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Data-Driven Distributionally Robust Electric Vehicle Balancing for Mobility-on-Demand Systems under Demand and Supply Uncertainties | https://ieeexplore.ieee.org/document/9341481/ | [
"Sihong He",
"Lynn Pepin",
"Guang Wang",
"Desheng Zhang",
"Fei Miao",
"Sihong He",
"Lynn Pepin",
"Guang Wang",
"Desheng Zhang",
"Fei Miao"
] | As electric vehicle (EV) technologies become mature, EV has been rapidly adopted in modern transportation systems, and is expected to provide future autonomous mobility-on-demand (AMoD) service with economic and societal benefits. However, EVs require frequent recharges due to their limited and unpredictable cruising ranges, and they have to be managed efficiently given the dynamic charging proces... |
GP-based Runtime Planning, Learning, and Recovery for Safe UAV Operations under Unforeseen Disturbances | https://ieeexplore.ieee.org/document/9341641/ | [
"Esen Yel",
"Nicola Bezzo",
"Esen Yel",
"Nicola Bezzo"
] | Autonomous vehicles are typically developed and trained to work under certain system and environmental conditions defined at design time and can fail or perform poorly if unforeseen conditions such as disturbances or changes in model dynamics appear at runtime. In this work, we present a fast online planning, learning, and recovery approach for safe autonomous operations under unknown runtime dist... |
Object-Aware Centroid Voting for Monocular 3D Object Detection | https://ieeexplore.ieee.org/document/9340889/ | [
"Wentao Bao",
"Qi Yu",
"Yu Kong",
"Wentao Bao",
"Qi Yu",
"Yu Kong"
] | Monocular 3D object detection aims to detect objects in a 3D physical world from a single camera. However, recent approaches either rely on expensive LiDAR devices, or resort to dense pixel-wise depth estimation that causes prohibitive computational cost. In this paper, we propose an end-to-end trainable monocular 3D object detector without learning the dense depth. Specifically, the grid coordina... |
Estimating Pedestrian Crossing States Based on Single 2D Body Pose | https://ieeexplore.ieee.org/document/9341745/ | [
"Zixing Wang",
"Nikolaos Papanikolopoulos",
"Zixing Wang",
"Nikolaos Papanikolopoulos"
] | The Crossing or Not-Crossing (C/NC) problem is important to autonomous vehicles (AVs) for safe vehicle/pedestrian interactions. However, this problem setup often ignores pedestrians walking along the direction of the vehicles' movement (LONG). To enhance the AVs' awareness of pedestrian behavior, we make the first step towards extending the C/NC to the C/NC/LONG problem and recognize them based on... |
SSP: Single Shot Future Trajectory Prediction | https://ieeexplore.ieee.org/document/9340754/ | [
"Isht Dwivedi",
"Srikanth Malla",
"Behzad Dariush",
"Chiho Choi",
"Isht Dwivedi",
"Srikanth Malla",
"Behzad Dariush",
"Chiho Choi"
] | We propose a robust solution to future trajectory forecast, which can be practically applicable to autonomous agents in highly crowded environments. For this, three aspects are particularly addressed in this paper. First, we use composite fields to predict future locations of all road agents in a singleshot, which results in a constant time complexity, regardless of the number of agents in the sce... |
Learning hierarchical behavior and motion planning for autonomous driving | https://ieeexplore.ieee.org/document/9341647/ | [
"Jingke Wang",
"Yue Wang",
"Dongkun Zhang",
"Yezhou Yang",
"Rong Xiong",
"Jingke Wang",
"Yue Wang",
"Dongkun Zhang",
"Yezhou Yang",
"Rong Xiong"
] | Learning-based driving solution, a new branch for autonomous driving, is expected to simplify the modeling of driving by learning the underlying mechanisms from data. To improve the tactical decision-making for learning-based driving solution, we introduce hierarchical behavior and motion planning (HBMP) to explicitly model the behavior in learning-based solution. Due to the coupled action space o... |
Learning to Collide: An Adaptive Safety-Critical Scenarios Generating Method | https://ieeexplore.ieee.org/document/9340696/ | [
"Wenhao Ding",
"Baiming Chen",
"Minjun Xu",
"Ding Zhao",
"Wenhao Ding",
"Baiming Chen",
"Minjun Xu",
"Ding Zhao"
] | Long-tail and rare event problems become crucial when autonomous driving algorithms are applied in the real world. For the purpose of evaluating systems in challenging settings, we propose a generative framework to create safety-critical scenarios for evaluating specific task algorithms. We first represent the traffic scenarios with a series of autoregressive building blocks and generate diverse s... |
SynChrono: A Scalable, Physics-Based Simulation Platform For Testing Groups of Autonomous Vehicles and/or Robots | https://ieeexplore.ieee.org/document/9341585/ | [
"Jay Taves",
"Asher Elmquist",
"Aaron Young",
"Radu Serban",
"Dan Negrut",
"Jay Taves",
"Asher Elmquist",
"Aaron Young",
"Radu Serban",
"Dan Negrut"
] | This contribution is concerned with the topic of using simulation to understand the behavior of groups of mutually interacting autonomous vehicles (AVs) or robots engaged in traffic/maneuvers that involve coordinated operation. We outline the structure of a multi-agent simulator called SYN-CHRONO and provide results pertaining to its scalability and ability to run real-time scenarios with humans i... |
Output-Only Fault Detection and Mitigation of Networks of Autonomous Vehicles | https://ieeexplore.ieee.org/document/9341132/ | [
"Abdelrahman Khalil",
"Mohammad Al Janaideh",
"Khaled F. Aljanaideh",
"Deepa Kundur",
"Abdelrahman Khalil",
"Mohammad Al Janaideh",
"Khaled F. Aljanaideh",
"Deepa Kundur"
] | An autonomous vehicle platoon is a network of autonomous vehicles that communicate together to move in a desired way. One of the greatest threats to the operation of an autonomous vehicle platoon is the failure of either a physical component of a vehicle or a communication link between two vehicles. This failure affects the safety and stability of the autonomous vehicle platoon. Transmissibility-b... |
Go-CHART: A miniature remotely accessible self-driving car robot | https://ieeexplore.ieee.org/document/9341770/ | [
"Shenbagaraj Kannapiran",
"Spring Berman",
"Shenbagaraj Kannapiran",
"Spring Berman"
] | The Go-CHART is a four-wheel, skid-steer robot that resembles a 1:28 scale standard commercial sedan. It is equipped with an onboard sensor suite and both onboard and external computers that replicate many of the sensing and computation capabilities of a full-size autonomous vehicle. The Go-CHART can autonomously navigate a small-scale traffic testbed, responding to its sensor input wiwithth progr... |
An RLS-Based Instantaneous Velocity Estimator for Extended Radar Tracking | https://ieeexplore.ieee.org/document/9341127/ | [
"Nikhil Bharadwaj Gosala",
"Xiaoli Meng",
"Nikhil Bharadwaj Gosala",
"Xiaoli Meng"
] | Radar sensors have become an important part of the perception sensor suite due to their long range and their ability to work in adverse weather conditions. However, several shortcomings such as large amounts of noise and extreme sparsity of the point cloud result in them not being used to their full potential. In this paper, we present a novel Recursive Least Squares (RLS) based approach to estima... |
Lidar Essential Beam Model for Accurate Width Estimation of Thin Poles | https://ieeexplore.ieee.org/document/9341097/ | [
"Yunfei Long",
"Daniel Morris",
"Yunfei Long",
"Daniel Morris"
] | While Lidar beams are often represented as rays, they actually have finite beam width and this width impacts the measured shape and size of objects in the scene. Here we investigate the effects of beam width on measurements of thin objects such as vertical poles. We propose a model for beam divergence and show how this can explain both object dilation and erosion. We develop a calibration method t... |
MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views | https://ieeexplore.ieee.org/document/9341450/ | [
"Ke Chen",
"Ryan Oldja",
"Nikolai Smolyanskiy",
"Stan Birchfield",
"Alexander Popov",
"David Wehr",
"Ibrahim Eden",
"Joachim Pehserl",
"Ke Chen",
"Ryan Oldja",
"Nikolai Smolyanskiy",
"Stan Birchfield",
"Alexander Popov",
"David Wehr",
"Ibrahim Eden",
"Joachim Pehserl"
] | Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for multi-class object detection and drivable space segmentation using multiple views of a single LiDAR point cloud. The first stage processes the point cloud proj... |
The Importance of Prior Knowledge in Precise Multimodal Prediction | https://ieeexplore.ieee.org/document/9341199/ | [
"Sergio Casas",
"Cole Gulino",
"Simon Suo",
"Raquel Urtasun",
"Sergio Casas",
"Cole Gulino",
"Simon Suo",
"Raquel Urtasun"
] | Roads have well defined geometries, topologies, and traffic rules. While this has been widely exploited in motion planning methods to produce maneuvers that obey the law, little work has been devoted to utilize these priors in perception and motion forecasting methods. In this paper we propose to incorporate these structured priors as a loss function. In contrast to imposing hard constraints, this... |
Simultaneous Estimation of Vehicle Position and Data Delays using Gaussian Process based Moving Horizon Estimation | https://ieeexplore.ieee.org/document/9341184/ | [
"Daiki Mori",
"Yoshikazu Hattori",
"Daiki Mori",
"Yoshikazu Hattori"
] | Automobiles or robots with advanced autonomous systems are equipped with multiple types of sensors to overcome different weather and geographical conditions. These sensors generally have various data delays and sampling rates. Additionally, the communication delays or time synchronization errors between the onboard computers significantly affect the robustness and accuracy of localization for auto... |
A real-time unscented Kalman filter on manifolds for challenging AUV navigation | https://ieeexplore.ieee.org/document/9341216/ | [
"Théophile Cantelobre",
"Clément Chahbazian",
"Arnaud Croux",
"Silvère Bonnabel",
"Théophile Cantelobre",
"Clément Chahbazian",
"Arnaud Croux",
"Silvère Bonnabel"
] | We consider the problem of localization and navigation of Autonomous Underwater Vehicles (AUV) in the context of high performance subsea asset inspection missions in deep water. We propose a solution based on the recently introduced Unscented Kalman Filter on Manifolds (UKF-M) for onboard navigation to estimate the robot's location, attitude and velocity, using a precise round and rotating Earth n... |
DSSF-net: Dual-Task Segmentation and Self-supervised Fitting Network for End-to-End Lane Mark Detection | https://ieeexplore.ieee.org/document/9340898/ | [
"Wentao Du",
"Zhiyu Xiang",
"Yiman Chen",
"Shuya Chen",
"Wentao Du",
"Zhiyu Xiang",
"Yiman Chen",
"Shuya Chen"
] | Lane mark detection is one of the key tasks for autonomous driving systems. Accurate detection of lane marks under complex urban environments remains a challenge. In this paper, an end-to-end lane mark detection network named DSSF-net, which is capable of directly outputting the accurate fitted lane curves, is proposed. First, a dual-task segmentation framework for jointing lane category predictio... |
Lane Marking Verification for High Definition Map Maintenance Using Crowdsourced Images | https://ieeexplore.ieee.org/document/9340923/ | [
"Binbin Li",
"Dezhen Song",
"Aaron Kingery",
"Dongfang Zheng",
"Yiliang Xu",
"Huiwen Guo",
"Binbin Li",
"Dezhen Song",
"Aaron Kingery",
"Dongfang Zheng",
"Yiliang Xu",
"Huiwen Guo"
] | Autonomous vehicles often rely on high-definition (HD) maps to navigate around. However, lane markings (LMs) are not necessarily static objects due to wear & tear from usage and road reconstruction & maintenance. Therefore, the wrong matching between LMs in the HD map and sensor readings may lead to erroneous localization or even cause traffic accidents. It is imperative to keep LMs up-to-date. Ho... |
Toward Hierarchical Self-Supervised Monocular Absolute Depth Estimation for Autonomous Driving Applications | https://ieeexplore.ieee.org/document/9340802/ | [
"Feng Xue",
"Guirong Zhuo",
"Ziyuan Huang",
"Wufei Fu",
"Zhuoyue Wu",
"Marcelo H. Ang",
"Feng Xue",
"Guirong Zhuo",
"Ziyuan Huang",
"Wufei Fu",
"Zhuoyue Wu",
"Marcelo H. Ang"
] | In recent years, self-supervised methods for monocular depth estimation has rapidly become an significant branch of depth estimation task, especially for autonomous driving applications. Despite the high overall precision achieved, current methods still suffer from a) imprecise object-level depth inference and b) uncertain scale factor. The former problem would cause texture copy or provide inaccu... |
Label Efficient Visual Abstractions for Autonomous Driving | https://ieeexplore.ieee.org/document/9340641/ | [
"Aseem Behl",
"Kashyap Chitta",
"Aditya Prakash",
"Eshed Ohn-Bar",
"Andreas Geiger",
"Aseem Behl",
"Kashyap Chitta",
"Aditya Prakash",
"Eshed Ohn-Bar",
"Andreas Geiger"
] | It is well known that semantic segmentation can be used as an effective intermediate representation for learning driving policies. However, the task of street scene semantic segmentation requires expensive annotations. Furthermore, segmentation algorithms are often trained irrespective of the actual driving task, using auxiliary image-space loss functions which are not guaranteed to maximize drivi... |
Learning Accurate and Human-Like Driving using Semantic Maps and Attention | https://ieeexplore.ieee.org/document/9341157/ | [
"Simon Hecker",
"Dengxin Dai",
"Alexander Liniger",
"Martin Hahner",
"Luc Van Gool",
"Simon Hecker",
"Dengxin Dai",
"Alexander Liniger",
"Martin Hahner",
"Luc Van Gool"
] | This paper investigates how end-to-end driving models can be improved to drive more accurately and human-like. To tackle the first issue we exploit semantic and visual maps from HERE Technologies and augment the existing Drive360 dataset with such. The maps are used in an attention mechanism that promotes segmentation confidence masks, thus focusing the network on semantic classes in the image tha... |
PaintPath: Defining Path Directionality in Maps for Autonomous Ground Vehicles | https://ieeexplore.ieee.org/document/9341676/ | [
"Riley Bowyer",
"Thomas Lowe",
"Paulo Borges",
"Tirthankar Bandyopadhyay",
"Tobias Löw",
"David Haddon",
"Riley Bowyer",
"Thomas Lowe",
"Paulo Borges",
"Tirthankar Bandyopadhyay",
"Tobias Löw",
"David Haddon"
] | Directionality in path planning is essential for efficient autonomous navigation in a number of real-world environments. In many map-based navigation scenarios, the viable path from a given point A to point B is not the same as the viable path from B to A. We present a method that automatically incorporates preferred navigation directionality into a path planning costmap. This `preference' is repr... |
Probabilistic Multi-modal Trajectory Prediction with Lane Attention for Autonomous Vehicles | https://ieeexplore.ieee.org/document/9341034/ | [
"Chenxu Luo",
"Lin Sun",
"Dariush Dabiri",
"Alan Yuille",
"Chenxu Luo",
"Lin Sun",
"Dariush Dabiri",
"Alan Yuille"
] | Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are significantly influenced by the lane geometry and how to effectively use the lane information is of active interest. Most of the existing works use rasterized maps to e... |
Safe Planning for Self-Driving Via Adaptive Constrained ILQR | https://ieeexplore.ieee.org/document/9340886/ | [
"Yanjun Pan",
"Qin Lin",
"Het Shah",
"John M. Dolan",
"Yanjun Pan",
"Qin Lin",
"Het Shah",
"John M. Dolan"
] | Constrained Iterative Linear Quadratic Regulator (CILQR), a variant of ILQR, has been recently proposed for motion planning problems of autonomous vehicles to deal with constraints such as obstacle avoidance and reference tracking. However, the previous work considers either deterministic trajectories or persistent prediction for target dynamical obstacles. The other drawback is lack of generality... |
Automatic Lane Change Maneuver in Dynamic Environment Using Model Predictive Control Method | https://ieeexplore.ieee.org/document/9341729/ | [
"Zhaolun Li",
"Jingjing Jiang",
"Wen-Hua Chen",
"Zhaolun Li",
"Jingjing Jiang",
"Wen-Hua Chen"
] | The lane change maneuver is one of the typical maneuvers in various driving situations. Therefore the automatic lane change function is one of the key functions for autonomous vehicles. Many researches have been conducted in this field. Most existing work focused on the solutions for the static environment and assume that the surrounding vehicles are running at constant speeds. However, in reality... |
Real-time optimal control of an autonomous RC car with minimum-time maneuvers and a novel kineto-dynamical model | https://ieeexplore.ieee.org/document/9340640/ | [
"Edoardo Pagot",
"Mattia Piccinini",
"Francesco Biral",
"Edoardo Pagot",
"Mattia Piccinini",
"Francesco Biral"
] | In this paper, we present a real-time non-linear model-predictive control (NMPC) framework to perform minimum-time motion planning for autonomous racing cars. We introduce an innovative kineto-dynamical vehicle model, able to accurately predict non-linear longitudinal and lateral vehicle dynamics. The main parameters of this vehicle model can be tuned with only experimental or simulated maneuvers,... |
Optimization-Based Hierarchical Motion Planning for Autonomous Racing | https://ieeexplore.ieee.org/document/9341731/ | [
"José L. Vázquez",
"Marius Brühlmeier",
"Alexander Liniger",
"Alisa Rupenyan",
"John Lygeros",
"José L. Vázquez",
"Marius Brühlmeier",
"Alexander Liniger",
"Alisa Rupenyan",
"John Lygeros"
] | In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap time, and the low-level nonlinear model predictive path following controller tracks the computed trajectory online. Following a computed optimal trajectory avoi... |
Secure Route Planning Using Dynamic Games with Stopping States | https://ieeexplore.ieee.org/document/9340884/ | [
"Sandeep Banik",
"Shaunak D. Bopardikar",
"Sandeep Banik",
"Shaunak D. Bopardikar"
] | This paper studies a motion planning problem over a roadmap in which a vehicle aims to travel from a start to a destination in presence of an attacker who can launch a cyber-attack on the vehicle over any one edge of the roadmap. The vehicle (defender) has the capability to switch on/off a countermeasure that can detect and permanently disable the attack if it occurs concurrently. We first model t... |
Online Planning in Uncertain and Dynamic Environment in the Presence of Multiple Mobile Vehicles | https://ieeexplore.ieee.org/document/9341092/ | [
"Junhong Xu",
"Kai Yin",
"Lantao Liu",
"Junhong Xu",
"Kai Yin",
"Lantao Liu"
] | We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for their uncertain behaviors affected by the time-varying disturbances. We then construct a dynamic-obstacle-aware reachable space that contains states with high pro... |
Segmentation-Based 4D Registration of Plants Point Clouds for Phenotyping | https://ieeexplore.ieee.org/document/9340918/ | [
"Federico Magistri",
"Nived Chebrolu",
"Cyrill Stachniss",
"Federico Magistri",
"Nived Chebrolu",
"Cyrill Stachniss"
] | Plant phenotyping, i.e., the task of measuring plant traits to describe the anatomy and physiology of plants, is a central task in crop science and plant breeding. Standard methods often require intrusive or time-consuming operations involving a lot of manual labor. Cameras or range sensors, paired with 3D reconstructions methods, can support phenotyping but the task yields several challenges in p... |
Incorporating Spatial Constraints into a Bayesian Tracking Framework for Improved Localisation in Agricultural Environments | https://ieeexplore.ieee.org/document/9341013/ | [
"Muhammad W. Khan",
"Gautham P. Das",
"Marc Hanheide",
"Grzegorz Cielniak",
"Muhammad W. Khan",
"Gautham P. Das",
"Marc Hanheide",
"Grzegorz Cielniak"
] | Global navigation satellite system (GNSS) has been considered as a panacea for positioning and tracking since the last decade. However, it suffers from severe limitations in terms of accuracy, particularly in highly cluttered and indoor environments. Though real-time kinematics (RTK) supported GNSS promises extremely accurate localisation, employing such services are expensive, fail in occluded en... |
Learning Continuous Object Representations from Point Cloud Data | https://ieeexplore.ieee.org/document/9341765/ | [
"Henry J. Nelson",
"Nikolaos Papanikolopoulos",
"Henry J. Nelson",
"Nikolaos Papanikolopoulos"
] | Continuous representations of objects have always been used in robotics in the form of geometric primitives and surface models. Recently, learning techniques have emerged which allow more complex continuous representations to be learned from data, but these learning techniques require training data in the form of watertight meshes which restricts their application as meshes of this form are diffic... |
Solving Large-scale Stochastic Orienteering Problems with Aggregation | https://ieeexplore.ieee.org/document/9340899/ | [
"Thomas C. Thayer",
"Stefano Carpin",
"Thomas C. Thayer",
"Stefano Carpin"
] | In this paper we consider the stochastic cost orienteering problem, i.e., a version of the classic orienteering problem where the cost associated with each edge is a random variable with known distribution. Such a model is relevant when travel costs are variable, e.g., when a robot moves in uncertain terrain conditions. We model this problem using a composite state space tracking both how much pro... |
DIAT (Depth-Infrared Image Annotation Transfer) for Training a Depth-Based Pig-Pose Detector | https://ieeexplore.ieee.org/document/9340744/ | [
"Steven Yik",
"Madonna Benjamin",
"Michael Lavagnino",
"Daniel Morris",
"Steven Yik",
"Madonna Benjamin",
"Michael Lavagnino",
"Daniel Morris"
] | Precision livestock farming uses artificial intelligence to individually monitor livestock activity and health. Tracking individuals over time can reveal health indicators that correlate with productivity and longevity. For instance, locomotion patterns observed in lame pigs have been shown to correlate with poor animal welfare and productivity. Kinematic analysis of pigs using pose estimates prov... |
Data-Driven Models with Expert Influence: A Hybrid Approach to Spatiotemporal Process Estimation | https://ieeexplore.ieee.org/document/9341786/ | [
"Jun Liu",
"Ryan K. Williams",
"Jun Liu",
"Ryan K. Williams"
] | In this paper, our motivating application lies in precision agriculture where accurate modeling of forage is essential for informing rotational grazing strategies. Unfortunately, a major difficulty arises in modeling forage processes as they evolve on large scales according to complex ecological influences. As robots can collect data over large scales in a forage environment, they act as a promisi... |
Robust MUSIC-Based Sound Source Localization in Reverberant and Echoic Environments | https://ieeexplore.ieee.org/document/9340826/ | [
"Marco Sewtz",
"Tim Bodenmüller",
"Rudolph Triebel",
"Marco Sewtz",
"Tim Bodenmüller",
"Rudolph Triebel"
] | Intuitive human robot interfaces like speech or gesture recognition are essential for gaining acceptance for robots in daily life. However, such interaction requires that the robot detects the human's intention to interact, tracks his position and keeps its sensor systems in an optimal configuration. Audio is a suitable modality for such task as it allows for detecting a speaker in arbitrary posit... |
OceanVoy: A Hybrid Energy Planning System for Autonomous Sailboat | https://ieeexplore.ieee.org/document/9341591/ | [
"Qinbo Sun",
"Weimin Qi",
"Hengli Liu",
"Zhenglong Sun",
"Tin Lun Lam",
"Huihuan Qian",
"Qinbo Sun",
"Weimin Qi",
"Hengli Liu",
"Zhenglong Sun",
"Tin Lun Lam",
"Huihuan Qian"
] | Towards long range and high endurance sailing, energy is of utmost importance. Moreover, benefiting from the dominance of the sailboat itself, it is energy-saving and environment-friendly. Thus, the sailboat with energy planning problem is meaningful. However, until now, the sailboat energy optimization problem has rarely been considered. In this paper, we focus on the energy consumption optimizat... |
LAVAPilot: Lightweight UAV Trajectory Planner with Situational Awareness for Embedded Autonomy to Track and Locate Radio-tags | https://ieeexplore.ieee.org/document/9341615/ | [
"Hoa Van Nguyen",
"Fei Chen",
"Joshua Chesser",
"Hamid Rezatofighi",
"Damith Ranasinghe",
"Hoa Van Nguyen",
"Fei Chen",
"Joshua Chesser",
"Hamid Rezatofighi",
"Damith Ranasinghe"
] | Tracking and locating radio-tagged wildlife is a labor-intensive and time-consuming task necessary in wildlife conservation. In this article, we focus on the problem of achieving embedded autonomy for a resource-limited aerial robot for the task capable of avoiding undesirable disturbances to wildlife. We employ a lightweight sensor system capable of simultaneous (noisy) measurements of radio sign... |
Coordinate-free Isoline Tracking in Unknown 2-D Scalar Fields | https://ieeexplore.ieee.org/document/9341311/ | [
"Fei Dong",
"Keyou You",
"Jian Wang",
"Fei Dong",
"Keyou You",
"Jian Wang"
] | The isoline tracking of this work is concerned with the control design for a sensing robot to track a given isoline of an unknown 2-D scalar filed. To this end, we propose a coordinate-free controller with a simple PI-like form using only the concentration feedback for a Dubins robot, which is particularly useful in GPS-denied environments. The key idea lies in the novel design of a sliding surfac... |
Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments | https://ieeexplore.ieee.org/document/9341273/ | [
"Vaibhav K. Viswanathan",
"Eric Dexheimer",
"Guanrui Li",
"Giuseppe Loianno",
"Michael Kaess",
"Sebastian Scherer",
"Vaibhav K. Viswanathan",
"Eric Dexheimer",
"Guanrui Li",
"Giuseppe Loianno",
"Michael Kaess",
"Sebastian Scherer"
] | Quadrotor flight in cluttered, unknown environments is challenging due to the limited range of perception sensors, challenging obstacles, and limited onboard computation. In this work, we directly address these challenges by proposing an efficient, reactive planning approach. We introduce the Bitwise Trajectory Elimination (BiTE) algorithm for efficiently filtering out in-collision trajectories fr... |
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion | https://ieeexplore.ieee.org/document/9341361/ | [
"Amanda Bouman",
"Muhammad Fadhil Ginting",
"Nikhilesh Alatur",
"Matteo Palieri",
"David D. Fan",
"Thomas Touma",
"Torkom Pailevanian",
"Sung-Kyun Kim",
"Kyohei Otsu",
"Joel Burdick",
"Ali-akbar Agha-Mohammadi",
"Amanda Bouman",
"Muhammad Fadhil Ginting",
"Nikhilesh Alatur",
"Matteo Palieri",
"David D. Fan",
"Thomas Touma",
"Torkom Pailevanian",
"Sung-Kyun Kim",
"Kyohei Otsu",
"Joel Burdick",
"Ali-akbar Agha-Mohammadi"
] | This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean Challenge, this paper pushes the boundaries of the state-of-practice in enabling legged robotic systems to accomplish real-world complex missions in relevant scenarios.... |
Modeling and Control of a Hybrid Wheeled Jumping Robot | https://ieeexplore.ieee.org/document/9341339/ | [
"Traiko Dinev",
"Songyan Xin",
"Wolfgang Merkt",
"Vladimir Ivan",
"Sethu Vijayakumar",
"Traiko Dinev",
"Songyan Xin",
"Wolfgang Merkt",
"Vladimir Ivan",
"Sethu Vijayakumar"
] | In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template model for the class of such two-wheeled jumping robots. This model can be considered as the simplest wheeled-legged system. We provide an analytical derivation of... |
Ospheel: Design of an Omnidirectional Spherical-sectioned Wheel | https://ieeexplore.ieee.org/document/9341292/ | [
"A. A. Hayat",
"Shi Yuyao",
"K. Elangovan",
"M. R. Elara",
"R. E. Abdulkader",
"A. A. Hayat",
"Shi Yuyao",
"K. Elangovan",
"M. R. Elara",
"R. E. Abdulkader"
] | The holonomic and omnidirectional capabilities imparted to the mobile base platform depends mainly on two factors, i.e., the wheel design and its various arrangements in the platform chassis. This paper reports on the development of a novel omnidirectional spherical sectioned wheel named Ospheel. It is modular, and the spherical sectioned geometry of the wheel is driven using two actuators placed ... |
Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Agile Ground Robot AGRO | https://ieeexplore.ieee.org/document/9341616/ | [
"Daniel J. Gonzalez",
"Mark C. Lesak",
"Andres H. Rodriguez",
"Joseph A. Cymerman",
"Christopher M. Korpela",
"Daniel J. Gonzalez",
"Mark C. Lesak",
"Andres H. Rodriguez",
"Joseph A. Cymerman",
"Christopher M. Korpela"
] | In this work we present a Four-Wheeled Independent Drive and Steering (4WIDS) robot named AGRO and a method of controlling its orientation while airborne using wheel reaction torques. This is the first documented use of independently steerable wheels to both drive on the ground and achieve aerial attitude control when thrown. Inspired by a cat's self-righting reflex, this capability was developed ... |
Control Framework for a Hybrid-steel Bridge Inspection Robot | https://ieeexplore.ieee.org/document/9340637/ | [
"Hoang-Dung Bui",
"Son Nguyen",
"U-H. Billah",
"Chuong Le",
"Alireza Tavakkoli",
"Hung M. La",
"Hoang-Dung Bui",
"Son Nguyen",
"U-H. Billah",
"Chuong Le",
"Alireza Tavakkoli",
"Hung M. La"
] | Autonomous navigation of steel bridge inspection robots are essential for proper maintenance. Majority of existing robotic solutions for bridge inspection require human intervention to assist in the control and navigation. In this paper, a control system framework has been proposed for a previously designed ARA robot [1], which facilitates autonomous real-time navigation and minimizes human involv... |
Development of a Steep Slope Mobile Robot with Propulsion Adhesion | https://ieeexplore.ieee.org/document/9341524/ | [
"Yuki Nishimura",
"Tomoyuki Yamaguchi",
"Yuki Nishimura",
"Tomoyuki Yamaguchi"
] | A mobile robot that can achieve a stable attitude and locomotion on steep slopes is needed to overcome the problems of slipping and falling for automation of works on steep slopes. The conventional approaches to achieve a stable attitude and locomotion have been researched by adopting tracked wheels and multi-legged mechanisms instead of wheel mechanisms. However, these robots have limitations in ... |
Interactive Movement Primitives: Planning to Push Occluding Pieces for Fruit Picking | https://ieeexplore.ieee.org/document/9341728/ | [
"Sariah Mghames",
"Marc Hanheide",
"Amir Ghalamzan E.",
"Sariah Mghames",
"Marc Hanheide",
"Amir Ghalamzan E."
] | Robotic technology is increasingly considered the major mean for fruit picking. However, picking fruits in a dense cluster imposes a challenging research question in terms of motion/path planning as conventional planning approaches may not find collision-free movements for the robot to reach-and-pick a ripe fruit within a dense cluster. In such cases, the robot needs to safely push unripe fruits t... |
Robotic Untangling of Herbs and Salads with Parallel Grippers | https://ieeexplore.ieee.org/document/9342536/ | [
"Prabhakar Ray",
"Matthew J. Howard",
"Prabhakar Ray",
"Matthew J. Howard"
] | Robotic packaging of fresh leafy produce such as herbs and salads generally involves picking out a target mass from a pile or crate of plant material. Typically, for low-complexity parallel grippers, the weight picked can be controlled by varying the opening aperture. However, often individual strands of plant material get entangled with each other, causing more to be picked out than desired. This... |
Choosing Classification Thresholds for Mobile Robot Coverage | https://ieeexplore.ieee.org/document/9340969/ | [
"Parikshit Maini",
"Volkan Isler",
"Parikshit Maini",
"Volkan Isler"
] | Many robotic coverage applications involve detection of spatially distributed targets, followed by path planning to visit them for service. In these applications, the performance of the detection algorithm can have profound effect on planning decisions and costs. Range of operation, in both space and time, for robots is typically finite over a single mission and is a common constraint that needs t... |
Unsupervised Domain Adaptation for Transferring Plant Classification Systems to New Field Environments, Crops, and Robots | https://ieeexplore.ieee.org/document/9341277/ | [
"Dario Gogoll",
"Philipp Lottes",
"Jan Weyler",
"Nik Petrinic",
"Cyrill Stachniss",
"Dario Gogoll",
"Philipp Lottes",
"Jan Weyler",
"Nik Petrinic",
"Cyrill Stachniss"
] | Crops are an important source of food and other products. In conventional farming, tractors apply large amounts of agrochemicals uniformly across fields for weed control and plant protection. Autonomous farming robots have the potential to provide environment-friendly weed control on a per plant basis. A system that reliably distinguishes crops, weeds, and soil under varying environment conditions... |
Crop Height and Plot Estimation for Phenotyping from Unmanned Aerial Vehicles using 3D LiDAR | https://ieeexplore.ieee.org/document/9341343/ | [
"Harnaik Dhami",
"Kevin Yu",
"Tianshu Xu",
"Qian Zhu",
"Kshitiz Dhakal",
"James Friel",
"Song Li",
"Pratap Tokekar",
"Harnaik Dhami",
"Kevin Yu",
"Tianshu Xu",
"Qian Zhu",
"Kshitiz Dhakal",
"James Friel",
"Song Li",
"Pratap Tokekar"
] | We present techniques to measure crop heights using a 3D Light Detection and Ranging (LiDAR) sensor mounted on an Unmanned Aerial Vehicle (UAV). Knowing the height of plants is crucial to monitor their overall health and growth cycles, especially for high-throughput plant phenotyping. We present a methodology for extracting plant heights from 3D LiDAR point clouds, specifically focusing on plot-ba... |
A Robotic Gripper Design and Integrated Solution Towards Tunnel Boring Construction Equipment | https://ieeexplore.ieee.org/document/9341200/ | [
"Jianjun Yuan",
"Renming Guan",
"Liang Du",
"Shugen Ma",
"Jianjun Yuan",
"Renming Guan",
"Liang Du",
"Shugen Ma"
] | Creative design of grippers on their configurations, mechatronics control system, and multi-component collaborative algorithms is often utilized to realize complex operations in industrial applications, due to the environmental constraints or specific task requirements. Firstly, this paper introduces the background problems. As the main automatic equipment -- the shield machine -- in the field of ... |
Expert-Emulating Excavation Trajectory Planning for Autonomous Robotic Industrial Excavator | https://ieeexplore.ieee.org/document/9341036/ | [
"Bukun Son",
"ChangU Kim",
"Changmuk Kim",
"Dongjun Lee",
"Bukun Son",
"ChangU Kim",
"Changmuk Kim",
"Dongjun Lee"
] | We propose a novel excavation (i.e., digging) trajectory planning framework for industrial autonomous robotic excavators, which emulates the strategies of human expert operators to optimize the excavation of (complex/unmodellable) soils while also upholding robustness and safety in practice. First, we encode the trajectory with dynamic movement primitives (DMP), which is known to robustly preserve... |
Prediction of Backhoe Loading Motion via the Beta-Process Hidden Markov Model | https://ieeexplore.ieee.org/document/9340697/ | [
"Kento Yamada",
"Kazunori Ohno",
"Ryunosuke Hamada",
"Thomas Westfechtel",
"Ranulfo Plutarco Bezerra Neto",
"Naoto Miyamoto",
"Taro Suzuki",
"Takahiro Suzuki",
"Keiji Nagatani",
"Yukinori Shibata",
"Kimitaka Asano",
"Tomohiro Komatsu",
"Satoshi Tadokoro",
"Kento Yamada",
"Kazunori Ohno",
"Ryunosuke Hamada",
"Thomas Westfechtel",
"Ranulfo Plutarco Bezerra Neto",
"Naoto Miyamoto",
"Taro Suzuki",
"Takahiro Suzuki",
"Keiji Nagatani",
"Yukinori Shibata",
"Kimitaka Asano",
"Tomohiro Komatsu",
"Satoshi Tadokoro"
] | Backhoe loads sediment onto the bed of dump trucks during earthmoving work. The prediction of backhoe loading time is essential for ensuring safe cooperation between the backhoe and dump trucks. However, it is difficult to predict the instant at which the backhoe is ready to load sediment, because of the similarity in motions observed during gathering sediment. Moreover, since operators have diffe... |
Robust Dynamic State Estimation for Lateral Control of an Industrial Tractor Towing Multiple Passive Trailers | https://ieeexplore.ieee.org/document/9341489/ | [
"Shunbo Zhou",
"Hongchao Zhao",
"Wen Chen",
"Zhe Liu",
"Hesheng Wang",
"Yun-Hui Liu",
"Shunbo Zhou",
"Hongchao Zhao",
"Wen Chen",
"Zhe Liu",
"Hesheng Wang",
"Yun-Hui Liu"
] | In this paper, we propose a dynamic state estimation framework for lateral control of a heavy tractor-trailers system using only mass-produced low-cost sensors. This issue is challenging since the lateral velocity of the lead tractor is difficult to measure directly. The performance of existing dynamic model-based estimation methods will also be degraded, as different trailers and payloads cause t... |
End-to-End 3D Point Cloud Learning for Registration Task Using Virtual Correspondences | https://ieeexplore.ieee.org/document/9341249/ | [
"Huanshu Wei",
"Zhijian Qiao",
"Zhe Liu",
"Chuanzhe Suo",
"Peng Yin",
"Yueling Shen",
"Haoang Li",
"Hesheng Wang",
"Huanshu Wei",
"Zhijian Qiao",
"Zhe Liu",
"Chuanzhe Suo",
"Peng Yin",
"Yueling Shen",
"Haoang Li",
"Hesheng Wang"
] | 3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation information. In this paper, we present an end-to-end deep-learning based approach to resolve the point cloud registration problem. Firstly, the revised LPD-Net is ... |
Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators | https://ieeexplore.ieee.org/document/9341655/ | [
"Edo Jelavic",
"Yannick Berdou",
"Dominic Jud",
"Simon Kerscher",
"Marco Hutter",
"Edo Jelavic",
"Yannick Berdou",
"Dominic Jud",
"Simon Kerscher",
"Marco Hutter"
] | This article presents a planning and control pipeline for legged-wheeled (hybrid) machines. It consists of a Trajectory Optimization based planner that computes references for end-effectors and joints. The references are tracked using a whole-body controller based on a hierarchical optimization approach. Our controller is capable of performing terrain adaptive whole-body control. Furthermore, it c... |
Towards RL-Based Hydraulic Excavator Automation | https://ieeexplore.ieee.org/document/9341598/ | [
"Pascal Egli",
"Marco Hutter",
"Pascal Egli",
"Marco Hutter"
] | In this article we present a data-driven approach for automated arm control of a hydraulic excavator. Except for the link lengths of the excavator, our method does not require machine-specific knowledge nor gain tuning. Using data collected during operation of the excavator, we train a general purpose model to effectively represent the highly non-linear dynamics of the hydraulic actuation and join... |
Multimodal Teleoperation of Heterogeneous Robots within a Construction Environment | https://ieeexplore.ieee.org/document/9340688/ | [
"Dylan Wallace",
"Yu Hang He",
"Jean Chagas Vaz",
"Leonardo Georgescu",
"Paul Y. Oh",
"Dylan Wallace",
"Yu Hang He",
"Jean Chagas Vaz",
"Leonardo Georgescu",
"Paul Y. Oh"
] | Automation in construction continues to be a topic of interest for many in industry and academia. However, the dynamic environments presented in construction sites prove these tasks to be difficult to automate reliably. This paper proposes a novel method of teleoperation for multiple heterogeneous robots within a construction environment. The system is achieved by creating a virtual reality interf... |
Applying Surface Normal Information in Drivable Area and Road Anomaly Detection for Ground Mobile Robots | https://ieeexplore.ieee.org/document/9341340/ | [
"Hengli Wang",
"Rui Fan",
"Yuxiang Sun",
"Ming Liu",
"Hengli Wang",
"Rui Fan",
"Yuxiang Sun",
"Ming Liu"
] | The joint detection of drivable areas and road anomalies is a crucial task for ground mobile robots. In recent years, many impressive semantic segmentation networks, which can be used for pixel-level drivable area and road anomaly detection, have been developed. However, the detection accuracy still needs improvement. Therefore, we develop a novel module named the Normal Inference Module (NIM), wh... |
Performance Characterization of an Algorithm to Estimate the Search Skill of a Human or Robot Agent | https://ieeexplore.ieee.org/document/9340730/ | [
"Audrey Balaska",
"Jason H. Rife",
"Audrey Balaska",
"Jason H. Rife"
] | This paper characterizes an algorithm that estimates searcher skill level to support planning for search activities involving heterogeneous robot and human/robot teams. Specifically, we use Monte-Carlo simulations to determine the empirical accuracy of the estimator, to assess the quality of its predicted distribution (nonparametric) of agent skill levels, and the convergence rate of the estimate.... |
The Marathon 2: A Navigation System | https://ieeexplore.ieee.org/document/9341207/ | [
"Steve Macenski",
"Francisco Martín",
"Ruffin White",
"Jonatan Ginés Clavero",
"Steve Macenski",
"Francisco Martín",
"Ruffin White",
"Jonatan Ginés Clavero"
] | Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS (Robot Operating System) Navigation. 10 years on, it is still one of the most popular navigation solutions1. Yet, ROS Navigation has failed to keep up with modern trends. We pro... |
Path Planning for Nonholonomic Multiple Mobile Robot System with Applications to Robotic Autonomous Luggage Trolley Collection at Airports | https://ieeexplore.ieee.org/document/9341403/ | [
"Jiankun Wang",
"Max Q.-H. Meng",
"Jiankun Wang",
"Max Q.-H. Meng"
] | In this paper, we propose a novel path planning algorithm for the nonholonomic multiple mobile robot system with applications to a robotic autonomous luggage trolley collection system at airports. We consider this path planning algorithm as a Multiple Traveling Salesman Problem (MTSP). Our path planning algorithm consists of three parts. First, we use the Minimum Spanning Tree (MSP) algorithm to d... |
Affordance-Based Mobile Robot Navigation Among Movable Obstacles | https://ieeexplore.ieee.org/document/9341337/ | [
"Maozhen Wang",
"Rui Luo",
"Aykut Özgün Önol",
"Taşkin Padir",
"Maozhen Wang",
"Rui Luo",
"Aykut Özgün Önol",
"Taşkin Padir"
] | Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight and dynamic spaces, as we do not refrain interacting with the environment around us when necessary. Inspired by this observation, we propose a framework for auton... |
Magnetically Actuated Pick-and-place Operations of Cellular Micro-rings for High-speed Assembly of Micro-scale Biological Tube | https://ieeexplore.ieee.org/document/9341379/ | [
"Yang Wu",
"Tao Sun",
"Qing Shi",
"Huaping Wang",
"Qiang Huang",
"Toshio Fukuda",
"Yang Wu",
"Tao Sun",
"Qing Shi",
"Huaping Wang",
"Qiang Huang",
"Toshio Fukuda"
] | Tissue engineering is trying to use modular tissue micro-rings to construct artificial biological microtubes as substitute of autologous tissue tubes to alleviate the shortage of donor sources. However, because of the lack of effective assembly strategies, it is still challenging to achieve high-speed fabrication of biological microtubes with high cell density. In this paper, we proposed a robotic... |
Dielecrophoretic introduction of the membrane proteins into the BLM platforms for the electrophygiological analysis systems | https://ieeexplore.ieee.org/document/9341046/ | [
"Hirotaka Sugiura",
"Toshihisa Osaki",
"Hisatoshi Mimura",
"Tetsuya Yamada",
"Shoji Takeuchi",
"Hirotaka Sugiura",
"Toshihisa Osaki",
"Hisatoshi Mimura",
"Tetsuya Yamada",
"Shoji Takeuchi"
] | This paper proposed a technique to introduce the membrane protein into the lab-on-chip analysis system having a planar lipid bilayer. The proposed technique utilized a dielectrophoretic(DEP) force generated by the asymmetric configuration of the solid electrodes on the aqueous buffer separator. By applying the alternating current to the separator and the counter electrode, we manipulated liposomes... |
On-chip integration of ultra-thin glass cantilever for physical property measurement activated by femtosecond laser impulse | https://ieeexplore.ieee.org/document/9341336/ | [
"Tao Tang",
"Yansheng Hao",
"Yigang Shen",
"Yo Tanaka",
"Ming Huang",
"Yoichiroh Hosokawa",
"Ming Li",
"Yaxiaer Yalikun",
"Tao Tang",
"Yansheng Hao",
"Yigang Shen",
"Yo Tanaka",
"Ming Huang",
"Yoichiroh Hosokawa",
"Ming Li",
"Yaxiaer Yalikun"
] | Under the excitation of acoustic radiation, the amount of energy absorbed and rebounded by cells have the relationship with mechanical properties, e.g. stiffness, shape, weight and so on. In this paper, a femtosecond laser-activated micro-detector is designed to convert this relationship into an electrical signal. First, the acoustic radiation is generated by a femtosecond laser pulse in a microch... |
A novel portable cell sonoporation device based on open-source acoustofluidics | https://ieeexplore.ieee.org/document/9341603/ | [
"Bin Song",
"Wei Zhang",
"Xue Bai",
"Lin Feng",
"Deyuan Zhang",
"Fumihito Arai",
"Bin Song",
"Wei Zhang",
"Xue Bai",
"Lin Feng",
"Deyuan Zhang",
"Fumihito Arai"
] | Sonoporation, which typically employs acoustic cavitation microbubbles, can enhance the permeability of the cell membrane, allowing foreign matter to enter cells across the natural barriers. However, the diameter nonuniformity and random distribution of microbubbles make it difficult to achieve controllable and high-efficiency sonoporation, while complex extern acoustic driving system also limits ... |
Robotic Micromanipulation of Biological Cells with Friction Force-Based Rotation Control | https://ieeexplore.ieee.org/document/9341704/ | [
"Shuai Cui",
"Wei Tech Ang",
"Shuai Cui",
"Wei Tech Ang"
] | Cell manipulation is a critical procedure in related biological applications such as embryo biopsy and intracytoplasmic sperm injection (ICSI), where the biological cell is required to be oriented to the desired position. To bridge the gap between the techniques and the clinical applications, a robotic micromanipulation method, which utilizes friction forces to rotate the cell with standard microp... |
Construction of Multiple Hepatic Lobule like 3D Vascular Networks by Manipulating Magnetic Tweezers toward Tissue Engineering | https://ieeexplore.ieee.org/document/9341012/ | [
"Eunhye Kim",
"Masaru Takeuchi",
"Taro Kozuka",
"Takuto Nomura",
"Akihiko Ichikawa",
"Yasuhisa Hasegawa",
"Qiang Huang",
"Toshio Fukuda",
"Eunhye Kim",
"Masaru Takeuchi",
"Taro Kozuka",
"Takuto Nomura",
"Akihiko Ichikawa",
"Yasuhisa Hasegawa",
"Qiang Huang",
"Toshio Fukuda"
] | In this paper, we have constructed actively perfusable multiple hepatic lobule-like vascular networks in a 3D cellular structure by using magnetic tweezers. Without well-organized channel networks, cells in a large 3D tissue cannot receive nutrients and oxygen from the channel, and therefore, the cells will be dead after few days. To construct well-organized channel networks, we fabricated a hepat... |
A novel and controllable cell-based microrobot in real vascular network for target tumor therapy | https://ieeexplore.ieee.org/document/9341774/ | [
"Yanmin Feng",
"Lin Feng",
"Yuguo Dai",
"Xue Bai",
"Chaonan Zhang",
"Yuanyuan Chen",
"Fumihito Arai",
"Yanmin Feng",
"Lin Feng",
"Yuguo Dai",
"Xue Bai",
"Chaonan Zhang",
"Yuanyuan Chen",
"Fumihito Arai"
] | Magnetic microrobots can be propelled precisely and wirelessly in vivo using magnetic field for targeted drug delivery and early detection. They are promising for clinical trials since magnetic fields are capable of penetrating most materials with minimal interaction, and are nearly harmless to human beings. However, challenges like the biocompatibility, biodegradation and therapeutic effects of t... |
Magnetized Cell-robot Propelled by Magnetic Field for Cancer Killing | https://ieeexplore.ieee.org/document/9341167/ | [
"Yuguo Dai",
"Yanmin Feng",
"Lin Feng",
"Yuanyuan Chen",
"Xue Bai",
"Shuzhang Liang",
"Li Song",
"Fumihito Arai",
"Yuguo Dai",
"Yanmin Feng",
"Lin Feng",
"Yuanyuan Chen",
"Xue Bai",
"Shuzhang Liang",
"Li Song",
"Fumihito Arai"
] | In this paper, we present a magnetized cell-robot using macrophages as templates, which can be controlled under a strong gradient magnetic field, to approach and kill cancer cells in both vitro and vivo environment. Firstly, we establish a magnetic control system using only four coils which can generate gradient field up to 4.14 T/m utilizing the coupled field contributed by multiple electromagnet... |
Control of Magnetically-Driven Screws in a Viscoelastic Medium | https://ieeexplore.ieee.org/document/9341394/ | [
"Zhengya Zhang",
"Anke Klingner",
"Sarthak Misra",
"Islam S. M. Khalil",
"Zhengya Zhang",
"Anke Klingner",
"Sarthak Misra",
"Islam S. M. Khalil"
] | Magnetically-driven screws operating in soft-tissue environments could be used to deploy localized therapy or achieve minimally invasive interventions. In this work, we characterize the closed-loop behavior of magnetic screws in an agar gel tissue phantom using a permanent magnet-based robotic system with an open-configuration. Our closed-loop control strategy capitalizes on an analytical calculat... |
Smart-Inspect: Micro Scale Localization and Classification of Smartphone Glass Defects for Industrial Automation | https://ieeexplore.ieee.org/document/9341509/ | [
"M Usman Maqbool Bhutta",
"Shoaib Aslam",
"Peng Yun",
"Jianhao Jiao",
"Ming Liu",
"M Usman Maqbool Bhutta",
"Shoaib Aslam",
"Peng Yun",
"Jianhao Jiao",
"Ming Liu"
] | The presence of any type of defect on the glass screen of smart devices has a great impact on their quality. We present a robust semi-supervised learning framework for intelligent micro-scaled localization and classification of defects on a 16K pixel image of smartphone glass. Our model features the efficient recognition and labeling of three types of defects: scratches, light leakage due to crack... |
An SEM-Based Nanomanipulation System for Multi-Physical Characterization of Single InGaN/GaN Nanowires | https://ieeexplore.ieee.org/document/9340779/ | [
"Juntian Qu",
"Renjie Wang",
"Peng Pan",
"Linghao Du",
"Zetian Mi",
"Yu Sun",
"Xinyu Liu",
"Juntian Qu",
"Renjie Wang",
"Peng Pan",
"Linghao Du",
"Zetian Mi",
"Yu Sun",
"Xinyu Liu"
] | Functional nanomaterials possess exceptional multi-physical (e.g., mechanical, electrical and optical) properties compared with their bulk counterparts. To facilitate both synthesis and device applications of these nanomaterials, it is highly desired to characterize their multi-physical properties with high accuracy and efficiency. The nanomanipulation techniques under scanning electron microscopy... |
Observer-Based Disturbance Control for Small-Scale Collaborative Robotics | https://ieeexplore.ieee.org/document/9340748/ | [
"Ahmad Awde",
"Mokrane Boudaoud",
"Stéphane Régnier",
"Cédric Clévy",
"Ahmad Awde",
"Mokrane Boudaoud",
"Stéphane Régnier",
"Cédric Clévy"
] | Collaborative robotics allows merging the best capabilities of humans and robots to perform complex tasks. This allows the user to interact with remote and directly inaccessible environments such as the micro-scale world. This interaction is made possible by the bidirectional exchange of information (displacement - force) between the user and the environment through a haptic interface. The effecti... |
Robust Micro-Particle Manipulation in a Microfluidic Channel Network Using Gravity-Induced Pressure Actuators | https://ieeexplore.ieee.org/document/9340885/ | [
"Donghyeon Lee",
"Woongyong Lee",
"Wan Kyun Chung",
"Keehoon Kim",
"Donghyeon Lee",
"Woongyong Lee",
"Wan Kyun Chung",
"Keehoon Kim"
] | Robust particle manipulation is a challenging but essential technique for single-cell analysis and processing of microfluidic devices. This paper proposes a micro-particle manipulation system with a microfluidic channel network. We built gravity-induced pressure actuators, which can generate high-resolution output pressure with a wide range so that the multiple particles can be delivered from the ... |
Deep Learning-Based Autonomous Scanning Electron Microscope | https://ieeexplore.ieee.org/document/9341041/ | [
"Jonggyu Jang",
"Hyeonsu Lyu",
"Hyun Jong Yang",
"Moohyun Oh",
"Junhee Lee",
"Jonggyu Jang",
"Hyeonsu Lyu",
"Hyun Jong Yang",
"Moohyun Oh",
"Junhee Lee"
] | By virtue of their ultra high resolution, scanning electron microscopes (SEMs) are essential to study topography, morphology, composition, and crystallography of materials, and thus are widely used for advanced researches in physics, chemistry, pharmacy, geology, etc. The major hindrance of using SEMs is that obtaining high quality images from SEMs requires a professional control of many control p... |
The application of navigation technology for the medical assistive devices based on Aruco recognition technology | https://ieeexplore.ieee.org/document/9341231/ | [
"Weihan Tian",
"Diansheng Chen",
"Zihao Yang",
"Hu Yin",
"Weihan Tian",
"Diansheng Chen",
"Zihao Yang",
"Hu Yin"
] | In order to improve the convenience of operation for the medical assistive devices and reduce the use and maintenance cost, the Aruco recognition technology is applied to the navigation and positioning of visual guided electric assistive devices. Firstly, the differential control kinematic model of the electric wheelchair is analyzed. We discuss the feasibility of Aruco recognition technology in t... |
Endoscopic Navigation Based on Three-dimensional Structure Registration | https://ieeexplore.ieee.org/document/9340692/ | [
"Minghui Han",
"Yu Dai",
"Jianxun Zhang",
"Minghui Han",
"Yu Dai",
"Jianxun Zhang"
] | Surgical navigation is challenging on complicated multi-branch structures such as intrarenal collecting systems or bronchi. The objective of this work is to help surgeons quickly establish the corresponding relationship between intraoperative endoscopic images and preoperative CT data. An endoscopic navigation method is proposed based on three-dimensional structure registration. It mainly includes... |
Z-Net: an Anisotropic 3D DCNN for Medical CT Volume Segmentation | https://ieeexplore.ieee.org/document/9341426/ | [
"Peichao Li",
"Xiao-Yun Zhou",
"Zhao-Yang Wang",
"Guang-Zhong Yang",
"Peichao Li",
"Xiao-Yun Zhou",
"Zhao-Yang Wang",
"Guang-Zhong Yang"
] | Accurate volume segmentation from the Computed Tomography (CT) scan is a common prerequisite for pre-operative planning, intra-operative guidance and quantitative assessment of therapeutic outcomes in robot-assisted Minimally Invasive Surgery (MIS). 3D Deep Convolutional Neural Network (DCNN) is a viable solution for this task, but is memory intensive. Small isotropic patches are cropped from the ... |
LC-GAN: Image-to-image Translation Based on Generative Adversarial Network for Endoscopic Images | https://ieeexplore.ieee.org/document/9341556/ | [
"Shan Lin",
"Fangbo Qin",
"Yangming Li",
"Randall A. Bly",
"Kris S. Moe",
"Blake Hannaford",
"Shan Lin",
"Fangbo Qin",
"Yangming Li",
"Randall A. Bly",
"Kris S. Moe",
"Blake Hannaford"
] | Intelligent vision is appealing in computer-assisted and robotic surgeries. Vision-based analysis with deep learning usually requires large labeled datasets, but manual data labeling is expensive and time-consuming in medical problems. We investigate a novel cross-domain strategy to reduce the need for manual data labeling by proposing an image-to-image translation model live-cadaver GAN (LC-GAN) ... |
daVinciNet: Joint Prediction of Motion and Surgical State in Robot-Assisted Surgery | https://ieeexplore.ieee.org/document/9340723/ | [
"Yidan Qin",
"Seyedshams Feyzabadi",
"Max Allan",
"Joel W. Burdick",
"Mahdi Azizian",
"Yidan Qin",
"Seyedshams Feyzabadi",
"Max Allan",
"Joel W. Burdick",
"Mahdi Azizian"
] | This paper presents a technique to concurrently and jointly predict the future trajectories of surgical instruments and the future state(s) of surgical subtasks in robot-assisted surgeries (RAS) using multiple input sources. Such predictions are a necessary first step towards shared control and supervised autonomy of surgical subtasks. Minute-long surgical subtasks, such as suturing or ultrasound ... |
Hierarchical optimization Control of Redundant Manipulator for Robot-assisted Minimally Invasive Surgery | https://ieeexplore.ieee.org/document/9341389/ | [
"Yingbai Hu",
"Hang Su",
"Guang Chen",
"Giancarlo Ferrigno",
"Elena De Momi",
"Alois Knoll",
"Yingbai Hu",
"Hang Su",
"Guang Chen",
"Giancarlo Ferrigno",
"Elena De Momi",
"Alois Knoll"
] | For the time varying optimization problem, the tracking error cannot converge to zero at the finite time because of the optimal solution changing over time. This paper proposes a novel varying parameter recurrent neural network (VPRNN) based hierarchical optimization of a 7-DoF surgical manipulator for Robot-Assisted Minimally Invasive Surgery (RAMIS), which guarantees task tracking, Remote Center... |
Towards Autonomous Control of Magnetic Suture Needles | https://ieeexplore.ieee.org/document/9341425/ | [
"Matthew Fan",
"Xiaolong Liu",
"Kamakshi Jain",
"Daniel Lerner",
"Lamar O. Mair",
"Irving N. Weinberg",
"Yancy Diaz-Mercado",
"Axel Krieger",
"Matthew Fan",
"Xiaolong Liu",
"Kamakshi Jain",
"Daniel Lerner",
"Lamar O. Mair",
"Irving N. Weinberg",
"Yancy Diaz-Mercado",
"Axel Krieger"
] | This paper proposes a magnetic needle steering controller to manipulate mesoscale magnetic suture needles for executing planned suturing motion. This is an initial step towards our research objective: enabling autonomous control of magnetic suture needles for suturing tasks in minimally invasive surgery. To demonstrate the feasibility of accurate motion control, we employ a cardinally-arranged fou... |
Supervised Semi-Autonomous Control for Surgical Robot Based on Banoian Optimization | https://ieeexplore.ieee.org/document/9341383/ | [
"Junhong Chen",
"Dandan Zhang",
"Adnan Munawar",
"Ruiqi Zhu",
"Benny Lo",
"Gregory S. Fischer",
"Guang-Zhong Yang",
"Junhong Chen",
"Dandan Zhang",
"Adnan Munawar",
"Ruiqi Zhu",
"Benny Lo",
"Gregory S. Fischer",
"Guang-Zhong Yang"
] | The recent development of Robot-Assisted Minimally Invasive Surgery (RAMIS) has brought much benefit to ease the performance of complex Minimally Invasive Surgery (MIS) tasks and lead to more clinical outcomes. Compared to direct master-slave manipulation, semi-autonomous control for the surgical robot can enhance the efficiency of the operation, particularly for repetitive tasks. However, operati... |
Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System | https://ieeexplore.ieee.org/document/9341043/ | [
"E. Erdem Tuna",
"Nate Lombard Poirot",
"Juana Barrera Bayona",
"Dominique Franson",
"Sherry Huang",
"Julian Narvaez",
"Nicole Seiberlich",
"Mark Griswold",
"M. Cenk Çavuşoğlu",
"E. Erdem Tuna",
"Nate Lombard Poirot",
"Juana Barrera Bayona",
"Dominique Franson",
"Sherry Huang",
"Julian Narvaez",
"Nicole Seiberlich",
"Mark Griswold",
"M. Cenk Çavuşoğlu"
] | In magnetic resonance imaging (MRI) guided robotic catheter ablation procedures, reliable tracking of the catheter within the MRI scanner is needed to safely navigate the catheter. This requires accurate registration of the catheter to the scanner. This paper presents a differential, multi-slice image-based registration approach utilizing active fiducial coils. The proposed method would be used to... |
Robot-assisted ultrasound-guided biopsy on MR-detected breast lesions | https://ieeexplore.ieee.org/document/9341695/ | [
"M.K. Welleweerd",
"D. Pantelis",
"A.G. de Groot",
"F.J. Siepel",
"S. Stramigioli",
"M.K. Welleweerd",
"D. Pantelis",
"A.G. de Groot",
"F.J. Siepel",
"S. Stramigioli"
] | One out of eight women will get breast cancer during their lifetime. A biopsy, a procedure in which a tissue sample is acquired from the lesion, is required to confirm the diagnosis. A biopsy is preferably executed under ultrasound (US) guidance because it is simple, fast, and cheap, gives real-time image feedback and causes little patient discomfort. However, Magnetic Resonance (MR)-detected lesi... |
SCAN: System for Camera Autonomous Navigation in Robotic-Assisted Surgery | https://ieeexplore.ieee.org/document/9341548/ | [
"Tommaso Da Col",
"Andrea Mariani",
"Anton Deguet",
"Arianna Menciassi",
"Peter Kazanzides",
"Elena De Momi",
"Tommaso Da Col",
"Andrea Mariani",
"Anton Deguet",
"Arianna Menciassi",
"Peter Kazanzides",
"Elena De Momi"
] | Robot-Assisted systems for Minimally Invasive Surgery enhance the surgeon capability, however, direct control over both the surgical tools and the endoscope results in an increased workload that leads to longer operation times. This work investigates the introduction of SCAN (System for Camera Autonomous Navigation) to overcome this limitation. An experimental study involving 12 participants was c... |
Tracking Strategy Based on Magnetic Sensors for Microrobot Navigation in the Cochlea | https://ieeexplore.ieee.org/document/9341601/ | [
"Tarik Kroubi",
"Karim Belharet",
"Kamal Bennamane",
"Tarik Kroubi",
"Karim Belharet",
"Kamal Bennamane"
] | One approach to control drug delivery in the cochlea is to use a magnetic microrobot powered by externally applied magnetic fields. However, it is necessary to integrate a localization system to ensure the precise navigation of the microrobot in the cochlear canal. To avoid integrating a clinical imaging modality for the navigation of microrobots in the cochlea, we propose in this work the applica... |
Developing Thermal Endoscope for Endoscopic Photothermal Therapy for Peritoneal Dissemination | https://ieeexplore.ieee.org/document/9341661/ | [
"Mutsuki Ohara",
"Sohta Sanpei",
"Chanjin Seo",
"Jun Ohya",
"Ken Masamune",
"Hiroshi Nagahashi",
"Yuji Morimoto",
"Manabu Harada",
"Mutsuki Ohara",
"Sohta Sanpei",
"Chanjin Seo",
"Jun Ohya",
"Ken Masamune",
"Hiroshi Nagahashi",
"Yuji Morimoto",
"Manabu Harada"
] | As a novel therapy for peritoneal dissemination, it is desired to actualize an endoscopic photothermal therapy, which is minimally invasive and is highly therapeutically effective. However, since the endoscopic tumor temperature control has not been actualized, conventional therapies could damage healthy tissues by overhearing. In this paper, we develop a thermal endoscope system that controls the... |
Development of Deployable Bending Wrist for Minimally Invasive Laparoscopic Endoscope | https://ieeexplore.ieee.org/document/9341746/ | [
"Jongwoo Kim",
"Thomas Looi",
"Allen Newman",
"James Drake",
"Jongwoo Kim",
"Thomas Looi",
"Allen Newman",
"James Drake"
] | During the last two decades, minimally invasive surgery (MIS) has become popular because it offers advantages such as less pain, faster recovery, improved cosmesis, and reduced complications. Single-port laparoscopic surgery is a form of MIS where surgeons operate exclusively through a single entry. However, the view from the rigid endoscope is often obscured by the instruments which pass through ... |
Accurate estimation of the position and shape of the rolling joint in hyper-redundant manipulators | https://ieeexplore.ieee.org/document/9341090/ | [
"Jeongryul Kim",
"Yonghwan Moon",
"Seong-il Kwon",
"Keri Kim",
"Jeongryul Kim",
"Yonghwan Moon",
"Seong-il Kwon",
"Keri Kim"
] | Hyper-redundant manipulators driven by cables are used in minimally invasive surgery because of their flexibility and small diameters. In particular, manipulators composed of many rigid links and joints have the advantages of high stiffness and payload. However, these manipulators have difficulty in estimating their positions and shapes using calculations based only on the kinematics model that as... |
Joints-Space Metrics for Automatic Robotic Surgical Gestures Classification | https://ieeexplore.ieee.org/document/9341094/ | [
"Marco Bombieri",
"Diego Dall'Alba",
"Sanat Ramesh",
"Giovanni Menegozzo",
"Caitlin Schneider",
"Paolo Fiorini",
"Marco Bombieri",
"Diego Dall'Alba",
"Sanat Ramesh",
"Giovanni Menegozzo",
"Caitlin Schneider",
"Paolo Fiorini"
] | Automated surgical gestures classification and recognition are important precursors for achieving the goal of objective evaluation of surgical skills. Many works have been done to discover and validate metrics based on the motion of instruments that can be used as features for automatic classification of surgical gestures. In this work, we present a series of angular metrics that can be used toget... |
A Learning-Driven Framework with Spatial Optimization For Surgical Suture Thread Reconstruction and Autonomous Grasping Under Multiple Topologies and Environmental Noises | https://ieeexplore.ieee.org/document/9341445/ | [
"Bo Lu",
"Wei Chen",
"Yue-Ming Jin",
"Dandan Zhang",
"Qi Dou",
"Henry K. Chu",
"Pheng-Ann Heng",
"Yun-Hui Liu",
"Bo Lu",
"Wei Chen",
"Yue-Ming Jin",
"Dandan Zhang",
"Qi Dou",
"Henry K. Chu",
"Pheng-Ann Heng",
"Yun-Hui Liu"
] | Surgical knot tying is one of the most fundamental and important procedures in surgery, and a high-quality knot can significantly benefit the postoperative recovery of the patient. However, a longtime operation may easily cause fatigue to surgeons, especially during the tedious wound closure task. In this paper, we present a vision-based method to automate the suture thread grasping, which is a su... |
Resonating Magnetic Manipulation for 3D Path-Following and Blood Clot Removal Using a Rotating Swimmer | https://ieeexplore.ieee.org/document/9340746/ | [
"Julien Leclerc",
"Yitong Lu",
"Aaron T. Becker",
"Mohamad Ghosn",
"Dipan J. Shah",
"Julien Leclerc",
"Yitong Lu",
"Aaron T. Becker",
"Mohamad Ghosn",
"Dipan J. Shah"
] | There are many design trade-offs when building a magnetic manipulator to control millimeter-scale rotating magnetic swimmers for surgical applications.For example, increasing the magnitude of the flux density generated by the magnetic manipulator increases the torque applied to the swimmer, which could enable performing a wider variety of surgical tasks in the future. However, producing stronger m... |
Anticipating tumor metastasis by circulating tumor cells captured by acoustic microstreaming | https://ieeexplore.ieee.org/document/9341011/ | [
"Xue Bai",
"Bin Song",
"Dixiao Chen",
"Yuguo Dai",
"Lin Feng",
"Fumihito Arai",
"Xue Bai",
"Bin Song",
"Dixiao Chen",
"Yuguo Dai",
"Lin Feng",
"Fumihito Arai"
] | Circulating tumor cells (CTCs) are the primary cause of tumor metastasis after surgery. Metastatic tumor recurrence is the leading reason of cancer death. It is prerequisite to develop a platform for CTCs separation to predict the cancer cell transfer in important organs. Herein, a novel acoustic microfluidic device was designed to capture the "true" CTCs from the whole blood sample. The blood got... |
An Optimized Tilt Mechanism for a New Steady-Hand Eye Robot | https://ieeexplore.ieee.org/document/9340741/ | [
"Jiahao Wu",
"Gang Li",
"Muller Urias",
"Niravkumar A. Patel",
"Yun-hui Liu",
"Peter Gehlbach",
"Russell H. Taylor",
"Iulian Iordachita",
"Jiahao Wu",
"Gang Li",
"Muller Urias",
"Niravkumar A. Patel",
"Yun-hui Liu",
"Peter Gehlbach",
"Russell H. Taylor",
"Iulian Iordachita"
] | Robot-assisted vitreoretinal surgery can filter surgeons' hand tremors and provide safe, accurate tool manipulation. In this paper, we report the design, optimization, and evaluation of a novel tilt mechanism for a new Steady-Hand Eye Robot (SHER). The new tilt mechanism features a four-bar linkage design and has a compact structure. Its kinematic configuration is optimized to minimize the require... |
Automated Design and Construction of a Single Incision Laparoscopic System Adapted to the Required Workspace | https://ieeexplore.ieee.org/document/9341145/ | [
"Sandra V. Brecht",
"Johannes S. A. Voegerl",
"Tim C. Lueth",
"Sandra V. Brecht",
"Johannes S. A. Voegerl",
"Tim C. Lueth"
] | Currently, laparoscopic surgery systems are adapted for a large number of indications and patients and are therefore not optimized for one specific case. The challenge to create systems with an optimized kinematic structure for a specific patient regarding reachability and manipulability in the needed workspace is the automated design and construction process. We have developed an automated design... |
A Novel Endoscope Design Using Spiral Technique for Robotic-Assisted Endoscopy Insertion | https://ieeexplore.ieee.org/document/9340975/ | [
"Wei Li",
"Ya-Yen Tsai",
"Guang-Zhong Yang",
"Benny Lo",
"Wei Li",
"Ya-Yen Tsai",
"Guang-Zhong Yang",
"Benny Lo"
] | Gastrointestinal (GI) endoscopy is a conventional and prevalent procedure used to diagnose and treat diseases in the digestive tract. This procedure requires inserting an endoscope equipped with a camera and instruments inside a patient to the target of interest. To manoeuvre the endoscope, an endoscopist would rotate the knob at the handle to change the direction of the distal tip and apply the f... |
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