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Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees | https://ieeexplore.ieee.org/document/10160428/ | [
"Ewerton R. Vieira",
"Aravind Sivaramakrishnan",
"Yao Song",
"Edgar Granados",
"Marcio Gameiro",
"Konstantin Mischaikow",
"Ying Hung",
"Kostas E. Bekris",
"Ewerton R. Vieira",
"Aravind Sivaramakrishnan",
"Yao Song",
"Edgar Granados",
"Marcio Gameiro",
"Konstantin Mischaikow",
"Ying Hung",
"Kostas E. Bekris"
] | This paper proposes an integration of surrogate modeling and topology to significantly reduce the amount of data required to describe the underlying global dynamics of robot controllers, including closed-box ones. A Gaussian Process (GP), trained with randomized short trajectories over the state-space, acts as a surrogate model for the underlying dynamical system. Then, a combinatorial representat... |
Modeling and Inertial Parameter Estimation of Cart-like Nonholonomic Systems Using a Mobile Manipulator | https://ieeexplore.ieee.org/document/10161076/ | [
"Sergio Aguilera",
"Muhammad Ali Murtaza",
"Jonathan Rogers",
"Seth Hutchinson",
"Sergio Aguilera",
"Muhammad Ali Murtaza",
"Jonathan Rogers",
"Seth Hutchinson"
] | To enable a mobile manipulator to effectively maneuver a cart, we derive a dynamic model for the cart that incorporates the nonholonomic constraints on its motion, and use this model to formulate an estimator for the cart's inertial parameters. By deriving the dynamic equations of the cart using a constrained Euler-Lagrange formulation, we are able to directly incorporate nonholonomic constraints ... |
Using Registration with Fourier-SOFT in 2D (FS2D) for Robust Scan Matching of Sonar Range Data | https://ieeexplore.ieee.org/document/10160519/ | [
"Tim Hansen",
"Andreas Birk",
"Tim Hansen",
"Andreas Birk"
] | In this paper, we introduce Fourier-SOFT 2D (FS2D) as a new robust registration method. FS2D operates in the frequency domain where it exploits the well-known decoupling of rotation and translation. The challenging part of determining the rotation parameter is solved here based on a projection of the Fourier magnitude on a sphere and the SO(3) Fourier Transform (SOFT). The underlying use case is u... |
A Robotic Cooperative Network for Localising a Submarine in Distress: Results From REPMUS21 | https://ieeexplore.ieee.org/document/10160438/ | [
"Gabriele Ferri",
"Alessandro Faggiani",
"Roberto Petroccia",
"Pietro Stinco",
"Alessandra Tesei",
"Gabriele Ferri",
"Alessandro Faggiani",
"Roberto Petroccia",
"Pietro Stinco",
"Alessandra Tesei"
] | Autonomy, cooperation and data fusion can increase the performance of robotic networks in many underwater applications. In this paper, we describe a novel occupancy grid (OG) based perception layer, and its use for controlling a network of autonomous underwater vehicles (AUVs), sensorised with passive sonars. Data fusion between the robots' bearing-only measurements (typical of passive sonars) ena... |
DeepSeeColor: Realtime Adaptive Color Correction for Autonomous Underwater Vehicles via Deep Learning Methods | https://ieeexplore.ieee.org/document/10160477/ | [
"Stewart Jamieson",
"Jonathan P. How",
"Yogesh Girdhar",
"Stewart Jamieson",
"Jonathan P. How",
"Yogesh Girdhar"
] | Successful applications of complex vision-based behaviours underwater have lagged behind progress in terrestrial and aerial domains. This is largely due to the degraded image quality resulting from the physical phenomena involved in underwater image formation. Spectrally-selective light attenuation drains some colors from underwater images while backscattering adds others, making it challenging to... |
From Concept to Field Tests: Accelerated Development of Multi-AUV Missions Using a High-Fidelity Faster-than-Real-Time Simulator | https://ieeexplore.ieee.org/document/10160447/ | [
"Timothy R. Player",
"Arjo Chakravarty",
"Mabel M. Zhang",
"Ben Yair Raanan",
"Brian Kieft",
"Yanwu Zhang",
"Brett Hobson",
"Timothy R. Player",
"Arjo Chakravarty",
"Mabel M. Zhang",
"Ben Yair Raanan",
"Brian Kieft",
"Yanwu Zhang",
"Brett Hobson"
] | We designed and validated a novel simulator for efficient development of multi-robot marine missions. To accelerate development of cooperative behaviors, the simulator models the robots' operating conditions with moderately high fidelity and runs significantly faster than real time, including acoustic communications, dynamic environmental data, and high-resolution bathymetry in large worlds. The s... |
Deep Reinforcement Learning Based Tracking Control of an Autonomous Surface Vessel in Natural Waters | https://ieeexplore.ieee.org/document/10160858/ | [
"Wei Wang",
"Xiaojing Cao",
"Alejandro Gonzalez-Garcia",
"Lianhao Yin",
"Niklas Hagemann",
"Yuanyuan Qiao",
"Carlo Ratti",
"Daniela Rus",
"Wei Wang",
"Xiaojing Cao",
"Alejandro Gonzalez-Garcia",
"Lianhao Yin",
"Niklas Hagemann",
"Yuanyuan Qiao",
"Carlo Ratti",
"Daniela Rus"
] | Accurate control of autonomous marine robots still poses challenges due to the complex dynamics of the environment. In this paper, we propose a Deep Reinforcement Learning (DRL) approach to train a controller for autonomous surface vessel (ASV) trajectory tracking and compare its performance with an advanced nonlinear model predictive controller (NMPC) in real environments. Taking into account env... |
UDepth: Fast Monocular Depth Estimation for Visually-guided Underwater Robots | https://ieeexplore.ieee.org/document/10161471/ | [
"Boxiao Yu",
"Jiayi Wu",
"Md Jahidul Islam",
"Boxiao Yu",
"Jiayi Wu",
"Md Jahidul Islam"
] | In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain knowledge of image formation characteristics of natural underwater scenes. First, we adapt a new input space from raw RGB image space by exploiting underwater l... |
Improved Benthic Classification using Resolution Scaling and SymmNet Unsupervised Domain Adaptation | https://ieeexplore.ieee.org/document/10160255/ | [
"Heather Doig",
"Oscar Pizarro",
"Stefan B. Williams",
"Heather Doig",
"Oscar Pizarro",
"Stefan B. Williams"
] | Autonomous Underwater Vehicles (AUVs) conduct regular visual surveys of marine environments to characterise and monitor the composition and diversity of the benthos. The use of machine learning classifiers for this task is limited by the low numbers of annotations available and the many fine-grained classes involved. In addition to these challenges, there are domain shifts between image sets acqui... |
Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM | https://ieeexplore.ieee.org/document/10160783/ | [
"Jiarui Tan",
"Ignacio Torroba",
"Yiping Xie",
"John Folkesson",
"Jiarui Tan",
"Ignacio Torroba",
"Yiping Xie",
"John Folkesson"
] | Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In the case of autonomous underwater vehicles (AUVs) equipped with multibeam echosounders (MBES), data association is particularly challenging due to the scarcity of identifiable landmarks in the seabed, the large drift in... |
ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation | https://ieeexplore.ieee.org/document/10160801/ | [
"Marios Xanthidis",
"Eleni Kelasidi",
"Kostas Alexis",
"Marios Xanthidis",
"Eleni Kelasidi",
"Kostas Alexis"
] | Autonomous operation in underwater environ-ments is, arguably, one of the most complex domains. It requires safe operations under the presence of unpredictable surge, currents, uncertainty, and dynamic obstacles that challenges to the highest degree real-time motion planning; the primary focus of this paper. Although previous work addressed the problem of safe real-time 3D navigation in cluttered ... |
Diver Interest via Pointing: Human-Directed Object Inspection for AUVs | https://ieeexplore.ieee.org/document/10160292/ | [
"Chelsey Edge",
"Junaed Sattar",
"Chelsey Edge",
"Junaed Sattar"
] | In this paper, we present the Diver Interest via Pointing (DIP) algorithm, a highly modular method for conveying a diver's area of interest to an autonomous underwater vehicle (AUV) using pointing gestures for underwater humanrobot collaborative tasks. DIP uses a single monocular camera and exploits human body pose, even with complete dive gear, to extract underwater human pointing gesture poses a... |
Robust Uncertainty Estimation for Classification of Maritime Objects | https://ieeexplore.ieee.org/document/10161452/ | [
"Jonathan Becktor",
"Frederik Schöller",
"Evangelos Boukas",
"Lazaros Nalpantidis",
"Jonathan Becktor",
"Frederik Schöller",
"Evangelos Boukas",
"Lazaros Nalpantidis"
] | We explore the use of uncertainty estimation in the maritime domain, showing the efficacy on toy datasets (CIFAR10) and proving it on an in-house dataset, SHIPS. We present a method joining the intra-class uncertainty achieved using Monte Carlo Dropout, with recent discoveries in the field of outlier detection, to gain more holistic uncertainty measures. We explore the relationship between the int... |
Adaptive Heading for Perception-Aware Trajectory Following | https://ieeexplore.ieee.org/document/10160521/ | [
"Jonatan Scharff Willners",
"Sean Katagiri",
"Shida Xu",
"Tomasz Łuczyński",
"Joshua Roe",
"Yvan Petillot",
"Jonatan Scharff Willners",
"Sean Katagiri",
"Shida Xu",
"Tomasz Łuczyński",
"Joshua Roe",
"Yvan Petillot"
] | This paper presents an adaptive heading approach for perception awareness during trajectory following. By adapting the heading of a robot to improve the feature tracking in the current mapped environment, the accuracy in localisation can be improved. This can have a significant advantage for autonomous operations in GPS-denied environments such as subsea or in caves. The aim of the proposed approa... |
An Optimal Open-Loop Strategy for Handling a Flexible Beam with a Robot Manipulator | https://ieeexplore.ieee.org/document/10160493/ | [
"Shamil Mamedov",
"Alejandro Astudillo",
"Daniele Ronzani",
"Wilm Decré",
"Jean-Philippe Noël",
"Jan Swevers",
"Shamil Mamedov",
"Alejandro Astudillo",
"Daniele Ronzani",
"Wilm Decré",
"Jean-Philippe Noël",
"Jan Swevers"
] | Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation to measure vibrations. This paper develops a model-based method that overcomes these limitations. It relies on a simple pendulum-like model for modeling the beam... |
Constraint Manifolds for Robotic Inference and Planning | https://ieeexplore.ieee.org/document/10161024/ | [
"Yetong Zhang",
"Fan Jiang",
"Gerry Chen",
"Varun Agrawal",
"Adam Rutkowski",
"Frank Dellaert",
"Yetong Zhang",
"Fan Jiang",
"Gerry Chen",
"Varun Agrawal",
"Adam Rutkowski",
"Frank Dellaert"
] | We propose a manifold optimization approach for solving constrained inference and planning problems. The approach employs a framework that transforms an arbitrary nonlinear equality constrained optimization problem into an unconstrained manifold optimization problem. The core of the transformation process is the formulation of constraint manifolds that represent sets of variables subject to equali... |
Model Predictive Optimized Path Integral Strategies | https://ieeexplore.ieee.org/document/10160929/ | [
"Dylan M. Asmar",
"Ransalu Senanayake",
"Shawn Manuel",
"Mykel J. Kochenderfer",
"Dylan M. Asmar",
"Ransalu Senanayake",
"Shawn Manuel",
"Mykel J. Kochenderfer"
] | We generalize the derivation of model predictive path integral control (MPPI) to allow for a single joint distribution across controls in the control sequence. This reformation allows for the implementation of adaptive importance sampling (AIS) algorithms into the original importance sampling step while still maintaining the benefits of MPPI such as working with arbitrary system dynamics and cost ... |
MPOGames: Efficient Multimodal Partially Observable Dynamic Games | https://ieeexplore.ieee.org/document/10160342/ | [
"Oswin So",
"Paul Drews",
"Thomas Balch",
"Velin Dimitrov",
"Guy Rosman",
"Evangelos A. Theodorou",
"Oswin So",
"Paul Drews",
"Thomas Balch",
"Velin Dimitrov",
"Guy Rosman",
"Evangelos A. Theodorou"
] | Game theoretic methods have become popular for planning and prediction in situations involving rich multi-agent interactions. However, these methods often assume the existence of a single local Nash equilibria and are hence unable to handle uncertainty in the intentions of different agents. While maximum entropy (MaxEnt) dynamic games try to address this issue, practical approaches solve for MaxEn... |
Autonomous Drone Racing: Time-Optimal Spatial Iterative Learning Control within a Virtual Tube | https://ieeexplore.ieee.org/document/10161383/ | [
"Shuli Lv",
"Yan Gao",
"Jiaxing Che",
"Quan Quan",
"Shuli Lv",
"Yan Gao",
"Jiaxing Che",
"Quan Quan"
] | It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the above purpose. Unfortunately, existing methods often fail to keep training and racing time short in drone racing competitions. This motivates us to develop a high... |
Curvature-Aware Model Predictive Contouring Control | https://ieeexplore.ieee.org/document/10161177/ | [
"Lorenzo Lyons",
"Laura Ferranti",
"Lorenzo Lyons",
"Laura Ferranti"
] | We present a novel Curvature-Aware Model Pre-dictive Contouring Control (CA-MPCC) formulation for mobile robotics motion planning. Our method aims at generalizing the traditional contouring control formulation derived from machining to autonomous driving applications. The proposed controller is able of handling sharp curvatures in the reference path while subject to non-linear constraints, such as... |
A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria | https://ieeexplore.ieee.org/document/10160799/ | [
"Edward L. Zhu",
"Francesco Borrelli",
"Edward L. Zhu",
"Francesco Borrelli"
] | In this work, we propose a numerical method for the solution of local generalized Nash equilibria (GNE) for the class of open-loop general-sum dynamic games for agents with nonlinear dynamics and constraints. In particular, we formulate a sequential quadratic programming (SQP) approach which requires only the solution of a single convex quadratic program at each iteration and is locally convergent... |
RPGD: A Small-Batch Parallel Gradient Descent Optimizer with Explorative Resampling for Nonlinear Model Predictive Control | https://ieeexplore.ieee.org/document/10161233/ | [
"Frederik Heetmeyer",
"Marcin Paluch",
"Diego Bolliger",
"Florian Bolli",
"Xiang Deng",
"Ennio Filicicchia",
"Tobi Delbruck",
"Frederik Heetmeyer",
"Marcin Paluch",
"Diego Bolliger",
"Florian Bolli",
"Xiang Deng",
"Ennio Filicicchia",
"Tobi Delbruck"
] | Nonlinear model predictive control often involves nonconvex optimization for which real-time control systems require fast and numerically stable solutions. This work proposes RPGD, a Resampling Parallel Gradient Descent optimizer designed to exploit small-batch parallelism of modern hardware like neural accelerators or multithreaded microcontrollers. After initialization, it continuously maintains... |
Distributionally Robust Optimization with Unscented Transform for Learning-Based Motion Control in Dynamic Environments | https://ieeexplore.ieee.org/document/10161246/ | [
"Astghik Hakobyan",
"Insoon Yang",
"Astghik Hakobyan",
"Insoon Yang"
] | Safety is one of the main challenges when applying learning-based motion controllers to practical robotic systems, especially when the dynamics of the robots and their surrounding dynamic environments are unknown. This issue is further exacerbated when the learned information is unreliable and inaccurate. In this paper, we aim to enhance the safety of learning-enabled mobile robots in dynamic envi... |
Event-Triggered Optimal Formation Tracking Control Using Reinforcement Learning for Large-Scale UAV Systems | https://ieeexplore.ieee.org/document/10160532/ | [
"Ziwei Yan",
"Liang Han",
"Xiaoduo Li",
"Jinjie Li",
"Zhang Ren",
"Ziwei Yan",
"Liang Han",
"Xiaoduo Li",
"Jinjie Li",
"Zhang Ren"
] | Large-scale UAV switching formation tracking control has been widely applied in many fields such as search and rescue, cooperative transportation, and UAV light shows. In order to optimize the control performance and reduce the computational burden of the system, this study proposes an event-triggered optimal formation tracking controller for discrete-time large-scale UAV systems (UASs). And an op... |
Differentiable Collision Detection: a Randomized Smoothing Approach | https://ieeexplore.ieee.org/document/10160251/ | [
"Louis Montaut",
"Quentin Le Lidec",
"Antoine Bambade",
"Vladimir Petrik",
"Josef Sivic",
"Justin Carpentier",
"Louis Montaut",
"Quentin Le Lidec",
"Antoine Bambade",
"Vladimir Petrik",
"Josef Sivic",
"Justin Carpentier"
] | Collision detection is an important component of many robotics applications, from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only recently that the question of properly differentiating collision detection has emerged as a central issue, thanks notably to the ongoing and various efforts made by the scientif... |
Start State Selection for Control Policy Learning from Optimal Trajectories | https://ieeexplore.ieee.org/document/10160978/ | [
"Christoph Zelch",
"Jan Peters",
"Oskar von Stryk",
"Christoph Zelch",
"Jan Peters",
"Oskar von Stryk"
] | Combination of optimal control methods and machine learning approaches allows to profit from complementary benefits of each field in control of robotic systems. Data from optimal trajectories provides valuable information that can be used to learn a near-optimal state-dependent feedback control policy. To obtain high-quality learning data, careful selection of optimal trajectories, determined by a... |
Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry | https://ieeexplore.ieee.org/document/10161355/ | [
"Fangcheng Zhu",
"Yunfan Ren",
"Fanze Kong",
"Huajie Wu",
"Siqi Liang",
"Nan Chen",
"Wei Xu",
"Fu Zhang",
"Fangcheng Zhu",
"Yunfan Ren",
"Fanze Kong",
"Huajie Wu",
"Siqi Liang",
"Nan Chen",
"Wei Xu",
"Fu Zhang"
] | Accurate self and relative state estimation are the critical preconditions for completing swarm tasks, e.g., collaborative autonomous exploration, target tracking, search and rescue. This paper proposes Swarm-LIO: a fully decentralized state estimation method for aerial swarm systems, in which each drone performs precise ego-state estimation, exchanges ego-state and mutual observation information ... |
HALO: Hazard-Aware Landing Optimization for Autonomous Systems | https://ieeexplore.ieee.org/document/10160655/ | [
"Christopher R. Hayner",
"Samuel C. Buckner",
"Daniel Broyles",
"Evelyn Madewell",
"Karen Leung",
"Behçet Açikmeşe",
"Christopher R. Hayner",
"Samuel C. Buckner",
"Daniel Broyles",
"Evelyn Madewell",
"Karen Leung",
"Behçet Açikmeşe"
] | With autonomous aerial vehicles enacting safety-critical missions, such as the Mars Science Laboratory Curiosity rover's landing on Mars, the tasks of automatically identifying and reasoning about potentially hazardous landing sites is paramount. This paper presents a coupled perception-planning solution which addresses the hazard detection, optimal landing trajectory generation, and contingency p... |
Onboard Controller Design for Nano UAV Swarm in Operator-Guided Collective Behaviors | https://ieeexplore.ieee.org/document/10160630/ | [
"Tugay Alperen Karagüzel",
"Victor Retamal",
"Eliseo Ferrante",
"Tugay Alperen Karagüzel",
"Victor Retamal",
"Eliseo Ferrante"
] | In this paper, we present a swarm of Crazyflie nano-drones. The swarm can show various collective behaviors: Flocking, gradient following, going to a chosen point, formation, and scattered search of the environment. The methodology behind the behaviors is executed entirely on-board. Crazyflies use a common radio channel to share positions with each other. If desired, an operator can use the same c... |
EFTrack: A Lightweight Siamese Network for Aerial Object Tracking | https://ieeexplore.ieee.org/document/10160685/ | [
"Wenqi Zhang",
"Yuan Yao",
"Xincheng Liu",
"Kai Kou",
"Gang Yang",
"Wenqi Zhang",
"Yuan Yao",
"Xincheng Liu",
"Kai Kou",
"Gang Yang"
] | Visual object tracking is a very important task for unmanned aerial vehicle (UAV). Limited resources of UAV lead to strong demand for efficient and robust trackers. In recent years, deep learning-based trackers, especially, siamese trackers achieve very impressive results. Though siamese trackers can run a relatively fast speed on the high-end GPU, they are becoming heavier and heavier which restr... |
Active Metric-Semantic Mapping by Multiple Aerial Robots | https://ieeexplore.ieee.org/document/10161564/ | [
"Xu Liu",
"Ankit Prabhu",
"Fernando Cladera",
"Ian D. Miller",
"Lifeng Zhou",
"Camillo J. Taylor",
"Vijay Kumar",
"Xu Liu",
"Ankit Prabhu",
"Fernando Cladera",
"Ian D. Miller",
"Lifeng Zhou",
"Camillo J. Taylor",
"Vijay Kumar"
] | Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the active metric-semantic mapping problem that enables multiple heterogeneous robots to collaboratively build a map of the environment. The robots actively explore t... |
Multi-Target Pursuit by a Decentralized Heterogeneous UAV Swarm using Deep Multi-Agent Reinforcement Learning | https://ieeexplore.ieee.org/document/10160919/ | [
"Maryam Kouzeghar",
"Youngbin Song",
"Malika Meghjani",
"Roland Bouffanais",
"Maryam Kouzeghar",
"Youngbin Song",
"Malika Meghjani",
"Roland Bouffanais"
] | Multi-agent pursuit-evasion tasks involving intelligent targets are notoriously challenging coordination problems. In this paper, we investigate new ways to learn such coordinated behaviors of unmanned aerial vehicles (UAVs) aimed at keeping track of multiple evasive targets. Within a Multi-Agent Reinforcement Learning (MARL) framework, we specifically propose a variant of the Multi-Agent Deep Det... |
A Moving Target Tracking System of Quadrotors with Visual-Inertial Localization | https://ieeexplore.ieee.org/document/10161323/ | [
"Ziyue Lin",
"Wenbo Xu",
"Wei Wang",
"Ziyue Lin",
"Wenbo Xu",
"Wei Wang"
] | This paper implements a vision-based moving target tracking system of quadrotors with visual-inertial localization in GNSS-denied indoor environments. We use the visual-inertial odometry to estimate the states of the UAV by minimizing visual and inertial residuals, and estimate the states of the target with extended Kalman Filter from visual detection. This research formulates the target tracking ... |
BogieCopter: A Multi-Modal Aerial-Ground Vehicle for Long-Endurance Inspection Applications | https://ieeexplore.ieee.org/document/10161038/ | [
"Teodoro Dias",
"Meysam Basiri",
"Teodoro Dias",
"Meysam Basiri"
] | The use of Micro Aerial Vehicles (MAVs) for inspection and surveillance missions has proved to be extremely useful, however, their usability is negatively impacted by the large power requirements and the limited operating time. This work describes the design and development of a novel hybrid aerial-ground vehicle, enabling multi-modal mobility and long operating time, suitable for long-endurance i... |
Towards Autonomous UAV Railway DC Line Recharging: Design and Simulation | https://ieeexplore.ieee.org/document/10161506/ | [
"Frederik Falk Nyboe",
"Nicolaj Haarhøj Malle",
"Gerd vom Bögel",
"Linda Cousin",
"Thomas Heckel",
"Konstantin Troidl",
"Anders Schack Madsen",
"Emad Ebeid",
"Frederik Falk Nyboe",
"Nicolaj Haarhøj Malle",
"Gerd vom Bögel",
"Linda Cousin",
"Thomas Heckel",
"Konstantin Troidl",
"Anders Schack Madsen",
"Emad Ebeid"
] | Autonomously recharging UAVs from existing infrastructure has enormous potential for various applications, such as infrastructure inspection, surveillance, and search and rescue. While it is an active area of research, most related work focuses on alternating current (AC) infrastructure while very little work has been done on investigating the potential of recharging UAVs from direct current (DC) ... |
Fast Region of Interest Proposals on Maritime UAVs | https://ieeexplore.ieee.org/document/10161156/ | [
"Benjamin Kiefer",
"Andreas Zell",
"Benjamin Kiefer",
"Andreas Zell"
] | Unmanned aerial vehicles assist in maritime search and rescue missions by flying over large search areas to autonomously search for objects or people. Reliably detecting objects of interest requires fast models to employ on embedded hardware. Moreover, with increasing distance to the ground station only part of the video data can be transmitted. In this work, we consider the problem of finding mea... |
TRADE: Object Tracking with 3D Trajectory and Ground Depth Estimates for UAVs | https://ieeexplore.ieee.org/document/10161192/ | [
"Pedro F. Proença",
"Patrick Spieler",
"Robert A. Hewitt",
"Jeff Delaune",
"Pedro F. Proença",
"Patrick Spieler",
"Robert A. Hewitt",
"Jeff Delaune"
] | We propose TRADE for robust tracking and 3D localization of a moving target in complex environments, from UAVs equipped with a single camera. Ultimately TRADE enables 3d-aware target following. Tracking-by-detection approaches are vulnerable to target switching, especially between similar objects. Thus, TRADE predicts and incorporates the target 3D trajectory to select the right target from the tr... |
Adaptive Keyframe Generation based LiDAR Inertial Odometry for Complex Underground Environments | https://ieeexplore.ieee.org/document/10161207/ | [
"Boseong Kim",
"Chanyoung Jung",
"D. Hyunchul Shim",
"Ali–akbar Agha–mohammadi",
"Boseong Kim",
"Chanyoung Jung",
"D. Hyunchul Shim",
"Ali–akbar Agha–mohammadi"
] | In this paper, we present a LiDAR Inertial Odometry (LIO) algorithm utilizing adaptive keyframe generation which achieves fast and accurate state estimation for aerial and ground robots. It is known that keyframe generation significantly affects the performance of Simultaneous Localization and Mapping (SLAM) algorithms. Unlike existing SLAM algorithms that generate keyframes based on fixed conditi... |
Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV | https://ieeexplore.ieee.org/document/10160490/ | [
"Sotiris Papatheodorou",
"Nils Funk",
"Dimos Tzoumanikas",
"Christopher Choi",
"Binbin Xu",
"Stefan Leutenegger",
"Sotiris Papatheodorou",
"Nils Funk",
"Dimos Tzoumanikas",
"Christopher Choi",
"Binbin Xu",
"Stefan Leutenegger"
] | Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that for many practical applications, exploration should be contextualised with semantic and object-level understanding of the environment for task-specific exploratio... |
Stealthy Perception-based Attacks on Unmanned Aerial Vehicles | https://ieeexplore.ieee.org/document/10160900/ | [
"Amir Khazraei",
"Haocheng Meng",
"Miroslav Pajic",
"Amir Khazraei",
"Haocheng Meng",
"Miroslav Pajic"
] | In this work, we study vulnerability of unmanned aerial vehicles (UAVs) to stealthy attacks on perception-based control. To guide our analysis, we consider two specific missions: ($i$) ground vehicle tracking (GVT), and (ii) vertical take-off and landing (VTOL) of a quadcopter on a moving ground vehicle. Specifically, we introduce a method to consistently attack both the sensors measurements and c... |
SGDViT: Saliency-Guided Dynamic Vision Transformer for UAV Tracking | https://ieeexplore.ieee.org/document/10161487/ | [
"Liangliang Yao",
"Changhong Fu",
"Sihang Li",
"Guangze Zheng",
"Junjie Ye",
"Liangliang Yao",
"Changhong Fu",
"Sihang Li",
"Guangze Zheng",
"Junjie Ye"
] | Vision-based object tracking has boosted extensive autonomous applications for unmanned aerial vehicles (UAVs). However, the dynamic changes in flight maneuver and viewpoint encountered in UAV tracking pose significant difficulties, e.g., aspect ratio change, and scale variation. The conventional cross-correlation operation, while commonly used, has limitations in effectively capturing perceptual ... |
Semantics-aware Exploration and Inspection Path Planning | https://ieeexplore.ieee.org/document/10160469/ | [
"Mihir Dharmadhikari",
"Kostas Alexis",
"Mihir Dharmadhikari",
"Kostas Alexis"
] | This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular interest, the proposed method offers volumetric exploration combined with two new planning behaviors that together ensure that a complete mesh model is reconstruc... |
Inverted Landing in a Small Aerial Robot via Deep Reinforcement Learning for Triggering and Control of Rotational Maneuvers | https://ieeexplore.ieee.org/document/10160376/ | [
"Bryan Habas",
"Jack W. Langelaan",
"Bo Cheng",
"Bryan Habas",
"Jack W. Langelaan",
"Bo Cheng"
] | Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as bats, flies, and bees. Our previous work has identified a direct causal connection between a series of onboard visual cues and kinematic actions that allow for r... |
Heading Control of a Long-Endurance Insect-Scale Aerial Robot Powered by Soft Artificial Muscles | https://ieeexplore.ieee.org/document/10161547/ | [
"Yi-Hsuan Hsiao",
"Suhan Kim",
"Zhijian Ren",
"YuFeng Chen",
"Yi-Hsuan Hsiao",
"Suhan Kim",
"Zhijian Ren",
"YuFeng Chen"
] | Aerial insects demonstrate fast and precise heading control when they perform body saccades and rapid escape maneuvers. While insect-scale micro-aerial-vehicles (IMAVs) have demonstrated early results on heading control, their flight endurance and heading angle tracking accuracy remain far inferior to that of natural fliers. In this work, we present a long endurance sub-gram aerial robot that can ... |
Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC | https://ieeexplore.ieee.org/document/10161510/ | [
"Andrea Tagliabue",
"Yi-Hsuan Hsiao",
"Urban Fasel",
"J. Nathan Kutz",
"Steven L. Brunton",
"YuFeng Chen",
"Jonathan P. How",
"Andrea Tagliabue",
"Yi-Hsuan Hsiao",
"Urban Fasel",
"J. Nathan Kutz",
"Steven L. Brunton",
"YuFeng Chen",
"Jonathan P. How"
] | Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles (MAVs) is challenging, as the small scale of the robot induces large model uncertainties, demanding robust feedback controllers, while the fast dynamics and computational constraints prevent the deployment of computationally expensive strategies. In this work, we present an approach for agile and computationally efficient tra... |
A New Sensation: Digital Strain Sensing for Disturbance Detection In Flapping Wing Micro Aerial Vehicles | https://ieeexplore.ieee.org/document/10160284/ | [
"Regan Kubicek",
"Mahnoush Babaei",
"Alison I. Weber",
"Sarah Bergbreiter",
"Regan Kubicek",
"Mahnoush Babaei",
"Alison I. Weber",
"Sarah Bergbreiter"
] | Flapping wing micro aerial vehicles face challenges in sensing and reacting to disturbances like wind gusts. This work introduces a new microscale bio-inspired digital strain sensor to detect these perturbations. The sensor is designed to change logic states when a specified strain threshold has been reached. The sensors are 3D printed on a flexible Mylar wing using two-photon polymerization. Thre... |
A lightweight high-voltage boost circuit for soft-actuated micro-aerial-robots | https://ieeexplore.ieee.org/document/10160310/ | [
"Zhijian Ren",
"Jiahui Yang",
"Suhan Kim",
"Yi-Hsuan Hsiao",
"Jeffrey Lang",
"Yufeng Chen",
"Zhijian Ren",
"Jiahui Yang",
"Suhan Kim",
"Yi-Hsuan Hsiao",
"Jeffrey Lang",
"Yufeng Chen"
] | Flight is an energetically expensive task. While aerial insects can effortlessly fly through natural environments, achieving power autonomous flights in insect-scale robots remains a major challenge. In prior works, we developed soft-actuated insect-scale aerial robots that demonstrated unique capabilities such as in-flight collision recovery and somersaults. However, the soft dielectric elastomer... |
Hummingbird-bat hybrid wing by 3-D printing* | https://ieeexplore.ieee.org/document/10160819/ | [
"Tomoya Fujii",
"Jinqiang Dang",
"Hiroto Tanaka",
"Tomoya Fujii",
"Jinqiang Dang",
"Hiroto Tanaka"
] | Hovering hummingbirds have inspired small flapping-wing aerial robots. Natural flyers, including hummingbirds and bats, undergo torsional wing deformation during flapping flight owing to complex wing structure, while previous artificial wings were relatively simple and difficult to design the torsional flexibility. In this paper, we proposed a hummingbird-bat hybrid (HBH) wing in which torsional f... |
Ultra-low Power Deep Learning-based Monocular Relative Localization Onboard Nano-quadrotors | https://ieeexplore.ieee.org/document/10161127/ | [
"S. Bonato",
"S. C. Lambertenghi",
"E. Cereda",
"A. Giusti",
"D. Palossi",
"S. Bonato",
"S. C. Lambertenghi",
"E. Cereda",
"A. Giusti",
"D. Palossi"
] | Precise relative localization is a crucial functional block for swarm robotics. This work presents a novel au-tonomous end-to-end system that addresses the monocular relative localization, through deep neural networks (DNNs), of two peer nano-drones, i.e., sub-40g of weight and sub-100mW processing power. To cope with the ultra-constrained nano-drone platform, we propose a vertically-integrated fr... |
A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control | https://ieeexplore.ieee.org/document/10161020/ | [
"Ryan M. Bena",
"Sushmit Hossain",
"Buyun Chen",
"Wei Wu",
"Quan Nguyen",
"Ryan M. Bena",
"Sushmit Hossain",
"Buyun Chen",
"Wei Wu",
"Quan Nguyen"
] | We present a new framework for implementing real-time embedded safety-critical controllers which utilizes hybrid computing to address the issue of limited computational resources, a problem that is particularly prevalent in microrobotics. In our approach, the nominal stabilizing control algorithm is implemented digitally while the safety-critical quadratic program is solved via a dedicated analog ... |
D2CoPlan: A Differentiable Decentralized Planner for Multi-Robot Coverage | https://ieeexplore.ieee.org/document/10160341/ | [
"Vishnu Dutt Sharma",
"Lifeng Zhou",
"Pratap Tokekar",
"Vishnu Dutt Sharma",
"Lifeng Zhou",
"Pratap Tokekar"
] | Centralized approaches for multi-robot coverage planning problems suffer from the lack of scalability. Learning-based distributed algorithms provide a scalable avenue in addition to bringing data-oriented feature generation capabilities to the table, allowing integration with other learning-based approaches. To this end, we present a learning-based, differentiable distributed coverage planner (D2C... |
Accelerating Multi-Agent Planning Using Graph Transformers with Bounded Suboptimality | https://ieeexplore.ieee.org/document/10161018/ | [
"Chenning Yu",
"Qingbiao Li",
"Sicun Gao",
"Amanda Prorok",
"Chenning Yu",
"Qingbiao Li",
"Sicun Gao",
"Amanda Prorok"
] | Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However, whether these heuristics can apply to non-grid-based problem settings while maintaining their effectiveness remains an open question. In this work, we find that ... |
Environment Optimization for Multi-Agent Navigation | https://ieeexplore.ieee.org/document/10160813/ | [
"Zhan Gao",
"Amanda Prorok",
"Zhan Gao",
"Amanda Prorok"
] | Traditional approaches to the design of multiagent navigation algorithms consider the environment as a fixed constraint, despite the obvious influence of spatial constraints on agents' performance. Yet hand-designing improved environment layouts and structures is inefficient and potentially expensive. The goal of this paper is to consider the environment as a decision variable in a system-level op... |
Heterogeneous Coverage and Multi-Resource Allocation in Supply-Constrained Teams | https://ieeexplore.ieee.org/document/10160414/ | [
"Mela Coffey",
"Alyssa Pierson",
"Mela Coffey",
"Alyssa Pierson"
] | We consider a team of heterogeneous robots, each equipped with various types and quantities of resources, and tasked with supplying these resources to multiple areas of demand. We propose a Voronoi-based coverage control approach to deploy robots to areas of demand by defining a position- and time-varying density function to represent the quality at which demand is being met in the environment. Th... |
Sequential Stochastic Multi-Task Assignment for Multi-Robot Deployment Planning | https://ieeexplore.ieee.org/document/10161094/ | [
"Colin Mitchell",
"Graeme Best",
"Geoffrey Hollinger",
"Colin Mitchell",
"Graeme Best",
"Geoffrey Hollinger"
] | Real-time sequential decision making under uncertainty is a challenging task for autonomous robots. Such problems are even more challenging when making decisions involving heterogeneous teams of robots completing multiple tasks. Deploying autonomous taxi cabs and utilizing drones for package delivery represent relevant examples of these types of problems. In this paper, we present an effective sol... |
Path Planning Under Uncertainty to Localize mmWave Sources | https://ieeexplore.ieee.org/document/10160524/ | [
"Kai Pfeiffer",
"Yuze Jia",
"Mingsheng Yin",
"Akshaj Kumar Veldanda",
"Yaqi Hu",
"Amee Trivedi",
"Jeff Zhang",
"Siddharth Garg",
"Elza Erkip",
"Sundeep Rangan",
"Ludovic Righetti",
"Kai Pfeiffer",
"Yuze Jia",
"Mingsheng Yin",
"Akshaj Kumar Veldanda",
"Yaqi Hu",
"Amee Trivedi",
"Jeff Zhang",
"Siddharth Garg",
"Elza Erkip",
"Sundeep Rangan",
"Ludovic Righetti"
] | In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently navigate in cluttered indoor environments. We formulate Extended Kalman filters for emitter location estimation in cases where the signal is received in line-of-sight ... |
Communication-Critical Planning via Multi-Agent Trajectory Exchange | https://ieeexplore.ieee.org/document/10160880/ | [
"Nathaniel Moore Glaser",
"Zsolt Kira",
"Nathaniel Moore Glaser",
"Zsolt Kira"
] | This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled vehicles must navigate through a busy intersection while avoiding collisions with each other and with obstacles. To this end, this paper proposes a learnable co... |
Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions | https://ieeexplore.ieee.org/document/10161176/ | [
"Zach Williams",
"Jushan Chen",
"Negar Mehr",
"Zach Williams",
"Jushan Chen",
"Negar Mehr"
] | In this work, we develop a scalable, local tra-jectory optimization algorithm that enables robots to interact with other robots. It has been shown that agents' interactions can be successfully captured in game-theoretic formulations, where the interaction outcome can be best modeled via the equilibria of the underlying dynamic game. However, it is typically challenging to compute equilibria of dyn... |
FRAME: Fast and Robust Autonomous 3D Point Cloud Map-Merging for Egocentric Multi-Robot Exploration | https://ieeexplore.ieee.org/document/10160771/ | [
"Nikolaos Stathoulopoulos",
"Anton Koval",
"Ali-akbar Agha-mohammadi",
"George Nikolakopoulos",
"Nikolaos Stathoulopoulos",
"Anton Koval",
"Ali-akbar Agha-mohammadi",
"George Nikolakopoulos"
] | This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots' poses. The novel proposed solution utilizes state-of-the-art place recognition learned descriptors, that through the framework's main pipeline, offer a fast and ro... |
Autonomous Task Planning for Heterogeneous Multi-Agent Systems | https://ieeexplore.ieee.org/document/10161180/ | [
"Anatoli A. Tziola",
"Savvas G. Loizou",
"Anatoli A. Tziola",
"Savvas G. Loizou"
] | This paper presents a solution to the automatic task planning problem for multi-agent systems. A formal frame-work is developed based on Nondeterministic Finite Automata with ∊-transitions, where given the capabilities, constraints and failure modes of the agents involved, any initial state of the system and a task specification, an optimal solution is generated that satisfies the system constrain... |
Graph Neural Networks for Multi-Robot Active Information Acquisition | https://ieeexplore.ieee.org/document/10160723/ | [
"Mariliza Tzes",
"Nikolaos Bousias",
"Evangelos Chatzipantazis",
"George J. Pappas",
"Mariliza Tzes",
"Nikolaos Bousias",
"Evangelos Chatzipantazis",
"George J. Pappas"
] | This paper addresses the Multi-Robot Active In-formation Acquisition (AIA) problem, where a team of mobile robots, communicating through an underlying graph, estimates a hidden state expressing a phenomenon of interest. Applications like target tracking, coverage and SLAM can be expressed in this framework. Existing approaches, though, are either not scalable, unable to handle dynamic phenomena or... |
Balancing Efficiency and Unpredictability in Multi-robot Patrolling: A MARL-Based Approach | https://ieeexplore.ieee.org/document/10160923/ | [
"Lingxiao Guo",
"Haoxuan Pan",
"Xiaoming Duan",
"Jianping He",
"Lingxiao Guo",
"Haoxuan Pan",
"Xiaoming Duan",
"Jianping He"
] | Patrolling with multiple robots is a challenging task. While the robots collaboratively and repeatedly cover the regions of interest in the environment, their routes should satisfy two often conflicting properties: i) (efficiency) the time intervals between two consecutive visits to the regions are small; ii) (unpredictability) the patrolling trajectories are random and unpredictable. We manage to... |
Learning to Influence Vehicles' Routing in Mixed-Autonomy Networks by Dynamically Controlling the Headway of Autonomous Cars | https://ieeexplore.ieee.org/document/10160717/ | [
"Xiaoyu Ma",
"Negar Mehr",
"Xiaoyu Ma",
"Negar Mehr"
] | It is known that autonomous cars can increase road capacities by maintaining a smaller headway through vehicle platooning. Recent works have shown that these capacity increases can influence vehicles' route choices in unexpected ways similar to the well-known Braess's paradox, such that the network congestion might increase. In this paper, we propose that in mixed-autonomy networks, i.e., networks... |
Traffic-Aware Autonomous Driving with Differentiable Traffic Simulation | https://ieeexplore.ieee.org/document/10161408/ | [
"Laura Zheng",
"Sanghyun Son",
"Ming C. Lin",
"Laura Zheng",
"Sanghyun Son",
"Ming C. Lin"
] | While there have been advancements in autonomous driving control and traffic simulation, there have been little to no works exploring their unification with deep learning. Works in both areas seem to focus on entirely different exclusive problems, yet traffic and driving are inherently related in the real world. In this paper, we present Traffic-Aware Autonomous Driving (TrAAD), a generalizable di... |
Multiagent Reinforcement Learning for Autonomous Routing and Pickup Problem with Adaptation to Variable Demand | https://ieeexplore.ieee.org/document/10161067/ | [
"Daniel Garces",
"Sushmita Bhattacharya",
"Stephanie Gil",
"Dimitri Bertsekas",
"Daniel Garces",
"Sushmita Bhattacharya",
"Stephanie Gil",
"Dimitri Bertsekas"
] | We derive a learning framework to generate routing/pickup policies for a fleet of autonomous vehicles tasked with servicing stochastically appearing requests on a city map. We focus on policies that 1) give rise to coordination amongst the vehicles, thereby reducing wait times for servicing requests, 2) are non-myopic, and consider a-priori potential future requests, 3) can adapt to changes in the... |
Cooperative Driving in Mixed Traffic of Manned and Unmanned Vehicles based on Human Driving Behavior Understanding | https://ieeexplore.ieee.org/document/10160282/ | [
"Jiaxing Lu",
"Sanzida Hossain",
"Weihua Sheng",
"He Bai",
"Jiaxing Lu",
"Sanzida Hossain",
"Weihua Sheng",
"He Bai"
] | To achieve safe cooperative driving in mixed traffic of manned and unmanned vehicles, it is necessary to understand and model human drivers' driving behaviors. This paper proposed a Hidden Markov Model (HMM)-based method to analyze human driver's control and vehicle's dynamics; and then recognize the human driver's action, such as accelerating, braking, and changing lanes. With the knowledge of th... |
Exploring Navigation Maps for Learning-Based Motion Prediction | https://ieeexplore.ieee.org/document/10160989/ | [
"Julian Schmidt",
"Julian Jordan",
"Franz Gritschneder",
"Thomas Monninger",
"Klaus Dietmayer",
"Julian Schmidt",
"Julian Jordan",
"Franz Gritschneder",
"Thomas Monninger",
"Klaus Dietmayer"
] | The prediction of surrounding agents' motion is a key for safe autonomous driving. In this paper, we explore navigation maps as an alternative to the predominant High Definition (HD) maps for learning-based motion prediction. Navigation maps provide topological and geometrical information on road-level, HD maps additionally have centimeter-accurate lane-level information. As a result, HD maps are ... |
SLAMesh: Real-time LiDAR Simultaneous Localization and Meshing | https://ieeexplore.ieee.org/document/10161425/ | [
"Jianyuan Ruan",
"Bo Li",
"Yibo Wang",
"Yuxiang Sun",
"Jianyuan Ruan",
"Bo Li",
"Yibo Wang",
"Yuxiang Sun"
] | Most current LiDAR simultaneous localization and mapping (SLAM) systems build maps in point clouds, which are sparse when zoomed in, even though they seem dense to human eyes. Dense maps are essential for robotic applications, such as map-based navigation. Due to the low memory cost, mesh has become an attractive dense model for mapping in recent years. However, existing methods usually produce me... |
CenterLineDet: CenterLine Graph Detection for Road Lanes with Vehicle-mounted Sensors by Transformer for HD Map Generation | https://ieeexplore.ieee.org/document/10161508/ | [
"Zhenhua Xu",
"Yuxuan Liu",
"Yuxiang Sun",
"Ming Liu",
"Lujia Wang",
"Zhenhua Xu",
"Yuxuan Liu",
"Yuxiang Sun",
"Ming Liu",
"Lujia Wang"
] | With the fast development of autonomous driving technologies, there is an increasing demand for high-definition (HD) maps, which provide reliable and robust prior information about the static part of the traffic environments. As one of the important elements in HD maps, road lane centerline is critical for downstream tasks, such as prediction and planning. Manually annotating centerlines for road ... |
Guided Conditional Diffusion for Controllable Traffic Simulation | https://ieeexplore.ieee.org/document/10161463/ | [
"Ziyuan Zhong",
"Davis Rempe",
"Danfei Xu",
"Yuxiao Chen",
"Sushant Veer",
"Tong Che",
"Baishakhi Ray",
"Marco Pavone",
"Ziyuan Zhong",
"Davis Rempe",
"Danfei Xu",
"Yuxiao Chen",
"Sushant Veer",
"Tong Che",
"Baishakhi Ray",
"Marco Pavone"
] | Controllable and realistic traffic simulation is critical for developing and verifying autonomous vehicles. Typical heuristic-based traffic models offer flexible control to make vehicles follow specific trajectories and traffic rules. On the other hand, data-driven approaches generate realistic and human-like behaviors, improving transfer from simulated to real-world traffic. However, to the best ... |
TrafficGen: Learning to Generate Diverse and Realistic Traffic Scenarios | https://ieeexplore.ieee.org/document/10160296/ | [
"Lan Feng",
"Quanyi Li",
"Zhenghao Peng",
"Shuhan Tan",
"Bolei Zhou",
"Lan Feng",
"Quanyi Li",
"Zhenghao Peng",
"Shuhan Tan",
"Bolei Zhou"
] | Diverse and realistic traffic scenarios are crucial for evaluating the AI safety of autonomous driving systems in simulation. This work introduces a data-driven method called TrafficGen for traffic scenario generation. It learns from the fragmented human driving data collected in the real world and then generates realistic traffic scenarios. TrafficGen is an autoregressive neural generative model ... |
Infrastructure-based End-to-End Learning and Prevention of Driver Failure | https://ieeexplore.ieee.org/document/10161536/ | [
"Noam Buckman",
"Shiva Sreeram",
"Mathias Lechner",
"Yutong Ban",
"Ramin Hasani",
"Sertac Karaman",
"Daniela Rus",
"Noam Buckman",
"Shiva Sreeram",
"Mathias Lechner",
"Yutong Ban",
"Ramin Hasani",
"Sertac Karaman",
"Daniela Rus"
] | Intelligent intersection managers can improve safety by detecting dangerous drivers or failure modes in autonomous vehicles, warning oncoming vehicles as they approach an intersection. In this work, we present FailureNet, a recurrent neural network trained end-to-end on trajectories of both nominal and reckless drivers in a scaled miniature city. FailureNet observes the poses of vehicles as they a... |
V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perception | https://ieeexplore.ieee.org/document/10161384/ | [
"Hao Xiang",
"Runsheng Xu",
"Xin Xia",
"Zhaoliang Zheng",
"Bolei Zhou",
"Jiaqi Ma",
"Hao Xiang",
"Runsheng Xu",
"Xin Xia",
"Zhaoliang Zheng",
"Bolei Zhou",
"Jiaqi Ma"
] | Recent advancements in Vehicle-to-Everything communication technology have enabled autonomous vehicles to share sensory information to obtain better perception performance. With the rapid growth of autonomous vehicles and intelligent infrastructure, the V2X perception systems will soon be deployed at scale, which raises a safety-critical question: how can we evaluate and improve its performance un... |
Satellite Image Based Cross-view Localization for Autonomous Vehicle | https://ieeexplore.ieee.org/document/10161527/ | [
"Shan Wang",
"Yanhao Zhang",
"Ankit Vora",
"Akhil Perincherry",
"Hengdong Li",
"Shan Wang",
"Yanhao Zhang",
"Ankit Vora",
"Akhil Perincherry",
"Hengdong Li"
] | Existing spatial localization techniques for au-tonomous vehicles mostly use a pre-built 3D-HD map, often constructed using a survey-grade 3D mapping vehicle, which is not only expensive but also laborious. This paper shows that by using an off-the-shelf high-definition satellite image as a ready-to-use map, we are able to achieve cross-view vehicle localization up to a satisfactory accuracy, prov... |
Collision-free Coverage Path Planning for the Variable-speed Curvature-constrained Robot | https://ieeexplore.ieee.org/document/10160621/ | [
"Lin Li",
"Dianxi Shi",
"Songchang Jin",
"Yixuan Sun",
"Xing Zhou",
"Shaowu Yang",
"Hengzhu Liu",
"Lin Li",
"Dianxi Shi",
"Songchang Jin",
"Yixuan Sun",
"Xing Zhou",
"Shaowu Yang",
"Hengzhu Liu"
] | Dubins coverage has been extensively researched to address the coverage path planning (CPP) problem of a known environment for the curvature-constrained robot. However, its fixed-speed assumption prevents the robot from accelerating to reduce the time and limits its flexibility to avoid obstacles. Therefore, this paper presents a collision-free CPP approach (CFC) for the obstacle-constrained envir... |
Stochastic Traveling Salesperson Problem with Neighborhoods for Object Detection | https://ieeexplore.ieee.org/document/10161120/ | [
"Cheng Peng",
"Minghan Wei",
"Volkan Isler",
"Cheng Peng",
"Minghan Wei",
"Volkan Isler"
] | We introduce a new route-finding problem which considers perception and travel costs simultaneously. Specifically, we consider the problem of finding the shortest tour such that all objects of interest can be detected successfully. To represent a viable detection region for each object, we propose to use an entropy-based viewing score that generates a diameter-bounded region as a viewing neighborh... |
Optimal Allocation of Many Robot Guards for Sweep-Line Coverage | https://ieeexplore.ieee.org/document/10161320/ | [
"Si Wei Feng",
"Teng Guo",
"Jingjin Yu",
"Si Wei Feng",
"Teng Guo",
"Jingjin Yu"
] | We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion, and so on. The mobile robots (or agents) are assumed to have one-dimensional sensing capability with probabilistic guarantees that deteriorate as the sensing d... |
A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization | https://ieeexplore.ieee.org/document/10160516/ | [
"Qianhao Wang",
"Zhepei Wang",
"Liuao Pei",
"Chao Xu",
"Fei Gao",
"Qianhao Wang",
"Zhepei Wang",
"Liuao Pei",
"Chao Xu",
"Fei Gao"
] | Collision evaluation is of essential importance in various applications. However, existing methods are either cumbersome to calculate or not exact. Therefore, considering the cost of implementation, most whole-body planning works, which require evaluating collision between robots and environments, struggle to tradeoff between accuracy and computationally efficiency. In this paper, we propose a zer... |
Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments | https://ieeexplore.ieee.org/document/10161490/ | [
"Khaled A. Mustafa",
"Oscar de Groot",
"Xinwei Wang",
"Jens Kober",
"Javier Alonso-Mora",
"Khaled A. Mustafa",
"Oscar de Groot",
"Xinwei Wang",
"Jens Kober",
"Javier Alonso-Mora"
] | Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are incorporated into the planning problem to provide probabilistic safety guarantees by imposing an upper bound on the collision probability of the planned trajector... |
Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation | https://ieeexplore.ieee.org/document/10161372/ | [
"Antony Thomas",
"Giulio Ferro",
"Fulvio Mastrogiovanni",
"Michela Robba",
"Antony Thomas",
"Giulio Ferro",
"Fulvio Mastrogiovanni",
"Michela Robba"
] | In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to collision with obstacles. However this problem is computationally expensive and grows exponentially in the size of number of movable obstacles. This work looks into... |
A Trajectory Planner For Mobile Robots Steering Non-Holonomic Wheelchairs In Dynamic Environments | https://ieeexplore.ieee.org/document/10161082/ | [
"Martin Schulze",
"Friedrich Graaf",
"Lea Steffen",
"Arne Roennau",
"Rüdiger Dillmann",
"Martin Schulze",
"Friedrich Graaf",
"Lea Steffen",
"Arne Roennau",
"Rüdiger Dillmann"
] | Motion planning for mobile robot platforms is one of the long-established research fields in robotics. In this paper, we propose a trajectory planner for mobile holonomic robots to steer non-holonomic conventional passive wheelchairs in dynamic environments. The challenges to overcome when steering a wheelchair are to find smooth feasible trajectories, maintain a fast reactive response to dynamic ... |
Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression | https://ieeexplore.ieee.org/document/10160671/ | [
"Chengyang Peng",
"Octavian Donca",
"Guillermo Castillo",
"Ayonga Hereid",
"Chengyang Peng",
"Octavian Donca",
"Guillermo Castillo",
"Ayonga Hereid"
] | Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free paths toward the target position. However, such approaches may generate non-smooth paths that do not comply with the dynamics constraints of walking robots. It has... |
Real-Time Decentralized Navigation of Nonholonomic Agents Using Shifted Yielding Areas | https://ieeexplore.ieee.org/document/10160902/ | [
"Liang He",
"Zherong Pan",
"Dinesh Manocha",
"Liang He",
"Zherong Pan",
"Dinesh Manocha"
] | We present a lightweight, decentralized algorithm for navigating multiple nonholonomic agents through challenging environments with narrow passages. Our key idea is to allow agents to yield to each other in large open areas instead of narrow passages, to increase the success rate of conventional decentralized algorithms. At pre-processing time, our method computes a medial axis for the freespace. ... |
Differentiable Collision Detection for a Set of Convex Primitives | https://ieeexplore.ieee.org/document/10160716/ | [
"Kevin Tracy",
"Taylor A. Howell",
"Zachary Manchester",
"Kevin Tracy",
"Taylor A. Howell",
"Zachary Manchester"
] | Collision detection between objects is critical for simulation, control, and learning for robotic systems. How-ever, existing collision detection routines are inherently non-differentiable, limiting their applications in gradient-based opti-mization tools. In this work, we propose DCOL: a fast and fully differentiable collision-detection framework that reasons about collisions between a set of com... |
Shunted Collision Avoidance for Multi-UAV Motion Planning with Posture Constraints | https://ieeexplore.ieee.org/document/10160979/ | [
"Gang Xu",
"Deye Zhu",
"Junjie Cao",
"Yong Liu",
"Jian Yang",
"Gang Xu",
"Deye Zhu",
"Junjie Cao",
"Yong Liu",
"Jian Yang"
] | This paper investigates the problem of fixed-wing unmanned aerial vehicles (UAV s) motion planning with posture constraints and the problem of the more general symmetrical situations where UAVs have more than one optimal solution. In this paper, the posture constraints are formulated in the 3D Dubins method, and the symmetrical situations are overcome by a more collaborative strategy called the sh... |
Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot | https://ieeexplore.ieee.org/document/10160857/ | [
"Zhuozhu Jian",
"Zihong Yan",
"Xuanang Lei",
"Zihong Lu",
"Bin Lan",
"Xueqian Wang",
"Bin Liang",
"Zhuozhu Jian",
"Zihong Yan",
"Xuanang Lei",
"Zihong Lu",
"Bin Lan",
"Xueqian Wang",
"Bin Liang"
] | This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection. Then, obstacles are clustered by DBSCAN algorithm and enclosed with minimum bounding ellipses (MBEs). In addition, data association is conducted to match each MBE with the obstacle in the current frame. Cons... |
A minimum swept-volume metric structure for configuration space | https://ieeexplore.ieee.org/document/10161367/ | [
"Yann de Mont-Marin",
"Jean Ponce",
"Jean-Paul Laumond",
"Yann de Mont-Marin",
"Jean Ponce",
"Jean-Paul Laumond"
] | Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure with well-defined and computable geodesics on its configuration space. This general result applies to concrete classes of articulated objects such as robot mani... |
Task-Space Clustering for Mobile Manipulator Task Sequencing | https://ieeexplore.ieee.org/document/10161293/ | [
"Quang-Nam Nguyen",
"Nicholas Adrian",
"Quang-Cuong Pham",
"Quang-Nam Nguyen",
"Nicholas Adrian",
"Quang-Cuong Pham"
] | Mobile manipulators have gained attention for the potential in performing large-scale tasks which are beyond the reach of fixed-base manipulators. The Robotic Task Sequencing Problem for mobile manipulators often requires optimizing the motion sequence of the robot to visit multiple targets while reducing the number of base placements. A two-step approach to this problem is clustering the task-spa... |
Sampling-based path planning under temporal logic constraints with real-time adaptation | https://ieeexplore.ieee.org/document/10161266/ | [
"Yizhou Chen",
"Ruoyu Wang",
"Xinyi Wang",
"Ben M. Chen",
"Yizhou Chen",
"Ruoyu Wang",
"Xinyi Wang",
"Ben M. Chen"
] | Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and partially unknown environments. Given prior knowledge and a task specification, the planner first identifies an initial feasible solution by growing a sampling-based s... |
Optimal Grasps and Placements for Task and Motion Planning in Clutter | https://ieeexplore.ieee.org/document/10161455/ | [
"Carlos Quintero-Peña",
"Zachary Kingston",
"Tianyang Pan",
"Rahul Shome",
"Anastasios Kyrillidis",
"Lydia E. Kavraki",
"Carlos Quintero-Peña",
"Zachary Kingston",
"Tianyang Pan",
"Rahul Shome",
"Anastasios Kyrillidis",
"Lydia E. Kavraki"
] | Many methods that solve robot planning problems, such as task and motion planners, employ discrete symbolic search to find sequences of valid symbolic actions that are grounded with motion planning. Much of the efficacy of these planners lies in this grounding-bad placement and grasp choices can lead to inefficient planning when a problem has many geometric constraints. Moreover, grounding methods... |
Resolution Complete In-Place Object Retrieval given Known Object Models | https://ieeexplore.ieee.org/document/10160406/ | [
"Daniel Nakhimovich",
"Yinglong Miao",
"Kostas E. Bekris",
"Daniel Nakhimovich",
"Yinglong Miao",
"Kostas E. Bekris"
] | This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The method assumes access to 3D models for the visible objects in the scene. The key contribution is in achieving desirable properties, i.e., to provide (a) safety, b... |
Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects | https://ieeexplore.ieee.org/document/10160306/ | [
"Aidan Curtis",
"Leslie Kaelbling",
"Siddarth Jain",
"Aidan Curtis",
"Leslie Kaelbling",
"Siddarth Jain"
] | Representing and reasoning about uncertainty is crucial for autonomous agents acting in partially observable environments with noisy sensors. Partially observable Markov decision processes (POMDPs) serve as a general framework for representing problems in which uncertainty is an important factor. Online sample-based POMDP methods have emerged as efficient approaches to solving large POMDPs and hav... |
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning | https://ieeexplore.ieee.org/document/10160887/ | [
"Joaquim Ortiz-Haro",
"Jung-Su Ha",
"Danny Driess",
"Erez Karpas",
"Marc Toussaint",
"Joaquim Ortiz-Haro",
"Jung-Su Ha",
"Danny Driess",
"Erez Karpas",
"Marc Toussaint"
] | A factored Nonlinear Program (Factored-NLP) explicitly models the dependencies between a set of continuous variables and nonlinear constraints, providing an expressive formulation for relevant robotics problems such as manipulation planning or simultaneous localization and mapping. When the problem is over-constrained or infeasible, a fundamental issue is to detect a minimal subset of variables an... |
Learning to Predict Action Feasibility for Task and Motion Planning in 3D Environments | https://ieeexplore.ieee.org/document/10161114/ | [
"Smail Ait Bouhsain",
"Rachid Alami",
"Thierry Siméon",
"Smail Ait Bouhsain",
"Rachid Alami",
"Thierry Siméon"
] | In Task and motion planning (TAMP), symbolic search is combined with continuous geometric planning. A task planner finds an action sequence while a motion planner checks its feasibility and plans the corresponding sequence of motions. However, due to the high combinatorial complexity of discrete search, the number of calls to the geometric planner can be very large. Previous works [1] [2] leverage... |
Policy-Guided Lazy Search with Feedback for Task and Motion Planning | https://ieeexplore.ieee.org/document/10161109/ | [
"Mohamed Khodeir",
"Atharv Sonwane",
"Ruthrash Hari",
"Florian Shkurti",
"Mohamed Khodeir",
"Atharv Sonwane",
"Ruthrash Hari",
"Florian Shkurti"
] | PDDLStream solvers have recently emerged as viable solutions for Task and Motion Planning (TAMP) problems, extending PDDL to problems with continuous action spaces. Prior work has shown how PDDLStream problems can be reduced to a sequence of PDDL planning problems, which can then be solved using off-the-shelf planners. However, this approach can suffer from long runtimes. In this paper we propose ... |
A Reachability Tree-Based Algorithm for Robot Task and Motion Planning | https://ieeexplore.ieee.org/document/10160294/ | [
"Kanghyun Kim",
"Daehyung Park",
"Min Jun Kim",
"Kanghyun Kim",
"Daehyung Park",
"Min Jun Kim"
] | This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not well-suited for TAMP problems that involve both abstracted and geometrical state variables. To address this challenge, we propose a hierarchical sampling strategy, which ... |
Dual quaternion based dynamic movement primitives to learn industrial tasks using teleoperation | https://ieeexplore.ieee.org/document/10160970/ | [
"Rohit Chandra",
"Victor H. Giraud",
"Mohammad Alkhatib",
"Youcef Mezouar",
"Rohit Chandra",
"Victor H. Giraud",
"Mohammad Alkhatib",
"Youcef Mezouar"
] | Dynamic movement primitives (DMPs) provide an effective method of learning manipulation skills from human demonstration. DMPs can be especially useful for imitating industrial manipulation tasks which are performed by humans and are difficult to model, for instance, deformable object manipulation. In this work the effectiveness of a conventional Cartesian space DMP is enhanced using a compact and ... |
Multi-Contact Task and Motion Planning Guided by Video Demonstration | https://ieeexplore.ieee.org/document/10161551/ | [
"Kateryna Zorina",
"David Kovar",
"Florent Lamiraux",
"Nicolas Mansard",
"Justin Carpentier",
"Josef Sivic",
"Vladimir Petrik",
"Kateryna Zorina",
"David Kovar",
"Florent Lamiraux",
"Nicolas Mansard",
"Justin Carpentier",
"Josef Sivic",
"Vladimir Petrik"
] | This work aims at leveraging instructional video to guide the solving of complex multi-contact task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which simultaneously grows multiple trees around grasp and release states extracted from the guiding video. Our key novelty lies in combining contact... |
MVTrans: Multi-View Perception of Transparent Objects | https://ieeexplore.ieee.org/document/10161089/ | [
"Yi Ru Wang",
"Yuchi Zhao",
"Haoping Xu",
"Sagi Eppel",
"Alán Aspuru-Guzik",
"Florian Shkurti",
"Animesh Garg",
"Yi Ru Wang",
"Yuchi Zhao",
"Haoping Xu",
"Sagi Eppel",
"Alán Aspuru-Guzik",
"Florian Shkurti",
"Animesh Garg"
] | Transparent object perception is a crucial skill for applications such as robot manipulation in household and laboratory settings. Existing methods utilize RGB-D or stereo inputs to handle a subset of perception tasks including depth and pose estimation. However transparent object perception remains to be an open problem. In this paper, we forgo the unreliable depth map from RGB-D sensors and exte... |
The Sum of Its Parts: Visual Part Segmentation for Inertial Parameter Identification of Manipulated Objects | https://ieeexplore.ieee.org/document/10160394/ | [
"Philippe Nadeau",
"Matthew Giamou",
"Jonathan Kelly",
"Philippe Nadeau",
"Matthew Giamou",
"Jonathan Kelly"
] | To operate safely and efficiently alongside human workers, collaborative robots (cobots) require the ability to quickly understand the dynamics of manipulated objects. However, traditional methods for estimating the full set of inertial parameters rely on motions that are necessarily fast and unsafe (to achieve a sufficient signal-to-noise ratio). In this work, we take an alternative approach: by ... |
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