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Underwater Image Super-Resolution using Deep Residual Multipliers | https://ieeexplore.ieee.org/document/9197213/ | [
"Md Jahidul Islam",
"Sadman Sakib Enan",
"Peigen Luo",
"Junaed Sattar",
"Md Jahidul Islam",
"Sadman Sakib Enan",
"Peigen Luo",
"Junaed Sattar"
] | We present a deep residual network-based generative model for single image super-resolution (SISR) of underwater imagery for use by autonomous underwater robots. We also provide an adversarial training pipeline for learning SISR from paired data. In order to supervise the training, we formulate an objective function that evaluates the perceptual quality of an image based on its global content, col... |
Nonlinear Synchronization Control for Short-Range Mobile Sensors Drifting in Geophysical Flows | https://ieeexplore.ieee.org/document/9196701/ | [
"Cong Wei",
"Herbert G. Tanner",
"M. Ani Hsieh",
"Cong Wei",
"Herbert G. Tanner",
"M. Ani Hsieh"
] | This paper presents a synchronization controller for mobile sensors that are minimally actuated and can only communicate with each other over a very short range. This work is motivated by ocean monitoring applications where large-scale sensor networks consisting of drifters with minimal actuation capabilities, i.e., active drifters, are employed. We assume drifters are tasked to monitor regions co... |
Energy-based Safety in Series Elastic Actuation | https://ieeexplore.ieee.org/document/9197448/ | [
"Wesley Roozing",
"Stefan S. Groothuis",
"Stefano Stramigioli",
"Wesley Roozing",
"Stefan S. Groothuis",
"Stefano Stramigioli"
] | This work presents the concept of energy-based safety for series-elastic actuation. Generic actuation passivity and safety is treated, defining several energy storage and power flow properties related to passivity. Safe behaviour is not guaranteed by passivity, but can be guaranteed by energy and power limits that adapt the nominal behaviour of an impedance controller. A discussion on power flows ... |
Safe high impedance control of a series-elastic actuator with a disturbance observer | https://ieeexplore.ieee.org/document/9197402/ | [
"Kevin Haninger",
"Abner Asignacion",
"Sehoon Oh",
"Kevin Haninger",
"Abner Asignacion",
"Sehoon Oh"
] | In many series-elastic actuator applications, the ability to safely render a wide range of impedance is important. Advanced torque control techniques such as the disturbance observer (DOB) can improve torque tracking performance, but their impact on safe impedance range is not established. Here, safety is defined with load port passivity, and passivity conditions are developed for two variants of ... |
Variable Stiffness Springs for Energy Storage Applications | https://ieeexplore.ieee.org/document/9197245/ | [
"Sung Y. Kim",
"Tiange Zhang",
"David J. Braun",
"Sung Y. Kim",
"Tiange Zhang",
"David J. Braun"
] | Theory suggests an inverse relation between the stiffness and the energy storage capacity for linear helical springs: reducing the active length of the spring by 50% increases its stiffness by 100%, but reduces its energy storage capacity by 50%. State-of-the-art variable stiffness actuators used to drive robots are characterized by a similar inverse relation, implying reduced energy storage capac... |
Parallel-motion Thick Origami Structure for Robotic Design | https://ieeexplore.ieee.org/document/9197339/ | [
"Shuai Liu",
"Huajie Wu",
"Yang Yang",
"Michael Yu Wang",
"Shuai Liu",
"Huajie Wu",
"Yang Yang",
"Michael Yu Wang"
] | Structures with origami design enable objects to transform into various three-dimensional shapes. Traditionally origami structures are designed with zero-thickness flat paper sheets. However, the thickness and intersection of origami facets are non-negligible in most cases, uniquely when integrating origami design with robotic design because of the more efficient force transfer between thick plate... |
Real-time Simulation of Non-Deformable Continuous Tracks with Explicit Consideration of Friction and Grouser Geometry | https://ieeexplore.ieee.org/document/9196776/ | [
"Yoshito Okada",
"Shotaro Kojima",
"Kazunori Ohno",
"Satoshi Tadokoro",
"Yoshito Okada",
"Shotaro Kojima",
"Kazunori Ohno",
"Satoshi Tadokoro"
] | In this study, we developed a real-time simulation method for non-deformable continuous tracks having grousers for rough terrain by explicitly considering the collision and friction between the tracks and the ground. In the proposed simulation method, an arbitrary trajectory of a track is represented with multiple linear and circular segments, each of which is a link connected to a robot body. The... |
Test Your SLAM! The SubT-Tunnel dataset and metric for mapping | https://ieeexplore.ieee.org/document/9197156/ | [
"John G. Rogers",
"Jason M. Gregory",
"Jonathan Fink",
"Ethan Stump",
"John G. Rogers",
"Jason M. Gregory",
"Jonathan Fink",
"Ethan Stump"
] | This paper presents an approach and introduces new open-source tools that can be used to evaluate robotic mapping algorithms. Also described is an extensive subterranean mine rescue dataset based upon the DARPA Subterranean (SubT) challenge including professionally surveyed ground truth. Finally, some commonly available approaches are evaluated using this metric. |
Uncertainty Measured Markov Decision Process in Dynamic Environments | https://ieeexplore.ieee.org/document/9197064/ | [
"Sourav Dutta",
"Banafsheh Rekabdar",
"Chinwe Ekenna",
"Sourav Dutta",
"Banafsheh Rekabdar",
"Chinwe Ekenna"
] | Successful robot path planning is challenging in the presence of visual occlusions and moving targets. Classical methods to solve this problem have used visioning and perception algorithms in addition to partially observable markov decision processes to aid in path planning for pursuit-evasion and robot tracking. We present a predictive path planning process that measures and utilizes the uncertai... |
Natural Scene Facial Expression Recognition with Dimension Reduction Network | https://ieeexplore.ieee.org/document/9197547/ | [
"Shenhua Hu",
"Yiming Hu",
"Jianquan Li",
"Xianlei Long",
"Mengjuan Chen",
"Qingyi Gu",
"Shenhua Hu",
"Yiming Hu",
"Jianquan Li",
"Xianlei Long",
"Mengjuan Chen",
"Qingyi Gu"
] | As an external manifestation of human emotions, expression recognition plays an important role in human-computer interaction. Although existing expression recognition methods performs perfectly on constrained frontal faces, there are still many challenges in expression recognition in natural scenes due to different unrestricted conditions. Expression classification belongs to a pattern recognition... |
Hand Pose Estimation for Hand-Object Interaction Cases using Augmented Autoencoder | https://ieeexplore.ieee.org/document/9197299/ | [
"Shile Li",
"Haojie Wang",
"Dongheui Lee",
"Shile Li",
"Haojie Wang",
"Dongheui Lee"
] | Hand pose estimation with objects is challenging due to object occlusion and the lack of large annotated datasets. To tackle these issues, we propose an Augmented Autoencoder based deep learning method using augmented clean hand data. Our method takes 3D point cloud of a hand with an augmented object as input and encodes the input to latent representation of the hand. From the latent representatio... |
Accurate detection and 3D localization of humans using a novel YOLO-based RGB-D fusion approach and synthetic training data | https://ieeexplore.ieee.org/document/9196899/ | [
"Timm Linder",
"Kilian Y. Pfeiffer",
"Narunas Vaskevicius",
"Robert Schirmer",
"Kai O. Arras",
"Timm Linder",
"Kilian Y. Pfeiffer",
"Narunas Vaskevicius",
"Robert Schirmer",
"Kai O. Arras"
] | While 2D object detection has made significant progress, robustly localizing objects in 3D space under presence of occlusion is still an unresolved issue. Our focus in this work is on real-time detection of human 3D centroids in RGB-D data. We propose an image-based detection approach which extends the YOLO v3 architecture with a 3D centroid loss and mid-level feature fusion to exploit complementa... |
Wide-range Load Sensor Using Vacuum Sealed Quartz Crystal Resonator for Simultaneous Biosignals Measurement on Bed | https://ieeexplore.ieee.org/document/9196533/ | [
"Yuichi Murozaki",
"Fumihito Arai",
"Yuichi Murozaki",
"Fumihito Arai"
] | Monitoring of biosignals on a daily basis plays important roles for the health management of elderly. The monitoring system for the daily life, the system should not require the subjects to take special effort like wearing a sensor. We propose biosignals measurement using wide-range load sensor on the bed. The sensing system can detect the body weight, heartbeat and respiration simultaneously by j... |
Joint Pedestrian Detection and Risk-level Prediction with Motion-Representation-by-Detection | https://ieeexplore.ieee.org/document/9197399/ | [
"Hirokatsu Kataoka",
"Teppei Suzuki",
"Kodai Nakashima",
"Yutaka Satoh",
"Yoshimitsu Aoki",
"Hirokatsu Kataoka",
"Teppei Suzuki",
"Kodai Nakashima",
"Yutaka Satoh",
"Yoshimitsu Aoki"
] | The paper presents a pedestrian near-miss detector with temporal analysis that provides both pedestrian detection and risk-level predictions which are demonstrated on a self-collected database. Our work makes three primary contributions: (i) The framework of pedestrian near-miss detection is proposed by providing both a pedestrian detection and risk-level assignment. Specifically, we have created ... |
Long-term Place Recognition through Worst-case Graph Matching to Integrate Landmark Appearances and Spatial Relationships | https://ieeexplore.ieee.org/document/9196906/ | [
"Peng Gao",
"Hao Zhang",
"Peng Gao",
"Hao Zhang"
] | Place recognition is an important component for simultaneously localization and mapping in a variety of robotics applications. Recently, several approaches using landmark information to represent a place showed promising performance to address long-term environment changes. However, previous approaches do not explicitly consider changes of the landmarks, i,e., old landmarks may disappear and new o... |
Linear RGB-D SLAM for Atlanta World | https://ieeexplore.ieee.org/document/9196561/ | [
"Kyungdon Joo",
"Tae-Hyun Oh",
"Francois Rameau",
"Jean-Charles Bazin",
"In So Kweon",
"Kyungdon Joo",
"Tae-Hyun Oh",
"Francois Rameau",
"Jean-Charles Bazin",
"In So Kweon"
] | We present a new linear method for RGB-D based simultaneous localization and mapping (SLAM). Compared to existing techniques relying on the Manhattan world assumption defined by three orthogonal directions, our approach is designed for the more general scenario of the Atlanta world. It consists of a vertical direction and a set of horizontal directions orthogonal to the vertical direction and thus... |
Stereo Visual Inertial Odometry with Online Baseline Calibration | https://ieeexplore.ieee.org/document/9197581/ | [
"Yunfei Fan",
"Ruofu Wang",
"Yinian Mao",
"Yunfei Fan",
"Ruofu Wang",
"Yinian Mao"
] | Stereo-vision devices have rigorous requirements for extrinsic parameter calibration. In Stereo Visual Inertial Odometry (VIO), inaccuracy in or changes to camera extrinsic parameters may lead to serious degradation in estimation performance. In this manuscript, we propose an online calibration method for stereo VIO extrinsic parameters correction. In particular, we focus on Multi-State Constraint... |
Lidar-Monocular Visual Odometry using Point and Line Features | https://ieeexplore.ieee.org/document/9196613/ | [
"Shi-Sheng Huang",
"Ze-Yu Ma",
"Tai-Jiang Mu",
"Hongbo Fu",
"Shi-Min Hu",
"Shi-Sheng Huang",
"Ze-Yu Ma",
"Tai-Jiang Mu",
"Hongbo Fu",
"Shi-Min Hu"
] | We introduce a novel lidar-monocular visual odometry approach using point and line features. Compared to previous point-only based lidar-visual odometry, our approach leverages more environment structure information by introducing both point and line features into pose estimation. We provide a robust method for point and line depth extraction, and formulate the extracted depth as prior factors for... |
Probabilistic Data Association via Mixture Models for Robust Semantic SLAM | https://ieeexplore.ieee.org/document/9197382/ | [
"Kevin J. Doherty",
"David P. Baxter",
"Edward Schneeweiss",
"John J. Leonard",
"Kevin J. Doherty",
"David P. Baxter",
"Edward Schneeweiss",
"John J. Leonard"
] | Modern robotic systems sense the environment geometrically, through sensors like cameras, lidar, and sonar, as well as semantically, often through visual models learned from data, such as object detectors. We aim to develop robots that can use all of these sources of information for reliable navigation, but each is corrupted by noise. Rather than assume that object detection will eventually achiev... |
Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy | https://ieeexplore.ieee.org/document/9197003/ | [
"Yipu Zhao",
"Justin S. Smith",
"Sambhu H. Karumanchi",
"Patricio A. Vela",
"Yipu Zhao",
"Justin S. Smith",
"Sambhu H. Karumanchi",
"Patricio A. Vela"
] | Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of SLAM systems. In this paper, we raise the question on the importance of visual estimation latency in closed-loop navigation tasks, such as accurate trajectory tra... |
PointAtrousGraph: Deep Hierarchical Encoder-Decoder with Point Atrous Convolution for Unorganized 3D Points | https://ieeexplore.ieee.org/document/9197499/ | [
"Liang Pan",
"Chee-Meng Chew",
"Gim Hee Lee",
"Liang Pan",
"Chee-Meng Chew",
"Gim Hee Lee"
] | Motivated by the success of encoding multi-scale contextual information for image analysis, we propose our PointAtrousGraph (PAG) - a deep permutation-invariant hierarchical encoder-decoder for efficiently exploiting multi-scale edge features in point clouds. Our PAG is constructed by several novel modules, such as Point Atrous Convolution (PAC), Edgepreserved Pooling (EP) and Edge-preserved Unpoo... |
Learning error models for graph SLAM | https://ieeexplore.ieee.org/document/9196864/ | [
"Christophe Reymann",
"Simon Lacroix",
"Christophe Reymann",
"Simon Lacroix"
] | Following recent developments, this paper investigates the possibility to predict uncertainty models for monocular graph SLAM using topological features of the problem. An architecture to learn relative (i.e. inter-keyframe) uncertainty models using the resistance distance in the covisibility graph is presented. The proposed architecture is applied to simulated UAV coverage path planning trajector... |
SMArT: Training Shallow Memory-aware Transformers for Robotic Explainability | https://ieeexplore.ieee.org/document/9196653/ | [
"Marcella Cornia",
"Lorenzo Baraldi",
"Rita Cucchiara",
"Marcella Cornia",
"Lorenzo Baraldi",
"Rita Cucchiara"
] | The ability to generate natural language explanations conditioned on the visual perception is a crucial step towards autonomous agents which can explain themselves and communicate with humans. While the research efforts in image and video captioning are giving promising results, this is often done at the expense of the computational requirements of the approaches, limiting their applicability to r... |
A 3D-Deep-Learning-based Augmented Reality Calibration Method for Robotic Environments using Depth Sensor Data | https://ieeexplore.ieee.org/document/9197155/ | [
"Linh Kästner",
"Vlad Catalin Frasineanu",
"Jens Lambrecht",
"Linh Kästner",
"Vlad Catalin Frasineanu",
"Jens Lambrecht"
] | Augmented Reality and mobile robots are gaining increased attention within industries due to the high potential to make processes cost and time efficient. To facilitate augmented reality, a calibration between the Augmented Reality device and the environment is necessary. This is a challenge when dealing with mobile robots due to the mobility of all entities making the environment dynamic. On this... |
Adversarial Feature Training for Generalizable Robotic Visuomotor Control | https://ieeexplore.ieee.org/document/9197505/ | [
"Xi Chen",
"Ali Ghadirzadeh",
"Mårten Björkman",
"Patric Jensfelt",
"Xi Chen",
"Ali Ghadirzadeh",
"Mårten Björkman",
"Patric Jensfelt"
] | Deep reinforcement learning (RL) has enabled training action-selection policies, end-to-end, by learning a function which maps image pixels to action outputs. However, it's application to visuomotor robotic policy training has been limited because of the challenge of large-scale data collection when working with physical hardware. A suitable visuomotor policy should perform well not just for the t... |
Efficient Bimanual Manipulation Using Learned Task Schemas | https://ieeexplore.ieee.org/document/9196958/ | [
"Rohan Chitnis",
"Shubham Tulsiani",
"Saurabh Gupta",
"Abhinav Gupta",
"Rohan Chitnis",
"Shubham Tulsiani",
"Saurabh Gupta",
"Abhinav Gupta"
] | We address the problem of effectively composing skills to solve sparse-reward tasks in the real world. Given a set of parameterized skills (such as exerting a force or doing a top grasp at a location), our goal is to learn policies that invoke these skills to efficiently solve such tasks. Our insight is that for many tasks, the learning process can be decomposed into learning a state-independent t... |
Real-Time UAV Path Planning for Autonomous Urban Scene Reconstruction | https://ieeexplore.ieee.org/document/9196558/ | [
"Qi Kuang",
"Jinbo Wu",
"Jia Pan",
"Bin Zhou",
"Qi Kuang",
"Jinbo Wu",
"Jia Pan",
"Bin Zhou"
] | Unmanned aerial vehicles (UAVs) are frequently used for large-scale scene mapping and reconstruction. However, in most cases, drones are operated manually, which should be more effective and intelligent. In this article, we present a method of real-time UAV path planning for autonomous urban scene reconstruction. Considering the obstacles and time costs, we utilize the top view to generate the ini... |
A Fast Marching Gradient Sampling Strategy for Motion Planning using an Informed Certificate Set | https://ieeexplore.ieee.org/document/9196685/ | [
"Shenglei Shi",
"Jiankui Chen",
"Youlun Xiong",
"Shenglei Shi",
"Jiankui Chen",
"Youlun Xiong"
] | We present a novel fast marching gradient sampling strategy to accelerate the convergence speed of sampling-based motion planning algorithms. This strategy is based on an informed certificate set which consists of the robot states with exact collision status as well as the minimum distance and the gradient to the nearest obstacle. The informed certificate set covers almost the whole planning space... |
Privacy-Aware UAV Flights through Self-Configuring Motion Planning | https://ieeexplore.ieee.org/document/9197564/ | [
"Yixing Luo",
"Yijun Yu",
"Zhi Jin",
"Yao Li",
"Zuohua Ding",
"Yuan Zhou",
"Yang Liu",
"Yixing Luo",
"Yijun Yu",
"Zhi Jin",
"Yao Li",
"Zuohua Ding",
"Yuan Zhou",
"Yang Liu"
] | During flights, an unmanned aerial vehicle (UAV) may not be allowed to move across certain areas due to soft constraints such as privacy restrictions. Current methods on self-adaption focus mostly on motion planning such that the trajectory does not trespass predetermined restricted areas. When the environment is cluttered with uncertain obstacles, however, these motion planning algorithms are not... |
Improved C-Space Exploration and Path Planning for Robotic Manipulators Using Distance Information | https://ieeexplore.ieee.org/document/9196920/ | [
"Bakir Lacevic",
"Dinko Osmankovic",
"Bakir Lacevic",
"Dinko Osmankovic"
] | We present a simple method to quickly explore C-spaces of robotic manipulators and thus facilitate path planning. The method is based on a novel geometrical structure called generalized bur. It is a star-like tree, rooted at a given point in free C-space, with an arbitrary number of guaranteed collision-free edges computed using distance information from the workspace and simple forward kinematics... |
Tuning-Free Contact-Implicit Trajectory Optimization | https://ieeexplore.ieee.org/document/9196805/ | [
"Aykut Özgun Önol",
"Radu Corcodel",
"Philip Long",
"Taşkın Padır",
"Aykut Özgun Önol",
"Radu Corcodel",
"Philip Long",
"Taşkın Padır"
] | We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is achieved by using a relaxed contact model along with an automatic penalty adjustment loop for suppressing the relaxation. Moreover, the structure of the problem en... |
Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths | https://ieeexplore.ieee.org/document/9196996/ | [
"Boyu Zhou",
"Fei Gao",
"Jie Pan",
"Shaojie Shen",
"Boyu Zhou",
"Fei Gao",
"Jie Pan",
"Shaojie Shen"
] | Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper, we propose a replanning method based on GTO addressing this issue systematically. A path-guided optimization (PGO) approach is devised to tackle infeasible loc... |
Learning-based Path Planning for Autonomous Exploration of Subterranean Environments | https://ieeexplore.ieee.org/document/9196662/ | [
"Russell Reinhart",
"Tung Dang",
"Emily Hand",
"Christos Papachristos",
"Kostas Alexis",
"Russell Reinhart",
"Tung Dang",
"Emily Hand",
"Christos Papachristos",
"Kostas Alexis"
] | In this work we present a new methodology on learning-based path planning for autonomous exploration of subterranean environments using aerial robots. Utilizing a recently proposed graph-based path planner as a "training expert" and following an approach relying on the concepts of imitation learning, we derive a trained policy capable of guiding the robot to autonomously explore underground mine d... |
Visual-Inertial Telepresence for Aerial Manipulation | https://ieeexplore.ieee.org/document/9197394/ | [
"Jongseok Lee",
"Ribin Balachandran",
"Yuri S. Sarkisov",
"Marco De Stefano",
"Andre Coelho",
"Kashmira Shinde",
"Min Jun Kim",
"Rudolph Triebel",
"Konstantin Kondak",
"Jongseok Lee",
"Ribin Balachandran",
"Yuri S. Sarkisov",
"Marco De Stefano",
"Andre Coelho",
"Kashmira Shinde",
"Min Jun Kim",
"Rudolph Triebel",
"Konstantin Kondak"
] | This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in real-time. We achieve this by utilizing onboard visual and inertial sensors, an object tracking algorithm and a pregenerated object database. As the virtual reality h... |
Distributed Rotor-Based Vibration Suppression for Flexible Object Transport and Manipulation | https://ieeexplore.ieee.org/document/9196908/ | [
"Hyunsoo Yang",
"Min-Seong Kim",
"Dongjun Lee",
"Hyunsoo Yang",
"Min-Seong Kim",
"Dongjun Lee"
] | The RVM (Robot-based Vibration Suppression Modules) is proposed for the manipulation and transport of a large flexible object. Since the RVM is easily attachable/detachable to the object, this RVM allows distributing over the manipulated object so that it is scalable to the object size. The composition of the system is partly motivated by the MAGMaS (Multiple Aerial-Ground Manipulator System) [1]-... |
Aerial Manipulation using Model Predictive Control for Opening a Hinged Door | https://ieeexplore.ieee.org/document/9197524/ | [
"Dongjae Lee",
"Hoseong Seo",
"Dabin Kim",
"H. Jin Kim",
"Dongjae Lee",
"Hoseong Seo",
"Dabin Kim",
"H. Jin Kim"
] | Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial manipulation, interaction with moving structures should also be considered. In this paper, a multirotor-based aerial manipulator opening a daily-life moving structure, a hinged door, is presented. In order to address the con... |
Integrated Motion Planner for Real-time Aerial Videography with a Drone in a Dense Environment | https://ieeexplore.ieee.org/document/9196703/ | [
"Boseong Jeon",
"Yunwoo Lee",
"H. Jin Kim",
"Boseong Jeon",
"Yunwoo Lee",
"H. Jin Kim"
] | This work suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module which can be applied to dense environments and 2) a hierarchical chasing planner. Leveraging covariant optimization, the prediction module estimates the future mo... |
FG-GMM-based Interactive Behavior Estimation for Autonomous Driving Vehicles in Ramp Merging Control | https://ieeexplore.ieee.org/document/9197218/ | [
"Yiwei Lyu",
"Chiyu Dong",
"John M. Dolan",
"Yiwei Lyu",
"Chiyu Dong",
"John M. Dolan"
] | Interactive behavior is important for autonomous driving vehicles, especially for scenarios like ramp merging which require significant social interaction between autonomous driving vehicles and human-driven cars. This paper enhances our previous Probabilistic Graphical Model (PGM) merging control model for the interactive behavior of autonomous driving vehicles. To better estimate the interactive... |
Cooperative Perception and Localization for Cooperative Driving | https://ieeexplore.ieee.org/document/9197463/ | [
"Aaron Miller",
"Kyungzun Rim",
"Parth Chopra",
"Paritosh Kelkar",
"Maxim Likhachev",
"Aaron Miller",
"Kyungzun Rim",
"Parth Chopra",
"Paritosh Kelkar",
"Maxim Likhachev"
] | Fully autonomous vehicles are expected to share the road with less advanced vehicles for a significant period of time. Furthermore, an increasing number of vehicles on the road are equipped with a variety of low-fidelity sensors which provide some perception and localization data, but not at a high enough quality for full autonomy. In this paper, we develop a perception and localization system tha... |
Learning to Drive Off Road on Smooth Terrain in Unstructured Environments Using an On-Board Camera and Sparse Aerial Images | https://ieeexplore.ieee.org/document/9196879/ | [
"Travis Manderson",
"Stefan Wapnick",
"David Meger",
"Gregory Dudek",
"Travis Manderson",
"Stefan Wapnick",
"David Meger",
"Gregory Dudek"
] | We present a method for learning to drive on smooth terrain while simultaneously avoiding collisions in challenging off-road and unstructured outdoor environments using only visual inputs. Our approach applies a hybrid model-based and model-free reinforcement learning method that is entirely self-supervised in labeling terrain roughness and collisions using on-board sensors. Notably, we provide bo... |
RoadTrack: Realtime Tracking of Road Agents in Dense and Heterogeneous Environments | https://ieeexplore.ieee.org/document/9196612/ | [
"Rohan Chandra",
"Uttaran Bhattacharya",
"Tanmay Randhavane",
"Aniket Bera",
"Dinesh Manocha",
"Rohan Chandra",
"Uttaran Bhattacharya",
"Tanmay Randhavane",
"Aniket Bera",
"Dinesh Manocha"
] | We present a realtime tracking algorithm, Road-Track, to track heterogeneous road-agents in dense traffic videos. Our approach is designed for dense traffic scenarios that consist of different road-agents such as pedestrians, two-wheelers, cars, buses, etc. sharing the road. We use the tracking-by-detection approach where we track a road-agent by matching the appearance or bounding box region in t... |
Association-Free Multilateration Based on Times of Arrival | https://ieeexplore.ieee.org/document/9197455/ | [
"Daniel Frisch",
"Uwe D. Hanebeck",
"Daniel Frisch",
"Uwe D. Hanebeck"
] | Multilateration systems reconstruct the location of a target that transmits electromagnetic or acoustic signals. The employed measurements for localization are the times of arrival (TOAs) of the transmitted signal, measured by a number of spatially distributed receivers at known positions. We present a novel multilateration algorithm to localize multiple targets that transmit indistinguishable sig... |
Adversarial Feature Disentanglement for Place Recognition Across Changing Appearance | https://ieeexplore.ieee.org/document/9196518/ | [
"Li Tang",
"Yue Wang",
"Qianhui Luo",
"Xiaqing Ding",
"Rong Xiong",
"Li Tang",
"Yue Wang",
"Qianhui Luo",
"Xiaqing Ding",
"Rong Xiong"
] | When robots move autonomously for long-term, varied appearance such as the transition from day to night and seasonal variation brings challenges to visual place recognition. Defining an appearance condition (e.g. a season, a kind of weather) as a domain, we consider that the desired representation for place recognition (i) should be domain-unrelated so that images from different time can be matche... |
A Fast and Accurate Solution for Pose Estimation from 3D Correspondences | https://ieeexplore.ieee.org/document/9197023/ | [
"Lipu Zhou",
"Shengze Wang",
"Michael Kaess",
"Lipu Zhou",
"Shengze Wang",
"Michael Kaess"
] | Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a fast and accurate solution for the least-squares problem of this task. Previous works mainly focus on studying the way to find the global minimizer of the least-squares problem. However, existing wor... |
Ground Texture Based Localization Using Compact Binary Descriptors | https://ieeexplore.ieee.org/document/9197221/ | [
"Jan Fabian Schmid",
"Stephan F. Simon",
"Rudolf Mester",
"Jan Fabian Schmid",
"Stephan F. Simon",
"Rudolf Mester"
] | Ground texture based localization is a promising approach to achieve high-accuracy positioning of vehicles. We present a self-contained method that can be used for global localization as well as for subsequent local localization updates, i.e. it allows a robot to localize without any knowledge of its current whereabouts, but it can also take advantage of a prior pose estimate to reduce computation... |
Reliable Data Association for Feature-Based Vehicle Localization using Geometric Hashing Methods | https://ieeexplore.ieee.org/document/9196601/ | [
"Isabell Hofstetter",
"Michael Sprunk",
"Florian Ries",
"Martin Haueis",
"Isabell Hofstetter",
"Michael Sprunk",
"Florian Ries",
"Martin Haueis"
] | Reliable data association represents a main challenge of feature-based vehicle localization and is the key to integrity of localization. Independent of the type of features used, incorrect associations between detected and mapped features will provide erroneous position estimates. Only if the uniqueness of a local environment is represented by the features that are stored in the map, the reliabili... |
Context-Aware Task Execution Using Apprenticeship Learning | https://ieeexplore.ieee.org/document/9197476/ | [
"Ahmed Faisal Abdelrahman",
"Alex Mitrevski",
"Paul G. Plöger",
"Ahmed Faisal Abdelrahman",
"Alex Mitrevski",
"Paul G. Plöger"
] | An essential measure of autonomy in assistive service robots is adaptivity to the various contexts of human-oriented tasks, which are subject to subtle variations in task parameters that determine optimal behaviour. In this work, we propose an apprenticeship learning approach to achieving context-aware action generalization on the task of robot-to-human object hand-over. The procedure combines lea... |
Hierarchical Interest-Driven Goal Babbling for Efficient Bootstrapping of Sensorimotor skills | https://ieeexplore.ieee.org/document/9196763/ | [
"Rania Rayyes",
"Heiko Donat",
"Jochen Steil",
"Rania Rayyes",
"Heiko Donat",
"Jochen Steil"
] | We propose a novel hierarchical online learning scheme for fast and efficient bootstrapping of sensorimotor skills. Our scheme permits rapid data-driven robot model learning in a "learning while behaving" fashion. It is updated continuously to adapt to time-dependent changes and driven by an intrinsic motivation signal. It utilizes an online associative radial basis function network, which is the ... |
Robot-Supervised Learning for Object Segmentation | https://ieeexplore.ieee.org/document/9196543/ | [
"Victoria Florence",
"Jason J. Corso",
"Brent Griffin",
"Victoria Florence",
"Jason J. Corso",
"Brent Griffin"
] | To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the price of human annotators labeling many training examples. This paper addresses the problem of extending learning-based segmentation methods to robotics applicati... |
Gradient and Log-based Active Learning for Semantic Segmentation of Crop and Weed for Agricultural Robots | https://ieeexplore.ieee.org/document/9196722/ | [
"Rasha Sheikh",
"Andres Milioto",
"Philipp Lottes",
"Cyrill Stachniss",
"Maren Bennewitz",
"Thomas Schultz",
"Rasha Sheikh",
"Andres Milioto",
"Philipp Lottes",
"Cyrill Stachniss",
"Maren Bennewitz",
"Thomas Schultz"
] | Annotated datasets are essential for supervised learning. However, annotating large datasets is a tedious and time-intensive task. This paper addresses active learning in the context of semantic segmentation with the goal of reducing the human labeling effort. Our application is agricultural robotics and we focus on the task of distinguishing between crop and weed plants from image data. A key cha... |
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion | https://ieeexplore.ieee.org/document/9196727/ | [
"Teguh Santoso Lembono",
"Carlos Mastalli",
"Pierre Fernbach",
"Nicolas Mansard",
"Sylvain Calinon",
"Teguh Santoso Lembono",
"Carlos Mastalli",
"Pierre Fernbach",
"Nicolas Mansard",
"Sylvain Calinon"
] | In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consistent whole-body trajectory to be stored as the memory of motion. The learning problem is formulated as a regression problem to predict a single-ste... |
Feedback Linearization for Uncertain Systems via Reinforcement Learning | https://ieeexplore.ieee.org/document/9197158/ | [
"Tyler Westenbroek",
"David Fridovich-Keil",
"Eric Mazumdar",
"Shreyas Arora",
"Valmik Prabhu",
"S. Shankar Sastry",
"Claire J. Tomlin",
"Tyler Westenbroek",
"David Fridovich-Keil",
"Eric Mazumdar",
"Shreyas Arora",
"Valmik Prabhu",
"S. Shankar Sastry",
"Claire J. Tomlin"
] | We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a technique from nonlinear control which renders the input-output dynamics of a nonlinear plant linear under application of an appropriate feedback controller. Once a lin... |
Multi-Task Recurrent Neural Network for Surgical Gesture Recognition and Progress Prediction | https://ieeexplore.ieee.org/document/9197301/ | [
"Beatrice van Amsterdam",
"Matthew J. Clarkson",
"Danail Stoyanov",
"Beatrice van Amsterdam",
"Matthew J. Clarkson",
"Danail Stoyanov"
] | Surgical gesture recognition is important for surgical data science and computer-aided intervention. Even with robotic kinematic information, automatically segmenting surgical steps presents numerous challenges because surgical demonstrations are characterized by high variability in style, duration and order of actions. In order to extract discriminative features from the kinematic signals and boo... |
Neural Network based Inverse Dynamics Identification and External Force Estimation on the da Vinci Research Kit | https://ieeexplore.ieee.org/document/9197445/ | [
"Nural Yilmaz",
"Jie Ying Wu",
"Peter Kazanzides",
"Ugur Tumerdem",
"Nural Yilmaz",
"Jie Ying Wu",
"Peter Kazanzides",
"Ugur Tumerdem"
] | Most current surgical robotic systems lack the ability to sense tool/tissue interaction forces, which motivates research in methods to estimate these forces from other available measurements, primarily joint torques. These methods require the internal joint torques, due to the robot inverse dynamics, to be subtracted from the measured joint torques. This paper presents the use of neural networks t... |
Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations | https://ieeexplore.ieee.org/document/9196562/ | [
"Oliwier Melon",
"Mathieu Geisert",
"David Surovik",
"Ioannis Havoutis",
"Maurice Fallon",
"Oliwier Melon",
"Mathieu Geisert",
"David Surovik",
"Ioannis Havoutis",
"Maurice Fallon"
] | Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a longer time horizon may be necessary when navigating complex terrain. A recently-developed framework, Trajectory Optimization for Walking Robots (TOWR), computes... |
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics | https://ieeexplore.ieee.org/document/9196903/ | [
"Angelo Bratta",
"Romeo Orsolino",
"Michele Focchi",
"Victor Barasuol",
"Giovanni Gerardo Muscolo",
"Claudio Semini",
"Angelo Bratta",
"Romeo Orsolino",
"Michele Focchi",
"Victor Barasuol",
"Giovanni Gerardo Muscolo",
"Claudio Semini"
] | Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an approximate relationship between joint-torque limits and ... |
Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot | https://ieeexplore.ieee.org/document/9197407/ | [
"Vignesh Sushrutha Raghavan",
"Dimitrios Kanoulas",
"Darwin G. Caldwell",
"Nikos G. Tsagarakis",
"Vignesh Sushrutha Raghavan",
"Dimitrios Kanoulas",
"Darwin G. Caldwell",
"Nikos G. Tsagarakis"
] | Hybrid legged-wheeled robots such as the CEN-TAURO, are capable of varying their footprint polygon to carry out various agile motions. This property can be advantageous for wheeled-only planning in cluttered spaces, which is our focus. In this paper, we present an improved algorithm that builds upon our previously introduced preliminary footprint varying A* planner, which was based on the rectangu... |
Bounded haptic teleoperation of a quadruped robot’s foot posture for sensing and manipulation | https://ieeexplore.ieee.org/document/9197501/ | [
"Guiyang Xin",
"Joshua Smith",
"David Rytz",
"Wouter Wolfslag",
"Hsiu-Chin Lin",
"Michael Mistry",
"Guiyang Xin",
"Joshua Smith",
"David Rytz",
"Wouter Wolfslag",
"Hsiu-Chin Lin",
"Michael Mistry"
] | This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso is employed to assist foot posture control via a hierarchical whole-body controller. The foot and torso postures are controlled by two analytical Cartesian imp... |
Pinbot: A Walking Robot with Locking Pin Arrays for Passive Adaptability to Rough Terrains | https://ieeexplore.ieee.org/document/9197342/ | [
"Seonghoon Noh",
"Aaron M. Dollar",
"Seonghoon Noh",
"Aaron M. Dollar"
] | To date, many control strategies for legged robots have been proposed for stable locomotion over rough and unstructured terrains. However, these approaches require sensing information throughout locomotion, which may be noisy or unavailable at times. An alternative solution to rough terrain locomotion is a legged robot design that can passively adapt to the variations in the terrain without requir... |
Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running | https://ieeexplore.ieee.org/document/9197049/ | [
"Kevin Green",
"Ross L. Hatton",
"Jonathan Hurst",
"Kevin Green",
"Ross L. Hatton",
"Jonathan Hurst"
] | We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively stabilized: instead, the plan interacts with the passive dynamics of the reduced order model to create emergent robustness. The goal is to create plans for legg... |
One-Shot Multi-Path Planning for Robotic Applications Using Fully Convolutional Networks | https://ieeexplore.ieee.org/document/9196719/ | [
"Tomas Kulvicius",
"Sebastian Herzog",
"Timo Lüddecke",
"Minija Tamosiunaite",
"Florentin Wörgötter",
"Tomas Kulvicius",
"Sebastian Herzog",
"Timo Lüddecke",
"Minija Tamosiunaite",
"Florentin Wörgötter"
] | Path planning is important for robot action execution, since a path or a motion trajectory for a particular action has to be defined first before the action can be executed. Most of the current approaches are iterative methods where the trajectory is generated by predicting the next state based on the current state. Here we propose a novel method by utilising a fully convolutional neural network, ... |
Efficient Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games | https://ieeexplore.ieee.org/document/9197129/ | [
"David Fridovich-Keil",
"Ellis Ratner",
"Lasse Peters",
"Anca D. Dragan",
"Claire J. Tomlin",
"David Fridovich-Keil",
"Ellis Ratner",
"Lasse Peters",
"Anca D. Dragan",
"Claire J. Tomlin"
] | Many problems in robotics involve multiple decision making agents. To operate efficiently in such settings, a robot must reason about the impact of its decisions on the behavior of other agents. Differential games offer an expressive theoretical framework for formulating these types of multi-agent problems. Unfortunately, most numerical solution techniques scale poorly with state dimension and are... |
Path-Following Model Predictive Control of Ballbots | https://ieeexplore.ieee.org/document/9196634/ | [
"Thomas K. Jespersen",
"Mohammad al Ahdab",
"Juan de Dios F. Mendez",
"Malte R. Damgaard",
"Karl D. Hansen",
"Rasmus Pedersen",
"Thomas Bak",
"Thomas K. Jespersen",
"Mohammad al Ahdab",
"Juan de Dios F. Mendez",
"Malte R. Damgaard",
"Karl D. Hansen",
"Rasmus Pedersen",
"Thomas Bak"
] | This paper introduces a novel approach for model predictive control of ballbots for path-following tasks. Ballbots are dynamically unstable mobile robots which are designed to balance on a single ball. The model presented in this paper is a simplied version of a full quaternion-based model of ballbots' underactuated dynamics which is suited for online implementation. Furthermore, the approach is e... |
Underactuated Waypoint Trajectory Optimization for Light Painting Photography | https://ieeexplore.ieee.org/document/9196516/ | [
"Christian Eilers",
"Jonas Eschmann",
"Robin Menzenbach",
"Boris Belousov",
"Fabio Muratore",
"Jan Peters",
"Christian Eilers",
"Jonas Eschmann",
"Robin Menzenbach",
"Boris Belousov",
"Fabio Muratore",
"Jan Peters"
] | Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the engineer to frame the problem in an optimizer-friendly way. This paper proposes a procedure that automates such problem reformulation for a class of tasks in wh... |
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach | https://ieeexplore.ieee.org/document/9196801/ | [
"Stefano Dafarra",
"Giulio Romualdi",
"Giorgio Metta",
"Daniele Pucci",
"Stefano Dafarra",
"Giulio Romualdi",
"Giorgio Metta",
"Daniele Pucci"
] | In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled explicitly through a novel contact parametrization. The approach is complementarity-free and does not need a predefined contact sequence. By solving an optimal control... |
Controlling Fast Height Variation of an Actively Articulated Wheeled Humanoid Robot Using Center of Mass Trajectory | https://ieeexplore.ieee.org/document/9196569/ | [
"Moyin V. Otubela",
"Conor McGinn",
"Moyin V. Otubela",
"Conor McGinn"
] | Hybrid wheel-legged robots have begun to demonstrate the ability to adapt to complex terrain traditionally inaccessible to purely wheeled morphologies. Further research is needed into how their dynamics can be optimally controlled for developing highly adaptive behaviours on challenging terrain. Using optimal center of mass (COM) kinematic trajectories, this work examines the nonlinear dynamics co... |
Contact-Aware Controller Design for Complementarity Systems | https://ieeexplore.ieee.org/document/9197568/ | [
"Alp Aydinoglu",
"Victor M. Preciado",
"Michael Posa",
"Alp Aydinoglu",
"Victor M. Preciado",
"Michael Posa"
] | While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such controllers often rely heavily upon heuristics or, due to the combinatoric structure in the dynamics, are unsuitable for real-time control. Principled deployme... |
Learning to Generate 6-DoF Grasp Poses with Reachability Awareness | https://ieeexplore.ieee.org/document/9197413/ | [
"Xibai Lou",
"Yang Yang",
"Changhyun Choi",
"Xibai Lou",
"Yang Yang",
"Changhyun Choi"
] | Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates feasible 6-DoF grasp poses in unrestricted workspace with reachability awareness. Unlike the majority of works that predict if a proposed grasp pose within the restr... |
Enhancing Grasp Pose Computation in Gripper Workspace Spheres | https://ieeexplore.ieee.org/document/9196863/ | [
"M. Sorour",
"K. Elgeneidy",
"M. Hanheide",
"M. Abdalmjed",
"A. Srinivasan",
"G. Neumann",
"M. Sorour",
"K. Elgeneidy",
"M. Hanheide",
"M. Abdalmjed",
"A. Srinivasan",
"G. Neumann"
] | In this paper, enhancement to the novel grasp planning algorithm based on gripper workspace spheres is presented. Our development requires a registered point cloud of the target from different views, assuming no prior knowledge of the object, nor any of its properties. This work features a new set of metrics for grasp pose candidates evaluation, as well as exploring the impact of high object sampl... |
Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects | https://ieeexplore.ieee.org/document/9197062/ | [
"Jingyi Xu",
"Michael Danielczuk",
"Jeffrey Ichnowski",
"Jeffrey Mahler",
"Eckehard Steinbach",
"Ken Goldberg",
"Jingyi Xu",
"Michael Danielczuk",
"Jeffrey Ichnowski",
"Jeffrey Mahler",
"Eckehard Steinbach",
"Ken Goldberg"
] | Robot grasping of deformable hollow objects such as plastic bottles and cups is challenging, as the grasp should resist disturbances while minimally deforming the object so as not to damage it or dislodge liquids. We propose minimal work as a novel grasp quality metric that combines wrench resistance and object deformation. We introduce an efficient algorithm to compute the work required to resist... |
Hierarchical 6-DoF Grasping with Approaching Direction Selection | https://ieeexplore.ieee.org/document/9196678/ | [
"Yunho Choi",
"Hogun Kee",
"Kyungjae Lee",
"JaeGoo Choy",
"Junhong Min",
"Sohee Lee",
"Songhwai Oh",
"Yunho Choi",
"Hogun Kee",
"Kyungjae Lee",
"JaeGoo Choy",
"Junhong Min",
"Sohee Lee",
"Songhwai Oh"
] | In this paper, we tackle the problem of 6-DoF grasp detection which is crucial for robot grasping in cluttered real-world scenes. Unlike existing approaches which synthesize 6-DoF grasp data sets and train grasp quality networks with input grasp representations based on point clouds, we rather take a novel hierarchical approach which does not use any 6-DoF grasp data. We cast the 6-DoF grasp detec... |
Geometric Characterization of Two-Finger Basket Grasps of 2-D Objects: Contact Space Formulation | https://ieeexplore.ieee.org/document/9196946/ | [
"Elon D. Rimon",
"Florian T. Pokorny",
"Weiwei Wan",
"Elon D. Rimon",
"Florian T. Pokorny",
"Weiwei Wan"
] | This paper considers basket grasps, where a two-finger robot hand forms a basket that can safely lift and carry rigid objects in a 2-D gravitational environment. The two-finger basket grasps form special points in a high-dimensional configuration space of the object and two-finger robot hand. This paper establishes that all two-finger basket grasps can be found in a low-dimensional contact space t... |
Robust Sound Source Localization considering Similarity of Back-Propagation Signals | https://ieeexplore.ieee.org/document/9196743/ | [
"Inkyu An",
"Byeongho Jo",
"Youngsun Kwon",
"Jung-woo Choi",
"Sung-eui Yoon",
"Inkyu An",
"Byeongho Jo",
"Youngsun Kwon",
"Jung-woo Choi",
"Sung-eui Yoon"
] | We present a novel, robust sound source localization algorithm considering back-propagation signals. Sound propagation paths are estimated by generating direct and reflection acoustic rays based on ray tracing in a backward manner. We then compute the back-propagation signals by designing and using the impulse response of the backward sound propagation based on the acoustic ray paths. For identify... |
BatVision: Learning to See 3D Spatial Layout with Two Ears | https://ieeexplore.ieee.org/document/9196934/ | [
"Jesper Haahr Christensen",
"Sascha Hornauer",
"Stella X. Yu",
"Jesper Haahr Christensen",
"Sascha Hornauer",
"Stella X. Yu"
] | Many species have evolved advanced non-visual perception while artificial systems fall behind. Radar and ultrasound complement camera-based vision but they are often too costly and complex to set up for very limited information gain. In nature, sound is used effectively by bats, dolphins, whales, and humans for navigation and communication. However, it is unclear how to best harness sound for mach... |
Self-Supervised Learning for Alignment of Objects and Sound | https://ieeexplore.ieee.org/document/9197566/ | [
"Xinzhu Liu",
"Xiaoyu Liu",
"Di Guo",
"Huaping Liu",
"Fuchun Sun",
"Haibo Min",
"Xinzhu Liu",
"Xiaoyu Liu",
"Di Guo",
"Huaping Liu",
"Fuchun Sun",
"Haibo Min"
] | The sound source separation problem has many useful applications in the field of robotics, such as human-robot interaction, scene understanding, etc. However, it remains a very challenging problem. In this paper, we utilize both visual and audio information of videos to perform the sound source separation task. A self-supervised learning framework is proposed to implement the object detection and ... |
The OmniScape Dataset | https://ieeexplore.ieee.org/document/9197144/ | [
"Ahmed Rida Sekkat",
"Yohan Dupuis",
"Pascal Vasseur",
"Paul Honeine",
"Ahmed Rida Sekkat",
"Yohan Dupuis",
"Pascal Vasseur",
"Paul Honeine"
] | Despite the utility and benefits of omnidirectional images in robotics and automotive applications, there are no datasets of omnidirectional images available with semantic segmentation, depth map, and dynamic properties. This is due to the time cost and human effort required to annotate ground truth images. This paper presents a framework for generating omnidirectional images using images that are... |
An ERT-based Robotic Skin with Sparsely Distributed Electrodes: Structure, Fabrication, and DNN-based Signal Processing | https://ieeexplore.ieee.org/document/9197361/ | [
"Kyungseo Park",
"Hyunkyu Park",
"Hyosang Lee",
"Sungbin Park",
"Jung Kim",
"Kyungseo Park",
"Hyunkyu Park",
"Hyosang Lee",
"Sungbin Park",
"Jung Kim"
] | Electrical resistance tomography (ERT) has previously been utilized to develop a large-scale tactile sensor because this approach enables the estimation of the conductivity distribution among the electrodes based on a known physical model. Such a sensor made with a stretchable material can conform to a curved surface. However, this sensor cannot fully cover a cylindrical surface because in such a ... |
FBG-Based Triaxial Force Sensor Integrated with an Eccentrically Configured Imaging Probe for Endoluminal Optical Biopsy | https://ieeexplore.ieee.org/document/9197128/ | [
"Zicong Wu",
"Anzhu Gao",
"Ning Liu",
"Zhu Jin",
"Guang-Zhong Yang",
"Zicong Wu",
"Anzhu Gao",
"Ning Liu",
"Zhu Jin",
"Guang-Zhong Yang"
] | Accurate force sensing is important for endoluminal intervention in terms of both safety and lesion targeting. This paper develops an FBG-based force sensor for robotic bronchoscopy by configuring three FBG sensors at the lateral side of a conical substrate. It allows a large and eccentric inner lumen for the interventional instrument, enabling a flexible imaging probe inside to perform optical bi... |
Calibrating a Soft ERT-Based Tactile Sensor with a Multiphysics Model and Sim-to-real Transfer Learning | https://ieeexplore.ieee.org/document/9196732/ | [
"Hyosang Lee",
"Hyunkyu Park",
"Gokhan Serhat",
"Huanbo Sun",
"Katherine J. Kuchenbecker",
"Hyosang Lee",
"Hyunkyu Park",
"Gokhan Serhat",
"Huanbo Sun",
"Katherine J. Kuchenbecker"
] | Tactile sensors based on electrical resistance tomography (ERT) have shown many advantages for implementing a soft and scalable whole-body robotic skin; however, calibration is challenging because pressure reconstruction is an ill-posed inverse problem. This paper introduces a method for calibrating soft ERT-based tactile sensors using sim-to-real transfer learning with a finite element multiphysi... |
Sim-to-Real Transfer for Optical Tactile Sensing | https://ieeexplore.ieee.org/document/9197512/ | [
"Zihan Ding",
"Nathan F. Lepora",
"Edward Johns",
"Zihan Ding",
"Nathan F. Lepora",
"Edward Johns"
] | Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in simulation, with a number of sim-to-real transfer methods being developed in recent years. In this paper, we study these techniques for tactile sensing using the Tac... |
Semi-Empirical Simulation of Learned Force Response Models for Heterogeneous Elastic Objects | https://ieeexplore.ieee.org/document/9197077/ | [
"Yifan Zhu",
"Kai Lu",
"Kris Hauser",
"Yifan Zhu",
"Kai Lu",
"Kris Hauser"
] | This paper presents a semi-empirical method for simulating contact with elastically deformable objects whose force response is learned using entirely data-driven models. A point-based surface representation and an inhomogeneous, nonlinear force response model are learned from a robotic arm acquiring force-displacement curves from a small number of poking interactions. The simulator then estimates ... |
Low-Cost Fiducial-based 6-Axis Force-Torque Sensor | https://ieeexplore.ieee.org/document/9196925/ | [
"Rui Ouyang",
"Robert Howe",
"Rui Ouyang",
"Robert Howe"
] | Commercial six-axis force-torque sensors suffer from being some combination of expensive, fragile, and hard-touse. We propose a new fiducial-based design which addresses all three points. The sensor uses an inexpensive webcam and can be fabricated using a consumer-grade 3D printer. Open-source software is used to estimate the 3D pose of the fiducials on the sensor, which is then used to calculate ... |
Reliable frame-to-frame motion estimation for vehicle-mounted surround-view camera systems | https://ieeexplore.ieee.org/document/9197176/ | [
"Yifu Wang",
"Kun Huang",
"Xin Peng",
"Hongdong Li",
"Laurent Kneip",
"Yifu Wang",
"Kun Huang",
"Xin Peng",
"Hongdong Li",
"Laurent Kneip"
] | Modern vehicles are often equipped with a surround-view multi-camera system. The current interest in autonomous driving invites the investigation of how to use such systems for a reliable estimation of relative vehicle displacement. Existing camera pose algorithms either work for a single camera, make overly simplified assumptions, are computationally expensive, or simply become degenerate under n... |
Enabling Topological Planning with Monocular Vision | https://ieeexplore.ieee.org/document/9197484/ | [
"Gregory J. Stein",
"Christopher Bradley",
"Victoria Preston",
"Nicholas Roy",
"Gregory J. Stein",
"Christopher Bradley",
"Victoria Preston",
"Nicholas Roy"
] | Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in estimating structure with monocular SLAM in low texture or highly cluttered environments have precluded its use for topological planning in the past. We propose a robus... |
DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network | https://ieeexplore.ieee.org/document/9197362/ | [
"Mona Gridseth",
"Timothy D. Barfoot",
"Mona Gridseth",
"Timothy D. Barfoot"
] | Vision-based path following allows robots to autonomously repeat manually taught paths. Stereo Visual Teach and Repeat (VT&R) [1] accomplishes accurate and robust long-range path following in unstructured outdoor environments across changing lighting, weather, and seasons by relying on colour-constant imaging [2] and multi-experience localization [3]. We leverage multi-experience VT&R together wit... |
SnapNav: Learning Mapless Visual Navigation with Sparse Directional Guidance and Visual Reference | https://ieeexplore.ieee.org/document/9197523/ | [
"Linhai Xie",
"Andrew Markham",
"Niki Trigoni",
"Linhai Xie",
"Andrew Markham",
"Niki Trigoni"
] | Learning-based visual navigation still remains a challenging problem in robotics, with two overarching issues: how to transfer the learnt policy to unseen scenarios, and how to deploy the system on real robots. In this paper, we propose a deep neural network based visual navigation system, SnapNav. Unlike map-based navigation or Visual-Teach-and-Repeat (VT&R), SnapNav only receives a few snapshots... |
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping | https://ieeexplore.ieee.org/document/9196885/ | [
"Antoni Rosinol",
"Marcus Abate",
"Yun Chang",
"Luca Carlone",
"Antoni Rosinol",
"Marcus Abate",
"Yun Chang",
"Luca Carlone"
] | We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual-inertial SLAM libraries (e.g., ORB-SLAM, VINS-Mono, OKVIS, ROVIO) by enabling mesh reconstruction and semantic labeling in 3D. Kimera is designed with modularity in mind and has four key components: a visual-inertial od... |
CityLearn: Diverse Real-World Environments for Sample-Efficient Navigation Policy Learning | https://ieeexplore.ieee.org/document/9197336/ | [
"Marvin Chancán",
"Michael Milford",
"Marvin Chancán",
"Michael Milford"
] | Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end manner, these algorithms require large amounts of experience to learn navigation policies from high-dimensional data, which is generally impractical for real ro... |
High Resolution Soft Tactile Interface for Physical Human-Robot Interaction | https://ieeexplore.ieee.org/document/9197365/ | [
"Isabella Huang",
"Ruzena Bajcsy",
"Isabella Huang",
"Ruzena Bajcsy"
] | If robots and humans are to coexist and cooperate in society, it would be useful for robots to be able to engage in tactile interactions. Touch is an intuitive communication tool as well as a fundamental method by which we assist each other physically. Tactile abilities are challenging to engineer in robots, since both mechanical safety and sensory intelligence are imperative. Existing work reveal... |
Design and Validation of a Soft Robotic Ankle-Foot Orthosis (SR-AFO) Exosuit for Inversion and Eversion Ankle Support | https://ieeexplore.ieee.org/document/9197531/ | [
"Carly M. Thalman",
"Hyunglae Lee",
"Carly M. Thalman",
"Hyunglae Lee"
] | This paper presents a soft robotic ankle-foot orthosis (SR-AFO) exosuit designed to provide support to the human ankle in the frontal plane without restricting natural motion in the sagittal plane. The SR-AFO exosuit incorporates inflatable fabric-based actuators with a hollow cylinder design which requires less volume than the commonly used solid cylinder design for the same deflection. The actua... |
Velocity Field based Active-Assistive Control for Upper Limb Rehabilitation Exoskeleton Robot | https://ieeexplore.ieee.org/document/9196766/ | [
"En-Yu Chia",
"Yi-Lian Chen",
"Tzu-Chieh Chien",
"Ming-Li Chiang",
"Li-Chen Fu",
"Jin-Shin Lai",
"Lu Lu",
"En-Yu Chia",
"Yi-Lian Chen",
"Tzu-Chieh Chien",
"Ming-Li Chiang",
"Li-Chen Fu",
"Jin-Shin Lai",
"Lu Lu"
] | There are limitations of conventional active-assistive control for upper limb rehabilitation exoskeleton robot, such as 1). prior time-dependent trajectories are generally required, 2). task-based rehabilitation exercise involving multi-joint motion is hard to implement, and 3). assistive mechanism normally is so inflexible that the resulting exercise performed by the subjects becomes inefficient.... |
Design, Development, and Control of a Tendon-actuated Exoskeleton for Wrist Rehabilitation and Training | https://ieeexplore.ieee.org/document/9197013/ | [
"Mihai Dragusanu",
"Tommaso Lisini Baldi",
"Zubair Iqbal",
"Domenico Prattichizzo",
"Monica Malvezzi",
"Mihai Dragusanu",
"Tommaso Lisini Baldi",
"Zubair Iqbal",
"Domenico Prattichizzo",
"Monica Malvezzi"
] | Robot rehabilitation is an emerging and promising topic that incorporates robotics with neuroscience and rehabilitation to define new methods for supporting patients with neurological diseases. As a consequence, the rehabilitation process could increase the efficacy exploiting the potentialities of robot-mediated therapies. Nevertheless, nowadays clinical effectiveness is not enough to widely intr... |
Impedance Control of a Transfemoral Prosthesis using Continuously Varying Ankle Impedances and Multiple Equilibria | https://ieeexplore.ieee.org/document/9197565/ | [
"Namita Anil Kumar",
"Woolim Hong",
"Pilwon Hur",
"Namita Anil Kumar",
"Woolim Hong",
"Pilwon Hur"
] | Impedance controllers are popularly used in the field of lower limb prostheses and exoskeleton development. Such controllers assume the joint to be a spring-damper system described by a discrete set of equilibria and impedance parameters. These parameters are estimated via a least squares optimization that minimizes the difference between the controller's output torque and human joint torque. Othe... |
Gait patterns generation based on basis functions interpolation for the TWIN lower-limb exoskeleton | https://ieeexplore.ieee.org/document/9197250/ | [
"Christian Vassallo",
"Samuele De Giuseppe",
"Chiara Piezzo",
"Stefano Maludrottu",
"Giulio Cerruti",
"Maria Laura D’Angelo",
"Emanuele Gruppioni",
"Claudia Marchese",
"Simona Castellano",
"Eleonora Guanziroli",
"Franco Molteni",
"Matteo Laffranchi",
"Lorenzo De Michieli",
"Christian Vassallo",
"Samuele De Giuseppe",
"Chiara Piezzo",
"Stefano Maludrottu",
"Giulio Cerruti",
"Maria Laura D’Angelo",
"Emanuele Gruppioni",
"Claudia Marchese",
"Simona Castellano",
"Eleonora Guanziroli",
"Franco Molteni",
"Matteo Laffranchi",
"Lorenzo De Michieli"
] | Since the uprising of new biomedical orthotic devices, exoskeletons have been put in the spotlight for their possible use in rehabilitation. Even if these products might share some commonalities among them in terms of overall structure, degrees of freedom and possible actions, they quite often differ in their approach on how to generate a feasible, stable and comfortable gait trajectory pattern. T... |
Human-Centric Active Perception for Autonomous Observation | https://ieeexplore.ieee.org/document/9197201/ | [
"David Kent",
"Sonia Chernova",
"David Kent",
"Sonia Chernova"
] | As robot autonomy improves, robots are increasingly being considered in the role of autonomous observation systems - free-flying cameras capable of actively tracking human activity within some predefined area of interest. In this work, we formulate the autonomous observation problem through multi-objective optimization, presenting a novel Semi-MDP formulation of the autonomous human observation pr... |
Prediction of Human Full-Body Movements with Motion Optimization and Recurrent Neural Networks | https://ieeexplore.ieee.org/document/9197290/ | [
"Philipp Kratzer",
"Marc Toussaint",
"Jim Mainprice",
"Philipp Kratzer",
"Marc Toussaint",
"Jim Mainprice"
] | Human movement prediction is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose a prediction framework that decouples short-term prediction, linked to internal body dynamics, and long-term prediction, linked to the environment and task constraints. In this work we investigate encoding sh... |
Predicting and Optimizing Ergonomics in Physical Human-Robot Cooperation Tasks | https://ieeexplore.ieee.org/document/9197296/ | [
"Linda van der Spaa",
"Michael Gienger",
"Tamas Bates",
"Jens Kober",
"Linda van der Spaa",
"Michael Gienger",
"Tamas Bates",
"Jens Kober"
] | This paper presents a method to incorporate ergonomics into the optimization of action sequences for bi-manual human-robot cooperation tasks with continuous physical interaction. Our first contribution is a novel computational model of the human that allows prediction of an ergonomics assessment corresponding to each step in a task. The model is learned from human motion capture data in order to p... |
Active Reward Learning for Co-Robotic Vision Based Exploration in Bandwidth Limited Environments | https://ieeexplore.ieee.org/document/9196922/ | [
"Stewart Jamieson",
"Jonathan P. How",
"Yogesh Girdhar",
"Stewart Jamieson",
"Jonathan P. How",
"Yogesh Girdhar"
] | We present a novel POMDP problem formulation for a robot that must autonomously decide where to go to collect new and scientifically relevant images given a limited ability to communicate with its human operator. From this formulation we derive constraints and design principles for the observation model, reward model, and communication strategy of such a robot, exploring techniques to deal with th... |
VariPath: A Database for Modelling the Variance of Human Pathways in Manual and HRC Processes with Heavy-Duty Robots | https://ieeexplore.ieee.org/document/9196699/ | [
"Mohamad Bdiwi",
"Ann-Kathrin Harsch",
"Paul Reindel",
"Matthias Putz",
"Mohamad Bdiwi",
"Ann-Kathrin Harsch",
"Paul Reindel",
"Matthias Putz"
] | Unlike robots, humans do not have constant movements. Their pathways are individually changeable and influenced by circumstances. This paper presents a method to investigate human pathway variations in a real study. In systematically selected tasks, human pathways are examined for 100 participants in manual and human-robot collaboration (HRC) scenarios. As a result, the variations of pathways are ... |
A Compact and Low-cost Robotic Manipulator Driven by Supercoiled Polymer Actuators | https://ieeexplore.ieee.org/document/9197390/ | [
"Yang Yang",
"Zhicheng Liu",
"Yanhan Wang",
"Shuai Liu",
"Michael Yu Wang",
"Yang Yang",
"Zhicheng Liu",
"Yanhan Wang",
"Shuai Liu",
"Michael Yu Wang"
] | The supercoiled polymer (SCP) actuator is a novel artificial muscle, which is manufactured by twisting and coiling polymer fibers. This new artificial muscle is soft, low-cost and shows good linearity. Being utilized as an actuator, the artificial muscle could generate significant mechanical power in a muscle-like form upon electrical activation by Joule heating. In this study, we adopt this new a... |
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