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In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation | https://ieeexplore.ieee.org/document/9197117/ | [
"Jacky Liang",
"Ankur Handa",
"Karl Van Wyk",
"Viktor Makoviychuk",
"Oliver Kroemer",
"Dieter Fox",
"Jacky Liang",
"Ankur Handa",
"Karl Van Wyk",
"Viktor Makoviychuk",
"Oliver Kroemer",
"Dieter Fox"
] | Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize in-hand objects. However, they have mostly focused on the static grasp setting and not when the object is in motion, as doing so requires modeling of complex conta... |
Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands | https://ieeexplore.ieee.org/document/9197350/ | [
"Bowen Wen",
"Chaitanya Mitash",
"Sruthi Soorian",
"Andrew Kimmel",
"Avishai Sintov",
"Kostas E. Bekris",
"Bowen Wen",
"Chaitanya Mitash",
"Sruthi Soorian",
"Andrew Kimmel",
"Avishai Sintov",
"Kostas E. Bekris"
] | Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for which it is not easy to detect the finger's configuration. In addition, RGB-only approaches face issues with texture-less objects or when the hand and the obje... |
Robust 6D Object Pose Estimation by Learning RGB-D Features | https://ieeexplore.ieee.org/document/9197555/ | [
"Meng Tian",
"Liang Pan",
"Marcelo H Ang",
"Gim Hee Lee",
"Meng Tian",
"Liang Pan",
"Marcelo H Ang",
"Gim Hee Lee"
] | Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of symmetric objects. In this work, we propose a novel discrete- continuous formulation for rotation regression to resolve this local-optimum problem. We uniformly samp... |
Split Deep Q-Learning for Robust Object Singulation | https://ieeexplore.ieee.org/document/9196647/ | [
"Iason Sarantopoulos",
"Marios Kiatos",
"Zoe Doulgeri",
"Sotiris Malassiotis",
"Iason Sarantopoulos",
"Marios Kiatos",
"Zoe Doulgeri",
"Sotiris Malassiotis"
] | Extracting a known target object from a pile of other objects in a cluttered environment is a challenging robotic manipulation task encountered in many robotic applications. In such conditions, the target object touches or is covered by adjacent obstacle objects, thus rendering traditional grasping techniques ineffective. In this paper, we propose a pushing policy aiming at singulating the target ... |
6-DOF Grasping for Target-driven Object Manipulation in Clutter | https://ieeexplore.ieee.org/document/9197318/ | [
"Adithyavairavan Murali",
"Arsalan Mousavian",
"Clemens Eppner",
"Chris Paxton",
"Dieter Fox",
"Adithyavairavan Murali",
"Arsalan Mousavian",
"Clemens Eppner",
"Chris Paxton",
"Dieter Fox"
] | Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem by limiting themselves to top-down planar grasps which is insufficient for many real-world scenarios and greatly limits possible grasps. We present a method that... |
Single Shot 6D Object Pose Estimation | https://ieeexplore.ieee.org/document/9197207/ | [
"Kilian Kleeberger",
"Marco F. Huber",
"Kilian Kleeberger",
"Marco F. Huber"
] | In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially discretized and pose estimation is considered as a regression task that is solved locally on the resulting volume elements. With 65 fps on a GPU, our Object Pose Networ... |
MulRan: Multimodal Range Dataset for Urban Place Recognition | https://ieeexplore.ieee.org/document/9197298/ | [
"Giseop Kim",
"Yeong Sang Park",
"Younghun Cho",
"Jinyong Jeong",
"Ayoung Kim",
"Giseop Kim",
"Yeong Sang Park",
"Younghun Cho",
"Jinyong Jeong",
"Ayoung Kim"
] | This paper introduces a multimodal range dataset namely for radio detection and ranging (radar) and light detection and ranging (LiDAR) specifically targeting the urban environment. By extending our workshop paper [1] to a larger scale, this dataset focuses on the range sensor-based place recognition and provides 6D baseline trajectories of a vehicle for place recognition ground truth. Provided ra... |
GPO: Global Plane Optimization for Fast and Accurate Monocular SLAM Initialization | https://ieeexplore.ieee.org/document/9196970/ | [
"Sicong Du",
"Hengkai Guo",
"Yao Chen",
"Yilun Lin",
"Xiangbing Meng",
"Linfu Wen",
"Fei-Yue Wang",
"Sicong Du",
"Hengkai Guo",
"Yao Chen",
"Yilun Lin",
"Xiangbing Meng",
"Linfu Wen",
"Fei-Yue Wang"
] | Initialization is essential to monocular Simultaneous Localization and Mapping (SLAM) problems. This paper focuses on a novel initialization method for monocular SLAM based on planar features. The algorithm starts by homography estimation in a sliding window. It then proceeds to a global plane optimization (GPO) to obtain camera poses and the plane normal. 3D points can be recovered using planar c... |
Large-Scale Volumetric Scene Reconstruction using LiDAR | https://ieeexplore.ieee.org/document/9197388/ | [
"Tilman Kühner",
"Julius Kümmerle",
"Tilman Kühner",
"Julius Kümmerle"
] | Large-scale 3D scene reconstruction is an important task in autonomous driving and other robotics applications as having an accurate representation of the environment is necessary to safely interact with it. Reconstructions are used for numerous tasks ranging from localization and mapping to planning. In robotics, volumetric depth fusion is the method of choice for indoor applications since the em... |
Topological Mapping for Manhattan-like Repetitive Environments | https://ieeexplore.ieee.org/document/9197520/ | [
"Sai Shubodh Puligilla",
"Satyajit Tourani",
"Tushar Vaidya",
"Udit Singh Parihar",
"Ravi Kiran Sarvadevabhatla",
"K. Madhava Krishna",
"Sai Shubodh Puligilla",
"Satyajit Tourani",
"Tushar Vaidya",
"Udit Singh Parihar",
"Ravi Kiran Sarvadevabhatla",
"K. Madhava Krishna"
] | We showcase a topological mapping framework for a challenging indoor warehouse setting. At the most abstract level, the warehouse is represented as a Topological Graph where the nodes of the graph represent a particular warehouse topological construct (e.g. rackspace, corridor) and the edges denote the existence of a path between two neighbouring nodes or topologies. At the intermediate level, the... |
Robust RGB-D Camera Tracking using Optimal Key-frame Selection | https://ieeexplore.ieee.org/document/9197021/ | [
"Kyung Min Han",
"Young J. Kim",
"Kyung Min Han",
"Young J. Kim"
] | We propose a novel RGB-D camera tracking system that robustly reconstructs hand-held RGB-D camera sequences. The robustness of our system is achieved by two independent features of our method: adaptive visual odometry (VO) and integer programming-based key-frame selection. Our VO method adaptively interpolates the camera motion results of the direct VO (DVO) and the iterative closed point (ICP) to... |
Aggressive Online Control of a Quadrotor via Deep Network Representations of Optimality Principles | https://ieeexplore.ieee.org/document/9197443/ | [
"Shuo Li",
"Ekin Öztürk",
"Christophe De Wagter",
"Guido C. H. E. de Croon",
"Dario Izzo",
"Shuo Li",
"Ekin Öztürk",
"Christophe De Wagter",
"Guido C. H. E. de Croon",
"Dario Izzo"
] | Optimal control holds great potential to improve a variety of robotic applications. The application of optimal control on-board limited platforms has been severely hindered by the large computational requirements of current state of the art implementations. In this work, we make use of a deep neural network to directly map the robot states to control actions. The network is trained offline to imit... |
Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space | https://ieeexplore.ieee.org/document/9197236/ | [
"Michal Kleinbort",
"Edgar Granados",
"Kiril Solovey",
"Riccardo Bonalli",
"Kostas E. Bekris",
"Dan Halperin",
"Michal Kleinbort",
"Edgar Granados",
"Kiril Solovey",
"Riccardo Bonalli",
"Kostas E. Bekris",
"Dan Halperin"
] | We present a novel analysis of AO-RRT: a tree-based planner for motion planning with kinodynamic constraints, originally described by Hauser and Zhou (AO-X, 2016). AO-RRT explores the state-cost space and has been shown to efficiently obtain high-quality solutions in practice without relying on the availability of a computationally-intensive two-point boundary-value solver. Our main contribution i... |
Robust quadcopter control with artificial vector fields | https://ieeexplore.ieee.org/document/9196605/ | [
"Adriano M. C. Rezende",
"Vinicius M. Gonçalves",
"Arthur H. D. Nunes",
"Luciano C. A. Pimenta",
"Adriano M. C. Rezende",
"Vinicius M. Gonçalves",
"Arthur H. D. Nunes",
"Luciano C. A. Pimenta"
] | This article presents a path tracking control strategy for a quadcopter to follow a time varying curve. The control is based on artificial vector fields. The construction of the field is based on a well known technique in the literature. Next, control laws are developed to impose the behavior of the vector field to a second order integrator model. Finally, control laws are developed to impose the ... |
Simulation-Based Reinforcement Learning for Real-World Autonomous Driving | https://ieeexplore.ieee.org/document/9196730/ | [
"Błażej Osiński",
"Adam Jakubowski",
"Paweł Zięcina",
"Piotr Miłoś",
"Christopher Galias",
"Silviu Homoceanu",
"Henryk Michalewski",
"Błażej Osiński",
"Adam Jakubowski",
"Paweł Zięcina",
"Piotr Miłoś",
"Christopher Galias",
"Silviu Homoceanu",
"Henryk Michalewski"
] | We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic data, with labelled real-world data appearing only in the training of the segmentation network.Using reinforcement learning in simulation and synthetic data is mo... |
Driving Style Encoder: Situational Reward Adaptation for General-Purpose Planning in Automated Driving | https://ieeexplore.ieee.org/document/9196778/ | [
"Sascha Rosbach",
"Vinit James",
"Simon Großjohann",
"Silviu Homoceanu",
"Xing Li",
"Stefan Roth",
"Sascha Rosbach",
"Vinit James",
"Simon Großjohann",
"Silviu Homoceanu",
"Xing Li",
"Stefan Roth"
] | General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this, planning experts often rely on linear reward functions. The specification and tuning of these reward functions is a tedious process and requires significant exp... |
Analysis and Prediction of Pedestrian Crosswalk Behavior during Automated Vehicle Interactions | https://ieeexplore.ieee.org/document/9197347/ | [
"Suresh Kumaar Jayaraman",
"Dawn M. Tilbury",
"X. Jessie Yang",
"Anuj K. Pradhan",
"Lionel P. Robert",
"Suresh Kumaar Jayaraman",
"Dawn M. Tilbury",
"X. Jessie Yang",
"Anuj K. Pradhan",
"Lionel P. Robert"
] | For safe navigation around pedestrians, automated vehicles (AVs) need to plan their motion by accurately predicting pedestrians' trajectories over long time horizons. Current approaches to AV motion planning around crosswalks predict only for short time horizons (1-2 s) and are based on data from pedestrian interactions with human-driven vehicles (HDVs). In this paper, we develop a hybrid systems ... |
The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset | https://ieeexplore.ieee.org/document/9196884/ | [
"Dan Barnes",
"Matthew Gadd",
"Paul Murcutt",
"Paul Newman",
"Ingmar Posner",
"Dan Barnes",
"Matthew Gadd",
"Paul Murcutt",
"Paul Newman",
"Ingmar Posner"
] | In this paper we present The Oxford Radar RobotCar Dataset, a new dataset for researching scene understanding using Millimetre-Wave FMCW scanning radar data. The target application is autonomous vehicles where this modality is robust to environmental conditions such as fog, rain, snow, or lens flare, which typically challenge other sensor modalities such as vision and LIDAR.(/P)(P)The data were ga... |
Multi-modal Experts Network for Autonomous Driving | https://ieeexplore.ieee.org/document/9197459/ | [
"Shihong Fang",
"Anna Choromanska",
"Shihong Fang",
"Anna Choromanska"
] | End-to-end learning from sensory data has shown promising results in autonomous driving. While employing many sensors enhances world perception and should lead to more robust and reliable behavior of autonomous vehicles, it is challenging to train and deploy such network and at least two problems are encountered in the considered setting. The first one is the increase of computational complexity w... |
Localising PMDs through CNN Based Perception of Urban Streets | https://ieeexplore.ieee.org/document/9196639/ | [
"Maleen Jayasuriya",
"Janindu Arukgoda",
"Ravindra Ranasinghe",
"Gamini Dissanayake",
"Maleen Jayasuriya",
"Janindu Arukgoda",
"Ravindra Ranasinghe",
"Gamini Dissanayake"
] | The main contribution of this paper is a novel Extended Kalman Filter (EKF) based localisation scheme that fuses two complementary approaches to outdoor vision based localisation. This EKF is aided by a front end consisting of two Convolutional Neural Networks (CNNs) that provide the necessary perceptual information from camera images. The first approach involves a CNN based extraction of informat... |
Hybrid Localization using Model- and Learning-Based Methods: Fusion of Monte Carlo and E2E Localizations via Importance Sampling | https://ieeexplore.ieee.org/document/9196568/ | [
"Naoki Akai",
"Takatsugu Hirayama",
"Hiroshi Murase",
"Naoki Akai",
"Takatsugu Hirayama",
"Hiroshi Murase"
] | This paper proposes a hybrid localization method that fuses Monte Carlo localization (MCL) and convolutional neural network (CNN)-based end-to-end (E2E) localization. MCL is based on particle filter and requires proposal distributions to sample the particles. The proposal distribution is generally predicted using a motion model. However, because the motion model cannot handle unanticipated errors,... |
Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs | https://ieeexplore.ieee.org/document/9196606/ | [
"Bhavit Patel",
"Timothy D. Barfoot",
"Angela P. Schoellig",
"Bhavit Patel",
"Timothy D. Barfoot",
"Angela P. Schoellig"
] | We estimate the global pose of a multirotor UAV by visually localizing images captured during a flight with Google Earth images pre-rendered from known poses. We metrically localize real images with georeferenced rendered images using a dense mutual information technique to allow accurate global pose estimation in outdoor GPS-denied environments. We show the ability to consistently localize throug... |
Adaptive Curriculum Generation from Demonstrations for Sim-to-Real Visuomotor Control | https://ieeexplore.ieee.org/document/9197108/ | [
"Lukas Hermann",
"Max Argus",
"Andreas Eitel",
"Artemij Amiranashvili",
"Wolfram Burgard",
"Thomas Brox",
"Lukas Hermann",
"Max Argus",
"Andreas Eitel",
"Artemij Amiranashvili",
"Wolfram Burgard",
"Thomas Brox"
] | We propose Adaptive Curriculum Generation from Demonstrations (ACGD) for reinforcement learning in the presence of sparse rewards. Rather than designing shaped reward functions, ACGD adaptively sets the appropriate task difficulty for the learner by controlling where to sample from the demonstration trajectories and which set of simulation parameters to use. We show that training vision-based cont... |
Accept Synthetic Objects as Real: End-to-End Training of Attentive Deep Visuomotor Policies for Manipulation in Clutter | https://ieeexplore.ieee.org/document/9197552/ | [
"Pooya Abolghasemi",
"Ladislau Bölöni",
"Pooya Abolghasemi",
"Ladislau Bölöni"
] | Recent research demonstrated that it is feasible to end-to-end train multi-task deep visuomotor policies for robotic manipulation using variations of learning from demonstration (LfD) and reinforcement learning (RL). In this paper, we extend the capabilities of end-to-end LfD architectures to object manipulation in clutter. We start by introducing a data augmentation procedure called Accept Synthe... |
Learning of Exception Strategies in Assembly Tasks | https://ieeexplore.ieee.org/document/9197480/ | [
"Bojan Nemec",
"Mihael Simonič",
"Aleš Ude",
"Bojan Nemec",
"Mihael Simonič",
"Aleš Ude"
] | Assembly tasks performed with a robot often fail due to unforeseen situations, regardless of the fact that we carefully learned and optimized the assembly policy. This problem is even more present in humanoid robots acting in an unstructured environment where it is not possible to anticipate all factors that might lead to the failure of the given task. In this work, we propose a concurrent LfD fra... |
An Open-Source Framework for Rapid Development of Interactive Soft-Body Simulations for Real-Time Training | https://ieeexplore.ieee.org/document/9197573/ | [
"Adnan Munawar",
"Nishan Srishankar",
"Gregory S. Fischer",
"Adnan Munawar",
"Nishan Srishankar",
"Gregory S. Fischer"
] | We present an open-source framework that provides a low barrier to entry for real-time simulation, visualization, and interactive manipulation of user-specifiable soft-bodies, environments, and robots (using a human-readable front-end interface). The simulated soft-bodies can be interacted by a variety of input interface devices including commercially available haptic devices, game controllers, an... |
Towards 5-DoF Control of an Untethered Magnetic Millirobot via MRI Gradient Coils | https://ieeexplore.ieee.org/document/9196692/ | [
"Onder Erin",
"Dario Antonelli",
"Mehmet Efe Tiryaki",
"Metin Sitti",
"Onder Erin",
"Dario Antonelli",
"Mehmet Efe Tiryaki",
"Metin Sitti"
] | Electromagnetic field gradients generated by magnetic resonance imaging (MRI) devices pave the way to power untethered magnetic robots remotely. This innovative use of MRI devices allows exerting magnetic pulling forces on untethered magnetic robots, which could be used for navigation, diagnosis, drug delivery and therapeutic procedures inside a human body. So far, MRI-powered untethered magnetic ... |
Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios | https://ieeexplore.ieee.org/document/9197253/ | [
"Saeid Samadi",
"Stéphane Caron",
"Arnaud Tanguy",
"Abderrahmane Kheddar",
"Saeid Samadi",
"Stéphane Caron",
"Arnaud Tanguy",
"Abderrahmane Kheddar"
] | This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM) within an admissible convex area. This area is calculated based on the contact positions and forces. We introduce a methodology to compute this CoM support area (C... |
Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints | https://ieeexplore.ieee.org/document/9197322/ | [
"Grzegorz Ficht",
"Sven Behnke",
"Grzegorz Ficht",
"Sven Behnke"
] | We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are attributed to the limbs and one is used for the trunk. This compact formulation allows for finding an analytical solution that combines the kinematics with mass distri... |
SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain | https://ieeexplore.ieee.org/document/9197371/ | [
"Steve Tonneau",
"Daeun Song",
"Pierre Fernbach",
"Nicolas Mansard",
"Michel Taïx",
"Andrea Del Prete",
"Steve Tonneau",
"Daeun Song",
"Pierre Fernbach",
"Nicolas Mansard",
"Michel Taïx",
"Andrea Del Prete"
] | One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent contributions propose to use integer variables to represent which contact surface is selected, and then to rely on modern mixed-integer (MI) optimization solvers to handle this combinatorial issue. To reduce the computational cost of MI, we exploit the sparsity pr... |
Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold | https://ieeexplore.ieee.org/document/9197533/ | [
"Steven Jens Jorgensen",
"Mihir Vedantam",
"Ryan Gupta",
"Henry Cappel",
"Luis Sentis",
"Steven Jens Jorgensen",
"Mihir Vedantam",
"Ryan Gupta",
"Henry Cappel",
"Luis Sentis"
] | We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is to consider an injective locomotion constraint manifold that defines the locomotion scheme of the robot and then using this constraint manifold to search for admissible manipulation trajectories. The problem is formulat... |
Force-based Control of Bipedal Balancing on Dynamic Terrain with the "Tallahassee Cassie" Robotic Platform | https://ieeexplore.ieee.org/document/9196725/ | [
"Jason White",
"Dylan Swart",
"Christian Hubicki",
"Jason White",
"Dylan Swart",
"Christian Hubicki"
] | Out in the field, bipedal robots need to travel on terrain that is uneven, non-rigid, and sometimes moving beneath their feet. We present a force-based double support balancing controller for such dynamic terrain scenarios for bipedal robots, and test it on the robotic bipedal platform "Tallahassee Cassie." The presented controller relies on minimal information about the robot model, requiring its... |
Dense r-robust formations on lattices | https://ieeexplore.ieee.org/document/9196683/ | [
"Luis Guerrero-Bonilla",
"David Saldaña",
"Vijay Kumar",
"Luis Guerrero-Bonilla",
"David Saldaña",
"Vijay Kumar"
] | Robot networks are susceptible to fail under the presence of malicious or defective robots. Resilient networks in the literature require high connectivity and large communication ranges, leading to high energy consumption in the communication network. This paper presents robot formations with guaranteed resiliency that use smaller communication ranges than previous results in the literature. The f... |
Optimizing Topologies for Probabilistically Secure Multi-Robot Systems | https://ieeexplore.ieee.org/document/9197249/ | [
"Remy Wehbe",
"Ryan K. Williams",
"Remy Wehbe",
"Ryan K. Williams"
] | In this paper, we optimize the interaction graph of a multi-robot system (MRS) by maximizing its probability of security while requiring the MRS to have the fewest edges possible. Edges that represent robot interactions exist according to a probability distribution and security is defined using the control theoretic notion of left invertibility. To compute an optimal solution to our problem, we fi... |
Efficient Communication in Large Multi-robot Networks | https://ieeexplore.ieee.org/document/9196672/ | [
"Ayan Dutta",
"Anirban Ghosh",
"Stephen Sisley",
"O. Patrick Kreidl",
"Ayan Dutta",
"Anirban Ghosh",
"Stephen Sisley",
"O. Patrick Kreidl"
] | To achieve coordination in a multi-robot system, the robots typically resort to some form of communication among each other. In most of the multi-robot coordination frameworks, high-level coordination strategies are studied but `how' the ground-level communication takes place, is assumed to be taken care of by another program. In this paper, we study the communication routing problem for large mul... |
CyPhyHouse: A programming, simulation, and deployment toolchain for heterogeneous distributed coordination | https://ieeexplore.ieee.org/document/9196513/ | [
"Ritwika Ghosh",
"Joao P. Jansch-Porto",
"Chiao Hsieh",
"Amelia Gosse",
"Minghao Jiang",
"Hebron Taylor",
"Peter Du",
"Sayan Mitra",
"Geir Dullerud",
"Ritwika Ghosh",
"Joao P. Jansch-Porto",
"Chiao Hsieh",
"Amelia Gosse",
"Minghao Jiang",
"Hebron Taylor",
"Peter Du",
"Sayan Mitra",
"Geir Dullerud"
] | Programming languages, libraries, and development tools have transformed the application development processes for mobile computing and machine learning. This paper introduces CyPhyHouse—a toolchain that aims to provide similar programming, debugging, and deployment benefits for distributed mobile robotic applications. Users can develop hardware-agnostic, distributed applications using the high-le... |
Chance Constrained Simultaneous Path Planning and Task Assignment for Multiple Robots with Stochastic Path Costs | https://ieeexplore.ieee.org/document/9197354/ | [
"Fan Yang",
"Nilanjan Chakraborty",
"Fan Yang",
"Nilanjan Chakraborty"
] | We present a novel algorithm for simultaneous task assignment and path planning on a graph (or roadmap) with stochastic edge costs. In this problem, the initially unassigned robots and tasks are located at known positions in a roadmap. We want to assign a unique task to each robot and compute a path for the robot to go to its assigned task location. Given the mean and variance of travel cost of ea... |
Optimal Topology Selection for Stable Coordination of Asymmetrically Interacting Multi-Robot Systems | https://ieeexplore.ieee.org/document/9196822/ | [
"Pratik Mukherjee",
"Matteo Santilli",
"Andrea Gasparri",
"Ryan K. Williams",
"Pratik Mukherjee",
"Matteo Santilli",
"Andrea Gasparri",
"Ryan K. Williams"
] | In this paper, we address the problem of optimal topology selection for stable coordination of multi-robot systems with asymmetric interactions. This problem arises naturally for multi-robot systems that interact based on sensing, e.g., with limited field of view (FOV) cameras. From our previous efforts on motion control in such settings, we have shown that not all interaction topologies yield sta... |
Non-Prehensile Manipulation in Clutter with Human-In-The-Loop | https://ieeexplore.ieee.org/document/9196689/ | [
"Rafael Papallas",
"Mehmet R. Dogar",
"Rafael Papallas",
"Mehmet R. Dogar"
] | We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning times are still in the order of tens of seconds or minutes, and the success rates are low for difficult instances of the problem. We build on these control-bas... |
PuzzleFlex: kinematic motion of chains with loose joints | https://ieeexplore.ieee.org/document/9196854/ | [
"Samuel Lensgraf",
"Karim Itani",
"Yinan Zhang",
"Zezhou Sun",
"Yijia Wu",
"Alberto Quattrini Li",
"Bo Zhu",
"Emily Whiting",
"Weifu Wang",
"Devin Balkcom",
"Samuel Lensgraf",
"Karim Itani",
"Yinan Zhang",
"Zezhou Sun",
"Yijia Wu",
"Alberto Quattrini Li",
"Bo Zhu",
"Emily Whiting",
"Weifu Wang",
"Devin Balkcom"
] | This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows analysis of systems with thousands of rigid bodies. Potential applications include analysis of colle... |
Accurate Vision-based Manipulation through Contact Reasoning | https://ieeexplore.ieee.org/document/9197409/ | [
"Alina Kloss",
"Maria Bauza",
"Jiajun Wu",
"Joshua B. Tenenbaum",
"Alberto Rodriguez",
"Jeannette Bohg",
"Alina Kloss",
"Maria Bauza",
"Jiajun Wu",
"Joshua B. Tenenbaum",
"Alberto Rodriguez",
"Jeannette Bohg"
] | Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing contact-based tasks often suffers from low accuracy. We present an approach that addresses these two challenges for the problem of vision-based manipulation. Fi... |
A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty | https://ieeexplore.ieee.org/document/9196840/ | [
"Jung-Su Ha",
"Danny Driess",
"Marc Toussaint",
"Jung-Su Ha",
"Danny Driess",
"Marc Toussaint"
] | Logic-Geometric Programming (LGP) is a powerful motion and manipulation planning framework, which represents hierarchical structure using logic rules that describe discrete aspects of problems, e.g., touch, grasp, hit, or push, and solves the resulting smooth trajectory optimization. The expressive power of logic allows LGP for handling complex, large-scale sequential manipulation and tool-use pla... |
Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects | https://ieeexplore.ieee.org/document/9197451/ | [
"Muhammad Suhail Saleem",
"Maxim Likhachev",
"Muhammad Suhail Saleem",
"Maxim Likhachev"
] | Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve moving a robot manipulator in between other objects, pushing away the ones that are moveable and avoiding interactions with certain fragile containers. A physics-ba... |
Hybrid Differential Dynamic Programming for Planar Manipulation Primitives | https://ieeexplore.ieee.org/document/9197414/ | [
"Neel Doshi",
"Francois R. Hogan",
"Alberto Rodriguez",
"Neel Doshi",
"Francois R. Hogan",
"Alberto Rodriguez"
] | We present a hybrid differential dynamic programming (DDP) algorithm for closed-loop execution of manipulation primitives with frictional contact switches. Planning and control of these primitives is challenging as they are hybrid, under-actuated, and stochastic. We address this by developing hybrid DDP both to plan finite horizon trajectories with a few contact switches and to create linear stabi... |
Deep Depth Fusion for Black, Transparent, Reflective and Texture-Less Objects | https://ieeexplore.ieee.org/document/9196894/ | [
"Chun-Yu Chai",
"Yu-Po Wu",
"Shiao-Li Tsao",
"Chun-Yu Chai",
"Yu-Po Wu",
"Shiao-Li Tsao"
] | Structured-light and stereo cameras, which are widely used to construct point clouds for robotic applications, have different limitations on estimating depth values. Structured-light cameras fail in black, transparent, and reflective objects, which influence the light path; stereo cameras fail in texture-less objects. In this work, we propose a depth fusion model that complements these two types o... |
LiDAR-enhanced Structure-from-Motion | https://ieeexplore.ieee.org/document/9197030/ | [
"Weikun Zhen",
"Yaoyu Hu",
"Huai Yu",
"Sebastian Scherer",
"Weikun Zhen",
"Yaoyu Hu",
"Huai Yu",
"Sebastian Scherer"
] | Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situations. For example, images for inspection purposes are often taken in close distance to obtain detailed textures, which will result in less overlap between images and thus decrease the accuracy of estimated motion. In th... |
Low Latency And Low-Level Sensor Fusion For Automotive Use-Cases | https://ieeexplore.ieee.org/document/9196717/ | [
"Matthias Pollach",
"Felix Schiegg",
"Alois Knoll",
"Matthias Pollach",
"Felix Schiegg",
"Alois Knoll"
] | This work proposes a probabilistic low level automotive sensor fusion approach using LiDAR, RADAR and camera data. The method is stateless and directly operates on associated data from all sensor modalities. Tracking is not used, in order to reduce the object detection latency and create existence hypotheses per frame. The probabilistic fusion uses input from 3D and 2D space. An association method... |
Robot-Assisted and Wearable Sensor-Mediated Autonomous Gait Analysis§ | https://ieeexplore.ieee.org/document/9197571/ | [
"Huanghe Zhang",
"Zhuo Chen",
"Damiano Zanotto",
"Yi Guo",
"Huanghe Zhang",
"Zhuo Chen",
"Damiano Zanotto",
"Yi Guo"
] | In this paper, we propose an autonomous gait analysis system consisting of a mobile robot and custom-engineered instrumented insoles. The robot is equipped with an on-board RGB-D sensor, the insoles feature inertial sensors and force sensitive resistors. This system is motivated by the need for a robot companion to engage older adults in walking exercises. Support vector regression (SVR) models we... |
A Control Framework Definition to Overcome Position/Interaction Dynamics Uncertainties in Force-Controlled Tasks | https://ieeexplore.ieee.org/document/9197141/ | [
"Loris Roveda",
"Nicola Castaman",
"Paolo Franceschi",
"Stefano Ghidoni",
"Nicola Pedrocchi",
"Loris Roveda",
"Nicola Castaman",
"Paolo Franceschi",
"Stefano Ghidoni",
"Nicola Pedrocchi"
] | Within the Industry 4.0 context, industrial robots need to show increasing autonomy. The manipulator has to be able to react to uncertainties/changes in the working environment, displaying a robust behavior. In this paper, a control framework is proposed to perform industrial interaction tasks in uncertain working scenes. The proposed methodology relies on two components: i) a 6D pose estimation a... |
Identification of Compliant Contact Parameters and Admittance Force Modulation on a Non-stationary Compliant Surface | https://ieeexplore.ieee.org/document/9196897/ | [
"Lasitha Wijayarathne",
"Frank L. Hammond",
"Lasitha Wijayarathne",
"Frank L. Hammond"
] | Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation of interaction forces. This paper presents a mechanical probing strategy for estimating the environmental impedance parameters of compliant environments, indepen... |
Force Adaptation in Contact Tasks with Dynamical Systems | https://ieeexplore.ieee.org/document/9197509/ | [
"Walid Amanhoud",
"Mahdi Khoramshahi",
"Maxime Bonnesoeur",
"Aude Billard",
"Walid Amanhoud",
"Mahdi Khoramshahi",
"Maxime Bonnesoeur",
"Aude Billard"
] | In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce the force error is an effective approach to overcome this limitation. However, this approach requires an adaptive and robust framework for motio... |
Weakly Supervised Silhouette-based Semantic Scene Change Detection | https://ieeexplore.ieee.org/document/9196985/ | [
"Ken Sakurada",
"Mikiya Shibuya",
"Weimin Wang",
"Ken Sakurada",
"Mikiya Shibuya",
"Weimin Wang"
] | This paper presents a novel semantic scene change detection scheme with only weak supervision. A straightforward approach for this task is to train a semantic change detection network directly from a large-scale dataset in an end-to-end manner. However, a specific dataset for this task, which is usually labor-intensive and time-consuming, becomes indispensable. To avoid this problem, we propose to... |
3DCFS: Fast and Robust Joint 3D Semantic-Instance Segmentation via Coupled Feature Selection | https://ieeexplore.ieee.org/document/9197242/ | [
"Liang Du",
"Jingang Tan",
"Xiangyang Xue",
"Lili Chen",
"Hongkai Wen",
"Jianfeng Feng",
"Jiamao Li",
"Xiaolin Zhang",
"Liang Du",
"Jingang Tan",
"Xiangyang Xue",
"Lili Chen",
"Hongkai Wen",
"Jianfeng Feng",
"Jiamao Li",
"Xiaolin Zhang"
] | We propose a novel fast and robust 3D point clouds segmentation framework via coupled feature selection, named 3DCFS, that jointly performs semantic and instance segmentation. Inspired by the human scene perception process, we design a novel coupled feature selection module, named CFSM, that adaptively selects and fuses the reciprocal semantic and instance features from two tasks in a coupled mann... |
Who2com: Collaborative Perception via Learnable Handshake Communication | https://ieeexplore.ieee.org/document/9197364/ | [
"Yen-Cheng Liu",
"Junjiao Tian",
"Chih-Yao Ma",
"Nathan Glaser",
"Chia-Wen Kuo",
"Zsolt Kira",
"Yen-Cheng Liu",
"Junjiao Tian",
"Chih-Yao Ma",
"Nathan Glaser",
"Chia-Wen Kuo",
"Zsolt Kira"
] | In this paper, we propose the problem of collaborative perception, where robots can combine their local observations with those of neighboring agents in a learnable way to improve accuracy on a perception task. Unlike existing work in robotics and multi-agent reinforcement learning, we formulate the problem as one where learned information must be shared across a set of agents in a bandwidth-sensi... |
Comparing View-Based and Map-Based Semantic Labelling in Real-Time SLAM | https://ieeexplore.ieee.org/document/9196843/ | [
"Zoe Landgraf",
"Fabian Falck",
"Michael Bloesch",
"Stefan Leutenegger",
"Andrew J. Davison",
"Zoe Landgraf",
"Fabian Falck",
"Michael Bloesch",
"Stefan Leutenegger",
"Andrew J. Davison"
] | Generally capable Spatial AI systems must build persistent scene representations where geometric models are combined with meaningful semantic labels. The many approaches to labelling scenes can be divided into two clear groups: view-based which estimate labels from the input view-wise data and then incrementally fuse them into the scene model as it is built; and map-based which label the generated... |
Generative Modeling of Environments with Scene Grammars and Variational Inference | https://ieeexplore.ieee.org/document/9196910/ | [
"Gregory Izatt",
"Russ Tedrake",
"Gregory Izatt",
"Russ Tedrake"
] | In order to understand how a robot will perform in the open world, we aim to establish a quantitative understanding of the distribution of environments that a robot will face when when it is deployed. However, even restricting attention only to the distribution of objects in a scene, these distributions over environments are nontrivial: they describe mixtures of discrete and continuous variables r... |
SHOP-VRB: A Visual Reasoning Benchmark for Object Perception | https://ieeexplore.ieee.org/document/9197332/ | [
"Michal Nazarczuk",
"Krystian Mikolajczyk",
"Michal Nazarczuk",
"Krystian Mikolajczyk"
] | In this paper we present an approach and a benchmark for visual reasoning in robotics applications, in particular small object grasping and manipulation. The approach and benchmark are focused on inferring object properties from visual and text data. It concerns small household objects with their properties, functionality, natural language descriptions as well as question-answer pairs for visual r... |
Sensorization of a Continuum Body Gripper for High Force and Delicate Object Grasping | https://ieeexplore.ieee.org/document/9196603/ | [
"Josie Hughes",
"Shuguang Li",
"Daniela Rus",
"Josie Hughes",
"Shuguang Li",
"Daniela Rus"
] | The goal of achieving `universal grasping' where many objects can be handled with minimal control input is the focus of much research due to potential high impact applications ranging from grocery packing to recycling. However, many of the grippers developed suffer from limited sensing capabilities which can prevent handing of both heavy bulky items and also lightweight delicate objects which requ... |
A Soft Gripper with Retractable Nails for Advanced Grasping and Manipulation | https://ieeexplore.ieee.org/document/9197259/ | [
"S. Jain",
"T. Stalin",
"V. Subramaniam",
"J. Agarwal",
"P. Valdivia y Alvarado",
"S. Jain",
"T. Stalin",
"V. Subramaniam",
"J. Agarwal",
"P. Valdivia y Alvarado"
] | This study describes the enhancement of a vacuum actuated soft gripper's grasping capabilities using retractable finger nails and an active re-configurable palm. The finger nail mechanism is pneumatically actuated and enables the gripper to perform complex grasping and manipulation tasks with high repeatability. The retracted nails can exert normal grasping forces of up to 1.8N and enable grasping... |
Real-time Continuous Hand Motion Myoelectric Decoding by Automated Data Labeling | https://ieeexplore.ieee.org/document/9197286/ | [
"Xuhui Hu",
"Hong Zeng",
"Dapeng Chen",
"Jiahang Zhu",
"Aiguo Song",
"Xuhui Hu",
"Hong Zeng",
"Dapeng Chen",
"Jiahang Zhu",
"Aiguo Song"
] | In this paper an automated data labeling (ADL) neural network is proposed to streamline dataset collecting for real-time predicting the continuous motion of hand and wrist, these gestures are only decoded from a surface electromyography (sEMG) array of eight channels. Unlike collecting both the bio-signals and hand motion signals as samples and labels in supervised learning, this algorithm only co... |
Towards Proactive Navigation: A Pedestrian-Vehicle Cooperation Based Behavioral Model | https://ieeexplore.ieee.org/document/9196669/ | [
"Maria Kabtoul",
"Anne Spalanzani",
"Philippe Martinet",
"Maria Kabtoul",
"Anne Spalanzani",
"Philippe Martinet"
] | Developing autonomous vehicles capable of navigating safely and socially around pedestrians is a major challenge in intelligent transportation. This challenge cannot be met without understanding pedestrians' behavioral response to an autonomous vehicle, and the task of building a clear and quantitative description of the pedestrian to vehicle interaction remains a key milestone in autonomous navig... |
Studying Navigation as a Form of Interaction: a Design Approach for Social Robot Navigation Methods | https://ieeexplore.ieee.org/document/9197037/ | [
"Philip Scales",
"Olivier Aycard",
"Véronique Aubergé",
"Philip Scales",
"Olivier Aycard",
"Véronique Aubergé"
] | Social Navigation methods attempt to integrate knowledge from Human Sciences fields such as the notion of Proxemics into mobile robot navigation. They are often evaluated in simulations, or lab conditions with informed participants, and studies of the impact of the robot behavior on humans are rare. Humans communicate and interact through many vectors, among which are motion and positioning, which... |
Robot Plan Model Generation and Execution with Natural Language Interface | https://ieeexplore.ieee.org/document/9196987/ | [
"Kyon-Mo Yang",
"Kap-Ho Seo",
"Sang Hoon Kang",
"Yoonseob Lim",
"Kyon-Mo Yang",
"Kap-Ho Seo",
"Sang Hoon Kang",
"Yoonseob Lim"
] | Verbal interaction between a human and a robot may play a key role in conveying suitable directions for a robot to achieve the goal of a user's request. However, a robot may need to correct task plans or make new decisions with human help, which would make the interaction inconvenient and also increase the interaction time. In this paper, we propose a new verbal interaction-based method that can g... |
Mapless Navigation among Dynamics with Social-safety-awareness: a reinforcement learning approach from 2D laser scans | https://ieeexplore.ieee.org/document/9197148/ | [
"Jun Jin",
"Nhat M. Nguyen",
"Nazmus Sakib",
"Daniel Graves",
"Hengshuai Yao",
"Martin Jagersand",
"Jun Jin",
"Nhat M. Nguyen",
"Nazmus Sakib",
"Daniel Graves",
"Hengshuai Yao",
"Martin Jagersand"
] | We consider the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective and social-safety to measure the impact of robot's actions on surrounding pedestrians. Specifically, the social-safety part predicts the intrusion impact of the robot's action into the interaction area... |
Steering Control of Magnetic Helical Swimmers in Swirling Flows due to Confinement | https://ieeexplore.ieee.org/document/9196521/ | [
"Hakan O. Caldag",
"Serhat Yesilyurt",
"Hakan O. Caldag",
"Serhat Yesilyurt"
] | Artificial microswimmers are prospective robotic agents especially in biomedical applications. A rotating magnetic field can actuate a magnetized swimmer with a helical tail and enable propulsion. Such swimmers exhibit several modes of instability. Inside conduits, for example, hydrodynamic interactions with the boundaries lead to helical paths for pusher-mode swimmers; in this mode the helical ta... |
Sim2real gap is non-monotonic with robot complexity for morphology-in-the-loop flapping wing design | https://ieeexplore.ieee.org/document/9196539/ | [
"Kent Rosser",
"Jia Kok",
"Javaan Chahl",
"Josh Bongard",
"Kent Rosser",
"Jia Kok",
"Javaan Chahl",
"Josh Bongard"
] | Morphology of a robot design is important to its ability to achieve a stated goal and therefore applying machine learning approaches that incorporate morphology in the design space can provide scope for significant advantage. Our study is set in a domain known to be reliant on morphology: flapping wing flight. We developed a parameterised morphology design space that draws features from biological... |
A Linearized Model for an Ornithopter in Gliding Flight: Experiments and Simulations | https://ieeexplore.ieee.org/document/9196929/ | [
"R. Lopez-Lopez",
"V. Perez-Sanchez",
"P. Ramon-Soria",
"A. Martín-Alcántara",
"R. Fernandez-Feria",
"B.C. Arrue",
"A. Ollero",
"R. Lopez-Lopez",
"V. Perez-Sanchez",
"P. Ramon-Soria",
"A. Martín-Alcántara",
"R. Fernandez-Feria",
"B.C. Arrue",
"A. Ollero"
] | This work studies the accuracy of a simple but effective analytical model for a flapping-wings UAV in longitudinal gliding flight configuration comparing it with experimental results of a real ornithopter. The aerodynamic forces are modeled following the linearized potential theory for a flat plate in gliding configuration, extended to flapping-wing episodes modeled also by the (now unsteady) line... |
Towards biomimicry of a bat-style perching maneuver on structures: the manipulation of inertial dynamics | https://ieeexplore.ieee.org/document/9197376/ | [
"Alireza Ramezani",
"Alireza Ramezani"
] | The flight characteristics of bats remarkably have been overlooked in aerial drone designs. Unlike other animals, bats leverage the manipulation of inertial dynamics to exhibit aerial flip turns when they perch. Inspired by this unique maneuver, this work develops and uses a tiny robot called Harpoon to demonstrate that the preparation for upside-down landing is possible through: 1) reorientation ... |
Bioinspired object motion filters as the basis of obstacle negotiation in micro aerial systems | https://ieeexplore.ieee.org/document/9196752/ | [
"Rui Zhou",
"Huai-Ti Lin",
"Rui Zhou",
"Huai-Ti Lin"
] | All animals and robots that move in the world must navigate to a goal while clearing obstacles. Using vision to accomplish such task has several advantages in cost and payload, which explains the prevalence of biological visual guidance. However, the computational overhead has been an obvious concern when increasing number of pixels and frames that need to be analyzed in real-time for a machine vi... |
ARCSnake: An Archimedes’ Screw-Propelled, Reconfigurable Serpentine Robot for Complex Environments | https://ieeexplore.ieee.org/document/9196968/ | [
"Dimitri A. Schreiber",
"Florian Richter",
"Andrew Bilan",
"Peter V. Gavrilov",
"Hoi Man Lam",
"Casey H. Price",
"Kalind C. Carpenter",
"Michael C. Yip",
"Dimitri A. Schreiber",
"Florian Richter",
"Andrew Bilan",
"Peter V. Gavrilov",
"Hoi Man Lam",
"Casey H. Price",
"Kalind C. Carpenter",
"Michael C. Yip"
] | This paper presents the design and performance of a new locomotion strategy for serpentine robots using screw propulsion. The ARCSnake robot comprises serially linked, identical modules, each incorporating an Archimedes' screw for propulsion and a universal joint (U-Joint) for orientation control. When serially chained, these modules form a versatile serpentine robot platform which enables the rob... |
GPR-based Subsurface Object Detection and Reconstruction Using Random Motion and DepthNet | https://ieeexplore.ieee.org/document/9197043/ | [
"Jinglun Feng",
"Liang Yang",
"Haiyan Wang",
"Yifeng Song",
"Jizhong Xiao",
"Jinglun Feng",
"Liang Yang",
"Haiyan Wang",
"Yifeng Song",
"Jizhong Xiao"
] | Ground Penetrating Radar (GPR) is one of the most important non-destructive evaluation (NDE) devices to detect the subsurface objects (i.e. rebars, utility pipes) and reveal the underground scene. One of the biggest challenges in GPR based inspection is the subsurface targets reconstruction. In order to address this issue, this paper presents a 3D GPR migration and dielectric prediction system to ... |
Real-time Stereo Visual Servoing for Rose Pruning with Robotic Arm | https://ieeexplore.ieee.org/document/9197272/ | [
"Hanz Cuevas-Velasquez",
"Antonio-Javier Gallego",
"Radim Tylecek",
"Jochen Hemming",
"Bart van Tuijl",
"Angelo Mencarelli",
"Robert B. Fisher",
"Hanz Cuevas-Velasquez",
"Antonio-Javier Gallego",
"Radim Tylecek",
"Jochen Hemming",
"Bart van Tuijl",
"Angelo Mencarelli",
"Robert B. Fisher"
] | The paper presents a working pipeline which integrates hardware and software in an automated robotic rose cutter. To the best of our knowledge, this is the first robot able to prune rose bushes in a natural environment. Unlike similar approaches like tree stem cutting, the proposed method does not require to scan the full plant, have multiple cameras around the bush, or assume that a stem does not... |
Slip-Limiting Controller for Redundant Line-Suspended Robots: Application to LineRanger | https://ieeexplore.ieee.org/document/9196832/ | [
"Philippe Hamelin",
"Pierre-Luc Richard",
"Marco Lepage",
"Marin Lagacé",
"Alex Sartor",
"Ghislain Lambert",
"Camille Hébert",
"Nicolas Pouliot",
"Philippe Hamelin",
"Pierre-Luc Richard",
"Marco Lepage",
"Marin Lagacé",
"Alex Sartor",
"Ghislain Lambert",
"Camille Hébert",
"Nicolas Pouliot"
] | In this paper, a slip-limiting controller for redundant line-suspended robots is presented. This kind of robot is usually equipped with v-shaped wheels, which brings uncertainty about the effective wheel radius, particularly when crossing obstacles. The proposed algorithm is able to estimate and limit wheel slippage in the presence of such uncertainty, relying only on wheel angular velocity measur... |
Interval Search Genetic Algorithm Based on Trajectory to Solve Inverse Kinematics of Redundant Manipulators and Its Application | https://ieeexplore.ieee.org/document/9196890/ | [
"Di Wu",
"Wenting Zhang",
"Mi Qin",
"Bin Xie",
"Di Wu",
"Wenting Zhang",
"Mi Qin",
"Bin Xie"
] | In this paper, a new method is proposed to solve the inverse kinematics problem of redundant manipulators. This method demonstrates superior performance on continuous motion by combining interval search genetic algorithm based on trajectory which we propose with parametric joint angle method. In this method, population continuity strategy is utilized to improve search speed and reduce evolutionary... |
Analytical Expressions of Serial Manipulator Jacobians and their High-Order Derivatives based on Lie Theory | https://ieeexplore.ieee.org/document/9197131/ | [
"Zhongtao Fu",
"Emmanouil Spyrakos-Papastavridis",
"Yen-hua Lin",
"Jian S. Dai",
"Zhongtao Fu",
"Emmanouil Spyrakos-Papastavridis",
"Yen-hua Lin",
"Jian S. Dai"
] | Serial manipulator kinematics provide a mapping between joint variables in joint-space coordinates, and end-effector configurations in task-space Cartesian coordinates. Velocity mappings are represented via the manipulator Jacobian produced by direct differentiation of the forward kinematics. Acquisition of acceleration, jerk, and snap expressions, typically utilized for accurate trajectory-tracki... |
Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization | https://ieeexplore.ieee.org/document/9196704/ | [
"Filip Marić",
"Matthew Giamou",
"Soroush Khoubyarian",
"Ivan Petrović",
"Jonathan Kelly",
"Filip Marić",
"Matthew Giamou",
"Soroush Khoubyarian",
"Ivan Petrović",
"Jonathan Kelly"
] | Inverse kinematics is a fundamental challenge for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for serial kinematic chains is a difficult nonlinear problem, for which closed form solutions cannot easily be obtained. Therefore, computationally efficient nume... |
Multi-task closed-loop inverse kinematics stability through semidefinite programming | https://ieeexplore.ieee.org/document/9196750/ | [
"Josep Marti-Saumell",
"Angel Santamaria-Navarro",
"Carlos Ocampo-Martinez",
"Juan Andrade-Cetto",
"Josep Marti-Saumell",
"Angel Santamaria-Navarro",
"Carlos Ocampo-Martinez",
"Juan Andrade-Cetto"
] | Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the local stability problem of a hierarchical closed-loop inverse kinematics algorithm for such highly redundant robots. We present a method to guarantee this system stability by performing an on... |
Securing Industrial Operators with Collaborative Robots: Simulation and Experimental Validation for a Carpentry task | https://ieeexplore.ieee.org/document/9197161/ | [
"Nassim Benhabib",
"Vincent Padois",
"David Daney",
"Nassim Benhabib",
"Vincent Padois",
"David Daney"
] | In this work, a robotic assistance strategy is developed to improve the safety in an artisanal task that involves a strong interaction between a machine-tool and an operator. Wood milling is chosen as a pilot task due to its importance in carpentry and its accidentogenic aspect. A physical model of the tooling process including a human is proposed and a simulator is thereafter developed to better ... |
Learning Shape-based Representation for Visual Localization in Extremely Changing Conditions | https://ieeexplore.ieee.org/document/9196842/ | [
"Hae-Gon Jeon",
"Sunghoon Im",
"Jean Oh",
"Martial Hebert",
"Hae-Gon Jeon",
"Sunghoon Im",
"Jean Oh",
"Martial Hebert"
] | Visual localization is an important task for applications such as navigation and augmented reality, but is a challenging problem when there are changes in scene appearances through day, seasons, or environments. In this paper, we present a convolutional neural network (CNN)-based approach for visual localization across normal to drastic appearance variations such as pre- and post-disaster cases. O... |
Trajectory Planning with Safety Guaranty for a Multirotor based on the Forward and Backward Reachability Analysis | https://ieeexplore.ieee.org/document/9196760/ | [
"Hoseong Seo",
"Clark Youngdong Son",
"Dongjae Lee",
"H. Jin Kim",
"Hoseong Seo",
"Clark Youngdong Son",
"Dongjae Lee",
"H. Jin Kim"
] | Planning a trajectory with guaranteed safety is a core part for a risk-free flight of a multirotor. If a trajectory planner only aims to ensure safety, it may generate trajectories which overly bypass risky regions and prevent the system from achieving specific missions. This work presents a robust trajectory planning algorithm which simultaneously guarantees the safety and reachability to the tar... |
A Hamilton-Jacobi Reachability-Based Framework for Predicting and Analyzing Human Motion for Safe Planning | https://ieeexplore.ieee.org/document/9197257/ | [
"Somil Bansal",
"Andrea Bajcsy",
"Ellis Ratner",
"Anca D. Dragan",
"Claire J. Tomlin",
"Somil Bansal",
"Andrea Bajcsy",
"Ellis Ratner",
"Anca D. Dragan",
"Claire J. Tomlin"
] | Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human behavior a priori is challenging, such models are often parameterized, enabling the robot to adapt predictions based on observations by maintaining a distribution over the model parameters. Although this enables data and p... |
Enhancing Privacy in Robotics via Judicious Sensor Selection | https://ieeexplore.ieee.org/document/9196983/ | [
"Stephen Eick",
"Annie I. Antón",
"Stephen Eick",
"Annie I. Antón"
] | Roboticists are grappling with how to address privacy in robot design at a time when regulatory frameworks around the world increasingly require systems to be engineered to preserve and protect privacy. This paper surveys the top robotics journals and conferences over the past four decades to identify contributions with respect to privacy in robot design. Our survey revealed that less than half of... |
Robust Model Predictive Shielding for Safe Reinforcement Learning with Stochastic Dynamics | https://ieeexplore.ieee.org/document/9196867/ | [
"Shuo Li",
"Osbert Bastani",
"Shuo Li",
"Osbert Bastani"
] | We propose a framework for safe reinforcement learning that can handle stochastic nonlinear dynamical systems. We focus on the setting where the nominal dynamics are known, and are subject to additive stochastic disturbances with known distribution. Our goal is to ensure the safety of a control policy trained using reinforcement learning, e.g., in a simulated environment. We build on the idea of m... |
Segregation of Heterogeneous Swarms of Robots in Curves | https://ieeexplore.ieee.org/document/9196851/ | [
"Edson B. Ferreira Filho",
"Luciano C. A. Pimenta",
"Edson B. Ferreira Filho",
"Luciano C. A. Pimenta"
] | This paper proposes a decentralized control strategy to reach segregation in heterogeneous robot swarms distributed in curves. The approach is based on a formation control algorithm applied to each robot and a heuristics to compute the distance between the groups, i.e. the distance from the beginning of the curve. We consider that robots can communicate through a fixed underlying topology and also... |
A Fast, Accurate, and Scalable Probabilistic Sample-Based Approach for Counting Swarm Size | https://ieeexplore.ieee.org/document/9196529/ | [
"Hanlin Wang",
"Michael Rubenstein",
"Hanlin Wang",
"Michael Rubenstein"
] | This paper describes a distributed algorithm for computing the number of robots in a swarm, only requiring communication with neighboring robots. The algorithm can adjust the estimated count when the number of robots in the swarm changes, such as the addition or removal of robots. Probabilistic guarantees are given, which show the accuracy of this method, and the trade-off between accuracy, speed,... |
Bayes Bots: Collective Bayesian Decision-Making in Decentralized Robot Swarms | https://ieeexplore.ieee.org/document/9196584/ | [
"Julia T. Ebert",
"Melvin Gauci",
"Frederik Mallmann-Trenn",
"Radhika Nagpal",
"Julia T. Ebert",
"Melvin Gauci",
"Frederik Mallmann-Trenn",
"Radhika Nagpal"
] | We present a distributed Bayesian algorithm for robot swarms to classify a spatially distributed feature of an environment. This type of "go/no-go" decision appears in applications where a group of robots must collectively choose whether to take action, such as determining if a farm field should be treated for pests. Previous bio-inspired approaches to decentralized decision-making in robotics lac... |
Supervisory Control of Robot Swarms Using Public Events | https://ieeexplore.ieee.org/document/9197418/ | [
"Yuri Kaszubowski Lopes",
"Stefan M. Trenkwalder",
"André B. Leal",
"Tony J. Dodd",
"Roderich Groß",
"Yuri Kaszubowski Lopes",
"Stefan M. Trenkwalder",
"André B. Leal",
"Tony J. Dodd",
"Roderich Groß"
] | Supervisory Control Theory (SCT) provides a formal framework for controlling discrete event systems. It has recently been used to generate correct-by-construction controllers for swarm robotics systems. Current SCT frameworks are limited, as they support only (private) events that are observable within the same robot. In this paper, we propose an extended SCT framework that incorporates (public) e... |
Automatic tool for Gazebo world construction: from a grayscale image to a 3D solid model | https://ieeexplore.ieee.org/document/9196621/ | [
"Bulat Abbyasov",
"Roman Lavrenov",
"Aufar Zakiev",
"Konstantin Yakovlev",
"Mikhail Svinin",
"Evgeni Magid",
"Bulat Abbyasov",
"Roman Lavrenov",
"Aufar Zakiev",
"Konstantin Yakovlev",
"Mikhail Svinin",
"Evgeni Magid"
] | Robot simulators provide an easy way for evaluation of new concepts and algorithms in a simulated physical environment reducing development time and cost. Therefore it is convenient to have a tool that quickly creates a 3D landscape from an arbitrary 2D image or 2D laser range finder data. This paper presents a new tool that automatically constructs such landscapes for Gazebo simulator. The tool c... |
A ROS Gazebo plugin to simulate ARVA sensors | https://ieeexplore.ieee.org/document/9196914/ | [
"Jonathan Cacace",
"Nicola Mimmo",
"Lorenzo Marconi",
"Jonathan Cacace",
"Nicola Mimmo",
"Lorenzo Marconi"
] | This paper addresses the problem to simulate ARVA sensors using ROS and Gazebo. ARVA is a French acronym which stands for Appareil de Recherche de Victims en Avalanche and represents the forefront technology adopted in Search & Rescue operations to localize victims of avalanches buried under the snow. The aim of this paper is to describe the mathematical and theoretical background of the transceiv... |
Is That a Chair? Imagining Affordances Using Simulations of an Articulated Human Body | https://ieeexplore.ieee.org/document/9197384/ | [
"Hongtao Wu",
"Deven Misra",
"Gregory S. Chirikjian",
"Hongtao Wu",
"Deven Misra",
"Gregory S. Chirikjian"
] | For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical interactions with the object. In this paper, we propose a novel method to provide robots with an ability to imagine object affordances using physical simulatio... |
Toward Sim-to-Real Directional Semantic Grasping | https://ieeexplore.ieee.org/document/9197310/ | [
"Shariq Iqbal",
"Jonathan Tremblay",
"Andy Campbell",
"Kirby Leung",
"Thang To",
"Jia Cheng",
"Erik Leitch",
"Duncan McKay",
"Stan Birchfield",
"Shariq Iqbal",
"Jonathan Tremblay",
"Andy Campbell",
"Kirby Leung",
"Thang To",
"Jia Cheng",
"Erik Leitch",
"Duncan McKay",
"Stan Birchfield"
] | We address the problem of directional semantic grasping, that is, grasping a specific object from a specific direction. We approach the problem using deep reinforcement learning via a double deep Q-network (DDQN) that learns to map downsampled RGB input images from a wrist-mounted camera to Q-values, which are then translated into Cartesian robot control commands via the cross-entropy method (CEM)... |
Inferring the Material Properties of Granular Media for Robotic Tasks | https://ieeexplore.ieee.org/document/9197063/ | [
"Carolyn Matl",
"Yashraj Narang",
"Ruzena Bajcsy",
"Fabio Ramos",
"Dieter Fox",
"Carolyn Matl",
"Yashraj Narang",
"Ruzena Bajcsy",
"Fabio Ramos",
"Dieter Fox"
] | Granular media (e.g., cereal grains, plastic resin pellets, and pills) are ubiquitous in robotics-integrated industries, such as agriculture, manufacturing, and pharmaceutical development. This prevalence mandates the accurate and efficient simulation of these materials. This work presents a software and hardware framework that automatically calibrates a fast physics simulator to accurately simula... |
KETO: Learning Keypoint Representations for Tool Manipulation | https://ieeexplore.ieee.org/document/9196971/ | [
"Zengyi Qin",
"Kuan Fang",
"Yuke Zhu",
"Li Fei-Fei",
"Silvio Savarese",
"Zengyi Qin",
"Kuan Fang",
"Yuke Zhu",
"Li Fei-Fei",
"Silvio Savarese"
] | We aim to develop an algorithm for robots to manipulate novel objects as tools for completing different task goals. An efficient and informative representation would facilitate the effectiveness and generalization of such algorithms. For this purpose, we present KETO, a framework of learning keypoint representations of tool-based manipulation. For each task, a set of task-specific keypoints is joi... |
Learning to See before Learning to Act: Visual Pre-training for Manipulation | https://ieeexplore.ieee.org/document/9197331/ | [
"Lin Yen-Chen",
"Andy Zeng",
"Shuran Song",
"Phillip Isola",
"Tsung-Yi Lin",
"Lin Yen-Chen",
"Andy Zeng",
"Shuran Song",
"Phillip Isola",
"Tsung-Yi Lin"
] | Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first trained on a passive vision task (i.e., the data distribution does not depend on the agent’s decisions), then adapted to perform an active manipulation task (i.e., ... |
Contact-based in-hand pose estimation using Bayesian state estimation and particle filtering | https://ieeexplore.ieee.org/document/9196640/ | [
"Felix von Drigalski",
"Shohei Taniguchi",
"Robert Lee",
"Takamitsu Matsubara",
"Masashi Hamaya",
"Kazutoshi Tanaka",
"Yoshihisa Ijiri",
"Felix von Drigalski",
"Shohei Taniguchi",
"Robert Lee",
"Takamitsu Matsubara",
"Masashi Hamaya",
"Kazutoshi Tanaka",
"Yoshihisa Ijiri"
] | In industrial assembly tasks, the position of an object grasped by the robot has to be known with high precision in order to insert or place it. In real applications, this problem is commonly solved by jigs that are specially produced for each part. However, they significantly limit flexibility and are prohibitive when the target parts change often, so a flexible method to localize parts with high... |
A Single Multi-Task Deep Neural Network with Post-Processing for Object Detection with Reasoning and Robotic Grasp Detection | https://ieeexplore.ieee.org/document/9197179/ | [
"Dongwon Park",
"Yonghyeok Seo",
"Dongju Shin",
"Jaesik Choi",
"Se Young Chun",
"Dongwon Park",
"Yonghyeok Seo",
"Dongju Shin",
"Jaesik Choi",
"Se Young Chun"
] | Applications of deep neural network (DNN) based object and grasp detections could be expanded significantly when the network output is processed by a high-level reasoning over relationship of objects. Recently, robotic grasp detection and object detection with reasoning have been investigated using DNNs. There have been efforts to combine these multitasks using separate networks so that robots can... |
Practical Persistence Reasoning in Visual SLAM | https://ieeexplore.ieee.org/document/9196913/ | [
"Zakieh Hashemifar",
"Karthik Dantu",
"Zakieh Hashemifar",
"Karthik Dantu"
] | Many existing SLAM approaches rely on the assumption of static environments for accurate performance. However, several robot applications require them to traverse repeatedly in semi-static or dynamic environments. There has been some recent research interest in designing persistence filters to reason about persistence in such scenarios. Our goal in this work is to incorporate such persistence reas... |
FlowFusion: Dynamic Dense RGB-D SLAM Based on Optical Flow | https://ieeexplore.ieee.org/document/9197349/ | [
"Tianwei Zhang",
"Huayan Zhang",
"Yang Li",
"Yoshihiko Nakamura",
"Lei Zhang",
"Tianwei Zhang",
"Huayan Zhang",
"Yang Li",
"Yoshihiko Nakamura",
"Lei Zhang"
] | Dynamic environments are challenging for visual SLAM since the moving objects occlude the static environment features and lead to wrong camera motion estimation. In this paper, we present a novel dense RGB-D SLAM solution that simultaneously accomplishes the dynamic/static segmentation and camera ego-motion estimation as well as the static background reconstructions. Our novelty is using optical f... |
Uncertainty Quantification with Statistical Guarantees in End-to-End Autonomous Driving Control | https://ieeexplore.ieee.org/document/9196844/ | [
"Rhiannon Michelmore",
"Matthew Wicker",
"Luca Laurenti",
"Luca Cardelli",
"Yarin Gal",
"Marta Kwiatkowska",
"Rhiannon Michelmore",
"Matthew Wicker",
"Luca Laurenti",
"Luca Cardelli",
"Yarin Gal",
"Marta Kwiatkowska"
] | Deep neural network controllers for autonomous driving have recently benefited from significant performance improvements, and have begun deployment in the real world. Prior to their widespread adoption, safety guarantees are needed on the controller behaviour that properly take account of the uncertainty within the model as well as sensor noise. Bayesian neural networks, which assume a prior over ... |
Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration | https://ieeexplore.ieee.org/document/9196537/ | [
"Ji Woong Kim",
"Changyan He",
"Muller Urias",
"Peter Gehlbach",
"Gregory D. Hager",
"Iulian Iordachita",
"Marin Kobilarov",
"Ji Woong Kim",
"Changyan He",
"Muller Urias",
"Peter Gehlbach",
"Gregory D. Hager",
"Iulian Iordachita",
"Marin Kobilarov"
] | A fundamental challenge in retinal surgery is safely navigating a surgical tool to a desired goal position on the retinal surface while avoiding damage to surrounding tissues, a procedure that typically requires tens-of-microns accuracy. In practice, the surgeon relies on depth-estimation skills to localize the tool-tip with respect to the retina in order to perform the tool-navigation task, which... |
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