how to move the gaiting finger without losing the finger contacts with the object, which will most likely undergo a motion as the contact forces need to ... |
Rotating Objects via in-Hand Pivoting Using Vision, Force and Touch | https://ieeexplore.ieee.org/document/10341505/ | [
"Shiyu Xu",
"Tianyuan Liu",
"Michael Wong",
"Dana Kulić",
"Akansel Cosgun",
"Shiyu Xu",
"Tianyuan Liu",
"Michael Wong",
"Dana Kulić",
"Akansel Cosgun"
] | We propose a robotic manipulation method that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip, while maintaining a desired wrist force profile. Our approach runs an end-effector position controller and a gripper width controller concurrently in a closed ... |
CoFlyers: A Universal Platform for Collective Flying of Swarm Drones | https://ieeexplore.ieee.org/document/10342485/ | [
"Jialei Huang",
"Fakui Wang",
"Tianjiang Hu",
"Jialei Huang",
"Fakui Wang",
"Tianjiang Hu"
] | Swarm drones flying is a very attractive field of robotics research, motivated by natural bird flocking or other animal collective behaviors. In this paper, we propose and develop an open-source11https://github.com/micros-uav/CoFlyers universal platform CoFlyers for end-to-end whole-chain development from flocking-inspired models to real-drone swarm flying. In particular, CoFlyers is more user-fri... |
Collective Decision-Making and Change Detection with Bayesian Robots in Dynamic Environments | https://ieeexplore.ieee.org/document/10341649/ | [
"Kai Pfister",
"Heiko Hamann",
"Kai Pfister",
"Heiko Hamann"
] | Solving complex problems collectively with simple entities is a challenging task for swarm robotics. For the task of collective decision-making, robots decide based on local observations on the microscopic level to achieve consensus on the macroscopic level. We study this problem for a common benchmark of classifying distributed features in a binary dynamic environment. Our special focus is on env... |
Autonomous Swarm Robot Coordination via Mean-Field Control Embedding Multi-Agent Reinforcement Learning | https://ieeexplore.ieee.org/document/10341749/ | [
"Huaze Tang",
"Hengxi Zhang",
"Zhenpeng Shi",
"Xinlei Chen",
"Wenbo Ding",
"Xiao-Ping Zhang",
"Huaze Tang",
"Hengxi Zhang",
"Zhenpeng Shi",
"Xinlei Chen",
"Wenbo Ding",
"Xiao-Ping Zhang"
] | The learning approaches of designing a controller to guide the collective behavior of swarm robots have gained significant attention in recent years. However, the scalability of swarm robots and their inherent stochasticity complicate the control problem due to increasing complexity, unpredictability, and non-linearity. Despite considerable progress made in swarm robotics, addressing these challen... |
Multi-Instance Task in Swarm Robotics: Sorting Groups of Robots or Objects into Clusters with Minimalist Controllers | https://ieeexplore.ieee.org/document/10341775/ | [
"Adilson Krischanski",
"Yuri K. Lopes",
"Andre B. Leal",
"Ricardo F. Martins",
"Roberto S.U. Rosso",
"Adilson Krischanski",
"Yuri K. Lopes",
"Andre B. Leal",
"Ricardo F. Martins",
"Roberto S.U. Rosso"
] | Relying only on behaviors that emerge from simple responsive controllers; swarms of robots have been shown capable of autonomously aggregate themselves or objects into clusters without any form of communication. We push these controllers to the limit, requiring robots to sort themselves or objects into different clusters. Based on a responsive controller that maps the current reading of a line-of-... |
Bio-Inspired 3D Flocking Algorithm with Minimal Information Transfer for Drones Swarms | https://ieeexplore.ieee.org/document/10341413/ | [
"Matthieu Verdoucq",
"Clément Sire",
"Ramón Escobedo",
"Guy Theraulaz",
"Gautier Hattenberger",
"Matthieu Verdoucq",
"Clément Sire",
"Ramón Escobedo",
"Guy Theraulaz",
"Gautier Hattenberger"
] | This article introduces a bio-inspired 3D flocking algorithm for a drone swarm, built upon a previously established 2D model, which has proven to be effective in promoting stability, alignment, and distance variation between agents within large groups of agents. The study highlights how the incorporation of a vertical interaction between agents and the acquisition by each agent of a minimal amount... |
A Generic Framework for Byzantine-Tolerant Consensus Achievement in Robot Swarms | https://ieeexplore.ieee.org/document/10341423/ | [
"Hanqing Zhao",
"Alexandre Pacheco",
"Volker Strobel",
"Andreagiovanni Reina",
"Xue Liu",
"Gregory Dudek",
"Marco Dorigo",
"Hanqing Zhao",
"Alexandre Pacheco",
"Volker Strobel",
"Andreagiovanni Reina",
"Xue Liu",
"Gregory Dudek",
"Marco Dorigo"
] | Recent studies show that some security features that blockchains grant to decentralized networks on the internet can be ported to swarm robotics. Although the integration of blockchain technology and swarm robotics shows great promise, thus far, research has been limited to proof-of-concept scenarios where the blockchain-based mechanisms are tailored to a particular swarm task and operating enviro... |
Sharing the Control of Robot Swarms Among Multiple Human Operators: A User Study | https://ieeexplore.ieee.org/document/10342457/ | [
"Genki Miyauchi",
"Yuri K. Lopes",
"Roderich Groß",
"Genki Miyauchi",
"Yuri K. Lopes",
"Roderich Groß"
] | Simultaneously controlling multiple robot swarms is challenging for a single human operator. When involving multiple operators, however, they can each focus on controlling a specific robot swarm, which helps distribute the cognitive workload. They could also exchange some robots with each other in response to the requirements of the tasks they discover. This paper investigates the ability of multi... |
Decentralized Multi-Agent Reinforcement Learning with Global State Prediction | https://ieeexplore.ieee.org/document/10341563/ | [
"Joshua Bloom",
"Pranjal Paliwal",
"Apratim Mukherjee",
"Carlo Pinciroli",
"Joshua Bloom",
"Pranjal Paliwal",
"Apratim Mukherjee",
"Carlo Pinciroli"
] | Deep reinforcement learning (DRL) has seen re-markable success in the control of single robots. However, applying DRL to robot swarms presents significant challenges. A critical challenge is non-stationarity, which occurs when two or more robots update individual or shared policies concurrently, thereby engaging in an interdependent training process with no guarantees of convergence. Circumventing... |
Minimalistic Collective Perception with Imperfect Sensors | https://ieeexplore.ieee.org/document/10341384/ | [
"Khai Yi Chin",
"Yara Khaluf",
"Carlo Pinciroli",
"Khai Yi Chin",
"Yara Khaluf",
"Carlo Pinciroli"
] | Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of collective perception casts it as a best-of-n decision-making process, in which the swarm must identify the most likely representation out of a set of alternatives. Past work on this variant primarily focused on characte... |
Onboard Predictive Flocking of Quadcopter Swarm in the Presence of Obstacles and Faulty Robots | https://ieeexplore.ieee.org/document/10341354/ | [
"Giray Önür",
"Mehmet Şahin",
"Erhan Ege Keyvan",
"Ali Emre Turgut",
"Erol Şahin",
"Giray Önür",
"Mehmet Şahin",
"Erhan Ege Keyvan",
"Ali Emre Turgut",
"Erol Şahin"
] | Achieving fluent flocking, similar to those observed in birds and fish, on robotic swarms in a desired direction while avoiding obstacles using onboard sensing and computation remains a challenge. In a previous study (Önür et al, Proc. of ANTS'2022), we proposed a predictive flocking model as a computationally efficient method to generate smoother and more robust motion of the swarm. In this study... |
OA-Bug: An Olfactory-Auditory Augmented Bug Algorithm for Swarm Robots in a Denied Environment | https://ieeexplore.ieee.org/document/10341510/ | [
"Siqi Tan",
"Xiaoya Zhang",
"Jingyao Li",
"Ruitao Jing",
"Mufan Zhao",
"Yang Liu",
"Quan Quan",
"Siqi Tan",
"Xiaoya Zhang",
"Jingyao Li",
"Ruitao Jing",
"Mufan Zhao",
"Yang Liu",
"Quan Quan"
] | Searching in a denied environment is challenging for swarm robots as no assistance from GNSS, mapping, data sharing, and central processing is allowed. However, using olfactory and auditory signals to cooperate like animals could be an important way to improve the collaboration of swarm robots. In this paper, an Olfactory-Auditory augmented Bug algorithm (OA-Bug) is proposed for a swarm of autonom... |
Agent Prioritization and Virtual Drag Minimization in Dynamical System Modulation For Obstacle Avoidance of Decentralized Swarms | https://ieeexplore.ieee.org/document/10341717/ | [
"Louis-Nicolas Douce",
"Alessandro Menichelli",
"Lukas Huber",
"Anastasia Bolotnikova",
"Diego Paez-Granados",
"Auke Ijspeert",
"Aude Billard",
"Louis-Nicolas Douce",
"Alessandro Menichelli",
"Lukas Huber",
"Anastasia Bolotnikova",
"Diego Paez-Granados",
"Auke Ijspeert",
"Aude Billard"
] | Efficient and safe multi-agent swarm coordination in environments where humans operate, such as warehouses, assistive living rooms, or automated hospitals, is crucial for adopting automation. In this paper, we augment the obstacle avoidance algorithm based on dynamical system modulation for a swarm of heterogeneous holonomic mobile agents. A smooth prioritization is proposed to change the reactivi... |
How the Fingerprint Effect Applies to Digitized Fingerprint-Like Structures | https://ieeexplore.ieee.org/document/10342396/ | [
"Robert Kovenburg",
"Chase George",
"Richard Gale",
"Burak Aksak",
"Robert Kovenburg",
"Chase George",
"Richard Gale",
"Burak Aksak"
] | The fingerprint effect describes the relationship between slip speed, fingerprint ridge spacing, and the frequency of vibrations created by the movement of a fingerprint across a surface. We have previously shown that the spacing between straight, parallel, evenly spaced ridges in fingerprint-like structures, and thus the vibrations produced by the fingerprint effect, are dependent on the orientat... |
A Two-Dimensional Reticular Core Optical Waveguide Sensor for Tactile and Positioning Sensing | https://ieeexplore.ieee.org/document/10342366/ | [
"Zeyu Liu",
"Zhengwei Li",
"Long Cheng",
"Zeyu Liu",
"Zhengwei Li",
"Long Cheng"
] | Tactile sensors based on optical waveguides are highly sensitive to pressure, possess good chemical inertness and electromagnetic resistance, and are unaffected by temperature changes in the surrounding environment. Researchers have developed various waveguide structures with multi-level cores to simultaneously measure tactile forces and positions. However, these designs result in thicker waveguid... |
Sliding Touch-Based Exploration for Modeling Unknown Object Shape with Multi-Fingered Hands | https://ieeexplore.ieee.org/document/10342303/ | [
"Yiting Chen",
"Ahmet Ercan Tekden",
"Marc Peter Deisenroth",
"Yasemin Bekiroglu",
"Yiting Chen",
"Ahmet Ercan Tekden",
"Marc Peter Deisenroth",
"Yasemin Bekiroglu"
] | Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in unstructured environments, e.g. the vision sensors may only be able to provide a partial view. To address this issue, tactile sensors could be employed to extra... |
Re-Evaluating Parallel Finger-Tip Tactile Sensing for Inferring Object Adjectives: An Empirical Study | https://ieeexplore.ieee.org/document/10342262/ | [
"Fangyi Zhang",
"Peter Corke",
"Fangyi Zhang",
"Peter Corke"
] | Finger-tip tactile sensors are increasingly used for robotic sensing to establish stable grasps and to infer object properties. Promising performance has been shown in a number of works for inferring adjectives that describe the object, but there remains a question about how each taxel contributes to the performance. This paper explores this question with empirical experiments, leading insights fo... |
Content Estimation Through Tactile Interactions with Deformable Containers | https://ieeexplore.ieee.org/document/10342436/ | [
"Yu-En Liu",
"Chun-Yu Chai",
"Yi-Ting Chen",
"Shiao-Li Tsao",
"Yu-En Liu",
"Chun-Yu Chai",
"Yi-Ting Chen",
"Shiao-Li Tsao"
] | Pouring snacks and moving containers with beverages are challenging for a service robot. To obtain accurate content properties for planning robotic motion, tactile sensing can provide information about the pressure distribution of the contact surface, which is not obvious by visual observation. In this work, we focus on estimating the content properties of various content materials in distinct def... |
Placing by Touching: An Empirical Study on the Importance of Tactile Sensing for Precise Object Placing | https://ieeexplore.ieee.org/document/10342340/ | [
"Luca Lach",
"Niklas Funk",
"Robert Haschke",
"Séverin Lemaignan",
"Helge Joachim Ritter",
"Jan Peters",
"Georgia Chalvatzaki",
"Luca Lach",
"Niklas Funk",
"Robert Haschke",
"Séverin Lemaignan",
"Helge Joachim Ritter",
"Jan Peters",
"Georgia Chalvatzaki"
] | This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements, e.g., cameras, that occasionally suffer from occlusions. We propose a novel approach for stable object placing that combines tactile feedback and proprioceptiv... |
Incipient Slip Detection with a Biomimetic Skin Morphology | https://ieeexplore.ieee.org/document/10341807/ | [
"David Córdova Bulens",
"Nathan F. Lepora",
"Stephen J. Redmond",
"Benjamin Ward-Cherrier",
"David Córdova Bulens",
"Nathan F. Lepora",
"Stephen J. Redmond",
"Benjamin Ward-Cherrier"
] | Incipient slip is defined as the slippage of part, but not all, of the contact surface between a sensor and an object. Reliably detecting incipient slip in artificial tactile sensors would benefit autonomous robot handling capabilities by helping prevent object slippage during manipulation. Here, we present a biomimetic skin morphology based on the human fingerprint with application to marker-base... |
GelSight Svelte: A Human Finger-Shaped Single-Camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing | https://ieeexplore.ieee.org/document/10341646/ | [
"Jialiang Zhao",
"Edward H. Adelson",
"Jialiang Zhao",
"Edward H. Adelson"
] | Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed contact geometry information. However, most existing camera-based tactile sensors are fingertip sensors, and longer fingers often require extraneous elements to obtain an extended sensing area similar to the full length of a human finger. Moreover, existing methods to estimate proprioceptive information such as ... |
Estimating Properties of Solid Particles Inside Container Using Touch Sensing | https://ieeexplore.ieee.org/document/10341880/ | [
"Xiaofeng Guo",
"Hung-Jui Huang",
"Wenzhen Yuan",
"Xiaofeng Guo",
"Hung-Jui Huang",
"Wenzhen Yuan"
] | Solid particles, such as rice and coffee beans, are commonly stored in containers and are ubiquitous in our daily lives. Understanding those particles' properties could help us make later decisions or perform later manipulation tasks such as pouring. Humans typically interact with the containers to get an understanding of the particles inside them, but it is still a challenge for robots to achieve... |
Acquisition and Prediction of High-Density Tactile Field Data for Rigid and Flexible Objects | https://ieeexplore.ieee.org/document/10341734/ | [
"Hongxiang Xue",
"Pengkun Liu",
"Zhaoxun Ju",
"Fuchun Sun",
"Hongxiang Xue",
"Pengkun Liu",
"Zhaoxun Ju",
"Fuchun Sun"
] | Obtaining high-density tactile field information is a critical aspect of research in the field of robotic haptics, as it plays a decisive role in determining the precision of robot manipulations. Vision-based tactile sensors have unique high-resolution features, which make them promising for related research. However, previous studies have mainly focused on reconstructing the shape of rigid object... |
Calibration-Free BEV Representation for Infrastructure Perception | https://ieeexplore.ieee.org/document/10341916/ | [
"Siqi Fan",
"Zhe Wang",
"Xiaoliang Huo",
"Yan Wang",
"Jingjing Liu",
"Siqi Fan",
"Zhe Wang",
"Xiaoliang Huo",
"Yan Wang",
"Jingjing Liu"
] | Effective BEV object detection on infrastructure can greatly improve traffic scene understanding and vehicle-to-infrastructure (V2I) cooperative perception. However, cameras installed on infrastructure have various postures, and previous BEV detection methods rely on accurate calibration, which is difficult for practical applications due to inevitable natural factors (e.g., wind and snow). In this... |
UVSS: Unified Video Stabilization and Stitching for Surround View of Tractor-Trailer Vehicles | https://ieeexplore.ieee.org/document/10342264/ | [
"Chunhui Zhu",
"Yi Yang",
"Hao Liang",
"Zhipeng Dong",
"Mengyin Fu",
"Chunhui Zhu",
"Yi Yang",
"Hao Liang",
"Zhipeng Dong",
"Mengyin Fu"
] | Automotive surround-view camera systems have been commonly employed in automated driving to aid in near-field sensing and other perception tasks. Due to the large size of the body and the presence of multiple blind spots, panoramic surround-view systems are particularly crucial for tractor-trailer vehicles. However, the non-rigid body of tractor-trailer vehicles introduces pose changes between cam... |
Falcon: A Wide-and-Deep Onboard Active Vision System | https://ieeexplore.ieee.org/document/10342192/ | [
"Masahiro Hirano",
"Yuji Yamakawa",
"Masahiro Hirano",
"Yuji Yamakawa"
] | The tradeoff between the field-of-view and resolution of conventional onboard vision systems primarily results from their fixed optical components. We propose a novel active vision system, Falcon, as an optimal solution. This system comprises an electric zoom lens connected to a high-speed camera with a pair of galvanometer mirrors, enabling high-resolution imaging of a moving object across a wide... |
Driver Distraction Detection for Daytime and Nighttime with Unpaired Visible and Infrared Image Translation | https://ieeexplore.ieee.org/document/10342206/ | [
"Hong-Ze Shen",
"Huei-Yung Lin",
"Hong-Ze Shen",
"Huei-Yung Lin"
] | Driver distraction detection is an important function of driver monitoring systems and intelligent vehicles. Most previous research only focuses on the system development for daytime operations. In this paper, we propose a network model, V2IA-Net, which is able to use the daytime visible and nighttime infrared images for the driver distraction detection task. With the visible-infrared image transl... |
Long-Short Term Policy for Visual Object Navigation | https://ieeexplore.ieee.org/document/10341652/ | [
"Yubing Bai",
"Xinhang Song",
"Weijie Li",
"Sixian Zhang",
"Shuqiang Jiang",
"Yubing Bai",
"Xinhang Song",
"Weijie Li",
"Sixian Zhang",
"Shuqiang Jiang"
] | The goal of visual object navigation for an agent is to find the target objects accurately. Recent works mainly focus on the feature of embedding, attempting to learn better features with different variants, such as object distribution and graph representations. However, some typical navigation problems in complex environments, such as partially known and obstacle problems, may not be effectively ... |
Lidar-Based Multiple Object Tracking with Occlusion Handling | https://ieeexplore.ieee.org/document/10342278/ | [
"Ruo-Tsz Ho",
"Chieh-Chih Wang",
"Wen-Chieh Lin",
"Ruo-Tsz Ho",
"Chieh-Chih Wang",
"Wen-Chieh Lin"
] | Occlusion remains an issue in multiple object tracking, which could cause ambiguity in object detection, such as incorrect or missing detection. Under occlusion, a track could experience an early termination, resulting in identity switches and/or fragmentation. To recover from different lengths of occlusions, the track should be maintained by considering its occlusion status. To address the issues... |
Local and Global Information in Obstacle Detection on Railway Tracks | https://ieeexplore.ieee.org/document/10342174/ | [
"Matthias Brucker",
"Andrei Cramariuc",
"Cornelius Von Einem",
"Roland Siegwart",
"Cesar Cadena",
"Matthias Brucker",
"Andrei Cramariuc",
"Cornelius Von Einem",
"Roland Siegwart",
"Cesar Cadena"
] | Reliable obstacle detection on railways could help prevent collisions that result in injuries and potentially damage or derail the train. Unfortunately, generic object detectors do not have enough classes to account for all possible scenarios, and datasets featuring objects on railways are challenging to obtain. We propose utilizing a shallow network to learn railway segmentation from normal railw... |
Hybrid Object Tracking with Events and Frames | https://ieeexplore.ieee.org/document/10342300/ | [
"Zhichao Li",
"Nicola A. Piga",
"Franco Di Pietro",
"Massimiliano Iacono",
"Arren Glover",
"Lorenzo Natale",
"Chiara Bartolozzi",
"Zhichao Li",
"Nicola A. Piga",
"Franco Di Pietro",
"Massimiliano Iacono",
"Arren Glover",
"Lorenzo Natale",
"Chiara Bartolozzi"
] | Robust object pose tracking plays an important role in robot manipulation, but it is still an open issue for quickly moving targets as motion blur and low frequency detection can reduce pose estimation accuracy even for state-of-the-art RGB-D-based methods. An event-camera is a low-latency vision sensor that can act complementary to RGB-D. Specifically, its sub-millisecond temporal resolution can ... |
Semantic Segmentation Based on Multiple Granularity Learning | https://ieeexplore.ieee.org/document/10341585/ | [
"Kebin Wu",
"Ameera Bawazir",
"Xiaofei Xiao",
"Sai Bhargav Avula",
"Ebtesam Almazrouei",
"Eloy Roura",
"Merouane Debbah",
"Kebin Wu",
"Ameera Bawazir",
"Xiaofei Xiao",
"Sai Bhargav Avula",
"Ebtesam Almazrouei",
"Eloy Roura",
"Merouane Debbah"
] | Accurate and robust coarse semantic segmentation plays a key role in the pursuit of autonomous driving. We present an algorithm that regularizes the representation space of Semantic Segmentation by Multiple Granularity Learning (SSMGL). This approach explores multiple levels of semantic knowledge in an unified framework, where the fine-grained semantic information can be either labeled or unlabele... |
Enhanced Robot Navigation with Human Geometric Instruction | https://ieeexplore.ieee.org/document/10342107/ | [
"Hideki Deguchi",
"Shun Taguchi",
"Kazuki Shibata",
"Satoshi Koide",
"Hideki Deguchi",
"Shun Taguchi",
"Kazuki Shibata",
"Satoshi Koide"
] | Recently, robot navigation methods using human instructions have been actively studied, including visual language navigation. Although language is one of the most promising forms of instruction, words often contain ambiguities. To complement this problem, we propose to use geometric instruction as a clue to the task goal. Specifically, in our proposed system, we assume that the robot receives a ro... |
InterTracker: Discovering and Tracking General Objects Interacting with Hands in the Wild | https://ieeexplore.ieee.org/document/10341690/ | [
"Yanyan Shao",
"Qi Ye",
"Wenhan Luo",
"Kaihao Zhang",
"Jiming Chen",
"Yanyan Shao",
"Qi Ye",
"Wenhan Luo",
"Kaihao Zhang",
"Jiming Chen"
] | Understanding human interaction with objects is an important research topic for embodied Artificial Intelligence and identifying the objects that humans are interacting with is a primary problem for interaction understanding. Existing methods rely on frame-based detectors to locate interacting objects. However, this approach is subjected to heavy occlusions, background clutter, and distracting obj... |
ECTLO: Effective Continuous-Time Odometry Using Range Image for LiDAR with Small FoV | https://ieeexplore.ieee.org/document/10341592/ | [
"Xin Zheng",
"Jianke Zhu",
"Xin Zheng",
"Jianke Zhu"
] | Prism-based LiDARs are more compact and cheaper than the conventional mechanical multi-line spinning LiDARs, which have become increasingly popular in robotics, recently. However, there are several challenges for these new LiDAR sensors, including small field of view, severe motion distortions, and irregular patterns. These difficulties hinder them from being widely used in LiDAR odometry, practic... |
TwistSLAM++: Fusing Multiple Modalities for Accurate Dynamic Semantic SLAM | https://ieeexplore.ieee.org/document/10341786/ | [
"Mathieu Gonzalez",
"Eric Marchand",
"Amine Kacete",
"Jérome Royan",
"Mathieu Gonzalez",
"Eric Marchand",
"Amine Kacete",
"Jérome Royan"
] | Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are often unable to estimate the canonical pose of the objects and exhibit a low object tracking accuracy. To solve this problem we propose TwistSLAM++, a semantic, dy... |
SLAM and Shape Estimation for Soft Robots | https://ieeexplore.ieee.org/document/10342213/ | [
"Mohammad Amin Karimi",
"David Cañones Bonham",
"Esteban Lopez",
"Ankit Srivastava",
"Matthew Spenko",
"Mohammad Amin Karimi",
"David Cañones Bonham",
"Esteban Lopez",
"Ankit Srivastava",
"Matthew Spenko"
] | This paper describes Simultaneous Localization and Mapping (SLAM) techniques for mobile soft robots using on-board local sensors. The paper focuses on planar boundary-constrained swarms, which are comprised of identical modular sub-units, each flexibly connected to its neighbor. The sub-units themselves are not necessarily soft, but as the robot's size increases with respect to the size of the sub... |
Trajectory-Based SLAM for Indoor Mobile Robots with Limited Sensing Capabilities | https://ieeexplore.ieee.org/document/10341518/ | [
"Yao Chen",
"Jeremias Rodriguez",
"Arman Karimian",
"Benjamin Pheil",
"Jose Franco",
"Renaud Moser",
"Read Sandstrom",
"Scott Lenser",
"Artem Gritsenko",
"Daniele Tamino",
"Felipe Andres Tenaglia Giunta",
"Guanlai Li",
"Philip Wasserman",
"Andrea Okerholm Huttlin",
"Yao Chen",
"Jeremias Rodriguez",
"Arman Karimian",
"Benjamin Pheil",
"Jose Franco",
"Renaud Moser",
"Read Sandstrom",
"Scott Lenser",
"Artem Gritsenko",
"Daniele Tamino",
"Felipe Andres Tenaglia Giunta",
"Guanlai Li",
"Philip Wasserman",
"Andrea Okerholm Huttlin"
] | In this paper we introduce a novel SLAM system for 2-D indoor environments that relies only on limited sensing. Our fully autonomous system uses only the trajectory of the robot around walls and objects in the environment as landmarks and is capable of robust and long-term exploration and mapping of a broad range of household floor plans. Rank-deficient and full-rank factors are created when the r... |
Graph-Based Global Robot Localization Informing Situational Graphs with Architectural Graphs | https://ieeexplore.ieee.org/document/10341373/ | [
"Muhammad Shaheer",
"Jose Andres Millan-Romera",
"Hriday Bavle",
"Jose Luis Sanchez-Lopez",
"Javier Civera",
"Holger Voos",
"Muhammad Shaheer",
"Jose Andres Millan-Romera",
"Hriday Bavle",
"Jose Luis Sanchez-Lopez",
"Javier Civera",
"Holger Voos"
] | In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method for converting the plan of a building into what we denote as an architectural graph (A-Graph). When the robot starts moving in an environment, we assume it has no knowledge about it, and it estimates an online situation... |
SSGM: Spatial Semantic Graph Matching for Loop Closure Detection in Indoor Environments | https://ieeexplore.ieee.org/document/10342317/ | [
"Yujie Tang",
"Meiling Wang",
"Yinan Deng",
"Yi Yang",
"Yufeng Yue",
"Yujie Tang",
"Meiling Wang",
"Yinan Deng",
"Yi Yang",
"Yufeng Yue"
] | Capturing the semantics of objects and the topological relationship allows the robot to describe the scene more intelligently like a human and measure the similarity between scenes (loop closure detection) more accurately. However, many current semantic graph matching methods are based on walk descriptors, which only extract adjacency relations between objects. In such way, the comprehensive infor... |
Training-Free Attentive-Patch Selection for Visual Place Recognition | https://ieeexplore.ieee.org/document/10342347/ | [
"Dongshuo Zhang",
"Meiqing Wu",
"Siew-Kei Lam",
"Dongshuo Zhang",
"Meiqing Wu",
"Siew-Kei Lam"
] | Visual Place Recognition (VPR) utilizing patch descriptors from Convolutional Neural Networks (CNNs) has shown impressive performance in recent years. Existing works either perform exhaustive matching of all patch descriptors, or employ complex networks to select good candidate patches for further geometric verification. In this work, we develop a novel two-step training-free patch selection metho... |
Exact Point Cloud Downsampling for Fast and Accurate Global Trajectory Optimization | https://ieeexplore.ieee.org/document/10342403/ | [
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno",
"Kenji Koide",
"Shuji Oishi",
"Masashi Yokozuka",
"Atsuhiko Banno"
] | This paper presents a point cloud downsampling algorithm for fast and accurate trajectory optimization based on global registration error minimization. The proposed algorithm selects a weighted subset of residuals of the input point cloud such that the subset yields exactly the same quadratic point cloud registration error function as that of the original point cloud at the evaluation point. This ... |
GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM | https://ieeexplore.ieee.org/document/10341889/ | [
"Qiangqiang Huang",
"John J. Leonard",
"Qiangqiang Huang",
"John J. Leonard"
] | Inferring the posterior distribution in SLAM is critical for evaluating the uncertainty in localization and mapping, as well as supporting subsequent planning tasks aiming to reduce uncertainty for safe navigation. However, real-time full posterior inference techniques, such as Gaussian approximation and particle filters, either lack expressiveness for representing non-Gaussian posteriors or suffe... |
Multi-Scale Point Octree Encoding Network for Point Cloud Based Place Recognition | https://ieeexplore.ieee.org/document/10341943/ | [
"Zhilong Tang",
"Hanjing Ye",
"Hong Zhang",
"Zhilong Tang",
"Hanjing Ye",
"Hong Zhang"
] | Over the past decades, point cloud-based place recognition has garnered significant attention. This research paper presents a pioneering approach, denoted as the Multi-scale Point Octree Encoding Network (MPOE-Net), designed to acquire a discriminative global descriptor for efficient retrieval of places. The key element of the MPOE-Net is the point octree encoding module, which adeptly captures lo... |
Analytical Jacobian Approximation for Direct Optimization of a Trajectory of Interpolated Poses on SE(3) | https://ieeexplore.ieee.org/document/10342321/ | [
"Kazii Botashev",
"Gonzalo Ferrer",
"Kazii Botashev",
"Gonzalo Ferrer"
] | This paper relates to time-continuous trajectory representation using direct linear interpolation on SE(3). Our approach focuses on a novel analytical Jacobian approximation of a sequence of linearly interpolated poses on SE(3). This paper shows a derivation of the proposed analytical Jacobian using retraction mapping and an approximation to the commutativity property of infinitesimal group elemen... |
On Cyber-Attacks Mitigation for Distributed Trajectory Generators | https://ieeexplore.ieee.org/document/10342286/ | [
"Yazan M. Al-Rawashdeh",
"Mohammad Al Janaideh",
"Yazan M. Al-Rawashdeh",
"Mohammad Al Janaideh"
] | In this paper, an immune average consensus behavior of distributed trajectory generators given in the form of a multi-agent system is presented. Starting with the well-known results of linear consensus protocols, we propose a decomposition of the invariant consensus value to enable a distributed cyber-attacks detection and mitigation mechanism among the connected agents over mainly undirected comm... |
CAMETA: Conflict-Aware Multi-Agent Estimated Time of Arrival Prediction for Mobile Robots | https://ieeexplore.ieee.org/document/10341937/ | [
"Jonas le Fevre Sejersen",
"Erdal Kayacan",
"Jonas le Fevre Sejersen",
"Erdal Kayacan"
] | This study presents the conflict-aware multi-agent estimated time of arrival (CAMETA) framework, a novel approach for predicting the arrival times of multiple agents in unstructured environments without predefined road infrastructure. The CAMETA framework consists of three components: a path planning layer generating potential path suggestions, a multi-agent ETA prediction layer predicting the arr... |
Non-Linear Heterogeneous Bayesian Decentralized Data Fusion | https://ieeexplore.ieee.org/document/10342177/ | [
"Ofer Dagan",
"Tycho L. Cinquini",
"Nisar R. Ahmed",
"Ofer Dagan",
"Tycho L. Cinquini",
"Nisar R. Ahmed"
] | The factor graph decentralized data fusion (FG-DDF) framework was developed for the analysis and exploitation of conditional independence in heterogeneous Bayesian decentralized fusion problems, in which robots update and fuse pdfs over different, but overlapping subsets of random states. This allows robots to efficiently use smaller probabilistic models and sparse message passing to accurately an... |
BRNES: Enabling Security and Privacy-Aware Experience Sharing in Multiagent Robotic and Autonomous Systems | https://ieeexplore.ieee.org/document/10341559/ | [
"Md Tamjid Hossain",
"Hung Manh La",
"Shahriar Badsha",
"Anton Netchaev",
"Md Tamjid Hossain",
"Hung Manh La",
"Shahriar Badsha",
"Anton Netchaev"
] | Although experience sharing (ES) accelerates multiagent reinforcement learning (MARL) in an advisor-advisee framework, attempts to apply ES to decentralized multiagent systems have so far relied on trusted environments and over-looked the possibility of adversarial manipulation and inference. Nevertheless, in a real-world setting, some Byzantine attackers, disguised as advisors, may provide false ... |
Beacon-Based Distributed Structure Formation in Multi-Agent Systems | https://ieeexplore.ieee.org/document/10341782/ | [
"Tamzidul Mina",
"Wonse Jo",
"Shyam S. Kannan",
"Byung-Cheol Min",
"Tamzidul Mina",
"Wonse Jo",
"Shyam S. Kannan",
"Byung-Cheol Min"
] | Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled agents guide free moving agents to a prescribed location to settle in the structure. Agents at the structure formation frontier looking for neighbors to settle a... |
Decentralized Swarm Trajectory Generation for LiDAR-based Aerial Tracking in Cluttered Environments | https://ieeexplore.ieee.org/document/10341567/ | [
"Longji Yin",
"Fangcheng Zhu",
"Yunfan Ren",
"Fanze Kong",
"Fu Zhang",
"Longji Yin",
"Fangcheng Zhu",
"Yunfan Ren",
"Fanze Kong",
"Fu Zhang"
] | Aerial tracking with multiple unmanned aerial vehicles (UAVs) has wide potential in various applications. However, the existing works for swarm tracking typically lack the capability of maintaining high target visibility in cluttered environments. To address this deficiency, we present a decentralized planner that maximizes target visibility while ensuring collision-free maneuvers for swarm tracki... |
Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments | https://ieeexplore.ieee.org/document/10342360/ | [
"Changjia Ma",
"Zhichao Han",
"Tingrui Zhang",
"Jingping Wang",
"Long Xu",
"Chengyang Li",
"Chao Xu",
"Fei Gao",
"Changjia Ma",
"Zhichao Han",
"Tingrui Zhang",
"Jingping Wang",
"Long Xu",
"Chengyang Li",
"Chao Xu",
"Fei Gao"
] | Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided by environmental topology information to avoid frequent topological change, and search-based speed planning is leveraged to escape from infeasible initial valu... |
SCRIMP: Scalable Communication for Reinforcement- and Imitation-Learning-Based Multi-Agent Pathfinding | https://ieeexplore.ieee.org/document/10342305/ | [
"Yutong Wang",
"Bairan Xiang",
"Shinan Huang",
"Guillaume Sartoretti",
"Yutong Wang",
"Bairan Xiang",
"Shinan Huang",
"Guillaume Sartoretti"
] | Trading off performance guarantees in favor of scalability, the Multi-Agent Path Finding (MAPF) community has recently started to embrace Multi-Agent Reinforcement Learning (MARL), where agents learn to collaboratively generate individual, collision-free (but often suboptimal) paths. Scalability is usually achieved by assuming a local field of view (FOV) around the agents, helping scale to arbitra... |
Distributed Model Predictive Formation Control of Robots with Sampled Trajectory Sharing in Cluttered Environments | https://ieeexplore.ieee.org/document/10341414/ | [
"Sami Satir",
"Yasin Furkan Aktaş",
"Simay Atasoy",
"Mert Ankarali",
"Erol Şahin",
"Sami Satir",
"Yasin Furkan Aktaş",
"Simay Atasoy",
"Mert Ankarali",
"Erol Şahin"
] | In this paper, we propose a Model Predictive Control (MPC) based distributed formation control method for a multi-robot system (MRS) that would move them among dynamic obstacles to a desired goal position. Specifically, after formulating the formation control, as a distributed version of MPC, we propose and evaluate three information-sharing schemes within the MRS; namely sharing (i) positions, (i... |
Control Transformer: Robot Navigation in Unknown Environments Through PRM-Guided Return-Conditioned Sequence Modeling | https://ieeexplore.ieee.org/document/10341628/ | [
"Daniel Lawson",
"Ahmed H. Qureshi",
"Daniel Lawson",
"Ahmed H. Qureshi"
] | Learning long-horizon tasks such as navigation has presented difficult challenges for successfully applying reinforcement learning to robotics. From another perspective, under known environments, sampling-based planning can robustly find collision-free paths in environments without learning. In this work, we propose Control Transformer that models return-conditioned sequences from low-level polici... |
InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers | https://ieeexplore.ieee.org/document/10342367/ | [
"Jiawei Fu",
"Yanqing Shen",
"Zhiqiang Jian",
"Shitao Chen",
"Jingmin Xin",
"Nanning Zheng",
"Jiawei Fu",
"Yanqing Shen",
"Zhiqiang Jian",
"Shitao Chen",
"Jingmin Xin",
"Nanning Zheng"
] | Planning and prediction are two important modules of autonomous driving and have experienced tremendous advancement recently. Nevertheless, most existing methods regard planning and prediction as independent and ignore the correlation between them, leading to the lack of consideration for interaction and dynamic changes of traffic scenarios. To address this challenge, we propose InteractionNet, wh... |
ANEC: Adaptive Neural Ensemble Controller for Mitigating Latency Problems in Vision-Based Autonomous Driving | https://ieeexplore.ieee.org/document/10342520/ | [
"Aws Khalil",
"Jaerock Kwon",
"Aws Khalil",
"Jaerock Kwon"
] | Humans have latency in their visual perception system between observation and action. Any action we take is based on an earlier observation since, by the time we act, the state has already changed, and we got a new observation. In autonomous driving, this latency is also present, determined by the amount of time the control algorithm needs to process information before acting. This algorithmic per... |
A Dynamic Programming Algorithm for Grid-Based Formation Planning of Multiple Vehicles | https://ieeexplore.ieee.org/document/10341481/ | [
"Tsz-Chiu Au",
"Tsz-Chiu Au"
] | A common operation in multirobot systems is to generate a motion plan for multiple robots such that the robots can move in formation to achieve some desired effects. For example, in autonomous parking lots, a group of vehicles can be asked to move to another location when they block another vehicle that needs to leave the parking lot. In this paper, we present a novel grid-based planning approach ... |
LB-L2L-Calib 2.0: A Novel Online Extrinsic Calibration Method for Multiple Long Baseline 3D LiDARs Using Objects | https://ieeexplore.ieee.org/document/10342245/ | [
"Jun Zhang",
"Qiao Yan",
"Mingxing Wen",
"Qiyang Lyu",
"Guohao Peng",
"Zhenyu Wu",
"Danwei Wang",
"Jun Zhang",
"Qiao Yan",
"Mingxing Wen",
"Qiyang Lyu",
"Guohao Peng",
"Zhenyu Wu",
"Danwei Wang"
] | In V2X (Vehicle-to-Everything), one important work is to extrinsically calibrate multiple 3D LiDARs, which are mounted with a long baseline and large viewpoint-difference at the road-side. Current solutions either require a specific target being set up (e.g., a sphere), or require specific features existing in the environment (e.g., mutually orthogonal planes). However, it is time-consuming, somet... |
A GM-PHD Filter with Estimation of Probability of Detection and Survival for Individual Targets | https://ieeexplore.ieee.org/document/10342438/ | [
"R.A. Thivanka Perera",
"Mingi Jeong",
"Alberto Quattrini Li",
"Paolo Stegagno",
"R.A. Thivanka Perera",
"Mingi Jeong",
"Alberto Quattrini Li",
"Paolo Stegagno"
] | This paper proposes a modification of the Gaussian mixture probability hypothesis density (GM-PHD) filter to compute online the probability of detection $(P_{D})$ and probability of survival $(P_{S})$ of targets. This eliminates the need for predetermined and/or constant $P_{D}$ and $P_{S}$ values, that may degrade the estimation. The proposed filter estimates the $P_{D}$ and $P_{S}$ values for ea... |
F2BEV: Bird's Eye View Generation from Surround-View Fisheye Camera Images for Automated Driving | https://ieeexplore.ieee.org/document/10341862/ | [
"Ekta U. Samani",
"Feng Tao",
"Harshavardhan R. Dasari",
"Sihao Ding",
"Ashis G. Banerjee",
"Ekta U. Samani",
"Feng Tao",
"Harshavardhan R. Dasari",
"Sihao Ding",
"Ashis G. Banerjee"
] | Bird's Eye View (BEV) representations are tremendously useful for perception-related automated driving tasks. However, generating BEVs from surround-view fisheye camera images is challenging due to the strong distortions introduced by such wide-angle lenses. We take the first step in addressing this challenge and introduce a baseline, F2BEV, to generate discretized BEV height maps and BEV semantic... |
One-4-All: Neural Potential Fields for Embodied Navigation | https://ieeexplore.ieee.org/document/10342302/ | [
"Sacha Morin",
"Miguel Saavedra-Ruiz",
"Liam Paull",
"Sacha Morin",
"Miguel Saavedra-Ruiz",
"Liam Paull"
] | A fundamental task in robotics is to navigate between two locations. In particular, real-world navigation can require long-horizon planning using high-dimensional RGB images, which poses a substantial challenge for end-to-end learning-based approaches. Current semi-parametric methods instead achieve long-horizon navigation by combining learned modules with a topological memory of the environment, ... |
Communication Resources Constrained Hierarchical Federated Learning for End-to-End Autonomous Driving | https://ieeexplore.ieee.org/document/10342134/ | [
"Wei-Bin Kou",
"Shuai Wang",
"Guangxu Zhu",
"Bin Luo",
"Yingxian Chen",
"Derrick Wing Kwan Ng",
"Yik-Chung Wu",
"Wei-Bin Kou",
"Shuai Wang",
"Guangxu Zhu",
"Bin Luo",
"Yingxian Chen",
"Derrick Wing Kwan Ng",
"Yik-Chung Wu"
] | While federated learning (FL) improves the generalization of end-to-end autonomous driving by model aggregation, the conventional single-hop FL (SFL) suffers from slow convergence rate due to long-range communications among vehicles and cloud server. Hierarchical federated learning (HFL) overcomes such drawbacks via introduction of mid-point edge servers. However, the orchestration between constra... |
Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking | https://ieeexplore.ieee.org/document/10341778/ | [
"Xiaoyu Li",
"Tao Xie",
"Dedong Liu",
"Jinghan Gao",
"Kun Dai",
"Zhiqiang Jiang",
"Lijun Zhao",
"Ke Wang",
"Xiaoyu Li",
"Tao Xie",
"Dedong Liu",
"Jinghan Gao",
"Kun Dai",
"Zhiqiang Jiang",
"Lijun Zhao",
"Ke Wang"
] | 3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single similarity metric and physical model to perform data association and state estimation for all objects. With large-scale modern datasets and real scenes, there are a ... |
SUIT: Learning Significance-Guided Information for 3D Temporal Detection | https://ieeexplore.ieee.org/document/10342350/ | [
"Zheyuan Zhou",
"Jiachen Lu",
"Yihan Zeng",
"Hang Xu",
"Li Zhang",
"Zheyuan Zhou",
"Jiachen Lu",
"Yihan Zeng",
"Hang Xu",
"Li Zhang"
] | 3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal features effectively and efficiently remains a challenging problem. Based on the observation that the foreground information is sparsely distributed in LiDAR scenes, w... |
Enhancing Sample Efficiency and Uncertainty Compensation in Learning-Based Model Predictive Control for Aerial Robots | https://ieeexplore.ieee.org/document/10341774/ | [
"Kong Yao Chee",
"Thales C. Silva",
"M. Ani Hsieh",
"George J. Pappas",
"Kong Yao Chee",
"Thales C. Silva",
"M. Ani Hsieh",
"George J. Pappas"
] | The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their non-learning counterparts, many of these frameworks rely on an offline learning procedure to synthesize a dynamics model. This implies that uncertainties encoun... |
Data-Driven Modeling and Experimental Validation of Autonomous Vehicles Using Koopman Operator | https://ieeexplore.ieee.org/document/10341797/ | [
"Ajinkya Joglekar",
"Sarang Sutavani",
"Chinmay Samak",
"Tanmay Samak",
"Krishna Chaitanya Kosaraju",
"Jonathon Smereka",
"David Gorsich",
"Umesh Vaidya",
"Venkat Krovi",
"Ajinkya Joglekar",
"Sarang Sutavani",
"Chinmay Samak",
"Tanmay Samak",
"Krishna Chaitanya Kosaraju",
"Jonathon Smereka",
"David Gorsich",
"Umesh Vaidya",
"Venkat Krovi"
] | This paper presents a data-driven framework to discover underlying dynamics on a scaled F1TENTH vehicle using the Koopman operator linear predictor. Traditionally, a range of white, gray, or black-box models are used to develop controllers for vehicle path tracking. However, these models are constrained to either linearized operational domains, unable to handle significant variability or lose expl... |
Adaptive Exploration-Exploitation Active Learning of Gaussian Processes | https://ieeexplore.ieee.org/document/10342130/ | [
"George P. Kontoudis",
"Michael Otte",
"George P. Kontoudis",
"Michael Otte"
] | Active Learning of Gaussian process (GP) surrogates is an efficient way to model unknown environments in various applications. In this paper, we propose an adaptive exploration-exploitation active learning method (ALX) that can be executed rapidly to facilitate real-time decision making. For the exploration phase, we formulate an acquisition function that maximizes the approximated, expected Fishe... |
Sample-Efficient Real-Time Planning with Curiosity Cross-Entropy Method and Contrastive Learning | https://ieeexplore.ieee.org/document/10342018/ | [
"Mostafa Kotb",
"Cornelius Weber",
"Stefan Wermter",
"Mostafa Kotb",
"Cornelius Weber",
"Stefan Wermter"
] | Model-based reinforcement learning (MBRL) with real-time planning has shown great potential in locomotion and manipulation control tasks. However, the existing planning methods, such as the Cross-Entropy Method (CEM), do not scale well to complex high-dimensional environments. One of the key reasons for underperformance is the lack of exploration, as these planning methods only aim to maximize the... |
Underactuated MIMO Airship Control Based on Online Data-Driven Reinforcement Learning | https://ieeexplore.ieee.org/document/10341752/ | [
"Derek Boase",
"Wail Gueaieb",
"Md Suruz Miah",
"Derek Boase",
"Wail Gueaieb",
"Md Suruz Miah"
] | In this work, a novel online model-free controller for an underactuated dirigible is developed based on reinforcement learning and optimal control theory. A reinforcement learning structure is used while overcoming the dependence of the value function on future values by introducing a neural network that is adapted using input-output data. The suboptimal critic neural network is structured such th... |
Grasp Stability Assessment Through Attention-Guided Cross-Modality Fusion and Transfer Learning | https://ieeexplore.ieee.org/document/10342411/ | [
"Zhuangzhuang Zhang",
"Zhenning Zhou",
"Haili Wang",
"Zhinan Zhang",
"Huang Huang",
"Qixin Cao",
"Zhuangzhuang Zhang",
"Zhenning Zhou",
"Haili Wang",
"Zhinan Zhang",
"Huang Huang",
"Qixin Cao"
] | Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion techniques to combine visual and tactile modalities, resulting in the inadequate utilization of complementary information and the inability to model interactions b... |
On-Robot Bayesian Reinforcement Learning for POMDPs | https://ieeexplore.ieee.org/document/10342114/ | [
"Hai Nguyen",
"Sammie Katt",
"Yuchen Xiao",
"Christopher Amato",
"Hai Nguyen",
"Sammie Katt",
"Yuchen Xiao",
"Christopher Amato"
] | Robot learning is often difficult due to the expense of gathering data. The need for large amounts of data can, and should, be tackled with effective algorithms and leveraging expert information on robot dynamics. Bayesian reinforcement learning (BRL), thanks to its sample efficiency and ability to exploit prior knowledge, is uniquely positioned as such a solution method. Unfortunately, the applic... |
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