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Sparse PointPillars: Maintaining and Exploiting Input Sparsity to Improve Runtime on Embedded Systems | https://ieeexplore.ieee.org/document/9981550/ | [
"Kyle Vedder",
"Eric Eaton",
"Kyle Vedder",
"Eric Eaton"
] | Bird's Eye View (BEV) is a popular representation for processing 3D point clouds, and by its nature is fundamentally sparse. Motivated by the computational limitations of mobile robot platforms, we create a fast, high-performance BEV 3D object detector that maintains and exploits this input sparsity to decrease runtimes over non-sparse baselines and avoids the tradeoff between pseudoimage area and... |
Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear | https://ieeexplore.ieee.org/document/9982165/ | [
"Anupam K. Gupta",
"Alex Church",
"Nathan F. Lepora",
"Anupam K. Gupta",
"Alex Church",
"Nathan F. Lepora"
] | The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape reconstruction and exploration that require information about contact geometry. In this work, we pursue a semi-supervised approach to remove shear while preservi... |
Multi-purpose Tactile Perception Based on Deep Learning in a New Tendon-driven Optical Tactile Sensor | https://ieeexplore.ieee.org/document/9981477/ | [
"Zhou Zhao",
"Zhenyu Lu",
"Zhou Zhao",
"Zhenyu Lu"
] | In this paper, we create a new tendon-connected multi-functional optical tactile sensor, MechTac, for object perception in the field of view (TacTip) and location of touching points in the blind area of vision (TacSide). In a multi-point touch task, the information of the TacSide and the TacTip are overlapped to commonly affect the distribution of papillae pins on the TacTip. Since the effects of ... |
A Multi-Granularity Scene Segmentation Network for Human-Robot Collaboration Environment Perception | https://ieeexplore.ieee.org/document/9981684/ | [
"Junming Fan",
"Pai Zheng",
"Carman K.M. Lee",
"Junming Fan",
"Pai Zheng",
"Carman K.M. Lee"
] | Human-robot collaboration (HRC) has been considered as a promising paradigm towards futuristic human-centric smart manufacturing, to meet the thriving needs of mass personalization. In this context, existing robotic systems normally adopt a single-granularity semantic segmentation scheme for environment perception, which lacks the flexibility to be implemented to various HRC situations. To fill th... |
Controller design of a robotic assistant for the transport of large and fragile objects | https://ieeexplore.ieee.org/document/9981993/ | [
"Julie Dumora",
"Julien Nicolas",
"Franck Geffard",
"Julie Dumora",
"Julien Nicolas",
"Franck Geffard"
] | This paper deals with the design of a robotic assistant for the transport of large and fragile objects. We propose a new collaborative robotic controller that fulfills the main requirements of co-transportation tasks of large and fragile objects: to execute any trajectory in a collaborative mode while minimizing the stress applied on the object by both partners in order to avoid damaging it. This ... |
Safety-based Dynamic Task Offloading for Human-Robot Collaboration using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9981366/ | [
"Franco Ruggeri",
"Ahmad Terra",
"Alberto Hata",
"Rafia Inam",
"Iolanda Leite",
"Franco Ruggeri",
"Ahmad Terra",
"Alberto Hata",
"Rafia Inam",
"Iolanda Leite"
] | Robots with constrained hardware resources usually rely on Multi-access Edge Computing infrastructures to offload computationally expensive tasks to meet real-time and safety requirements. Offloading every task might not be the best option due to dynamic changes in the network conditions and can result in network congestion or failures. This work proposes a task offloading strategy for mobile robo... |
“I'm Confident This Will End Poorly”: Robot Proficiency Self-Assessment in Human-Robot Teaming | https://ieeexplore.ieee.org/document/9981653/ | [
"Nicholas Conlon",
"Daniel Szafir",
"Nisar Ahmed",
"Nicholas Conlon",
"Daniel Szafir",
"Nisar Ahmed"
] | Human-robot teams are expected to accomplish complex tasks in high-risk and uncertain environments. In domains such as space exploration or search & rescue, a human operator may not be a robotics expert, but will need to establish a baseline understanding of the robot's capabilities with respect to a given task in order to appropriately utilize and rely on the robot. This willingness to rely, also... |
RILI: Robustly Influencing Latent Intent | https://ieeexplore.ieee.org/document/9981601/ | [
"Sagar Parekh",
"Soheil Habibian",
"Dylan P. Losey",
"Sagar Parekh",
"Soheil Habibian",
"Dylan P. Losey"
] | When robots interact with human partners, often these partners change their behavior in response to the robot. On the one hand this is challenging because the robot must learn to coordinate with a dynamic partner. But on the other hand - if the robot understands these dynamics - it can harness its own behavior, influence the human, and guide the team towards effective collaboration. Prior research... |
Multimodal Object Categorization with Reduced User Load through Human-Robot Interaction in Mixed Reality | https://ieeexplore.ieee.org/document/9981374/ | [
"Hitoshi Nakamura",
"Lotfi El Hafi",
"Akira Taniguchi",
"Yoshinobu Hagiwara",
"Tadahiro Taniguchi",
"Hitoshi Nakamura",
"Lotfi El Hafi",
"Akira Taniguchi",
"Yoshinobu Hagiwara",
"Tadahiro Taniguchi"
] | Enabling robots to learn from interactions with users is essential to perform service tasks. However, as a robot categorizes objects from multimodal information obtained by its sensors during interactive onsite teaching, the inferred names of unknown objects do not always match the human user's expectation, especially when the robot is introduced to new environments. Confirming the learning result... |
ProTAMP: Probabilistic Task and Motion Planning Considering Human Action for Harmonious Collaboration | https://ieeexplore.ieee.org/document/9982074/ | [
"Shunsuke Mochizuki",
"Yosuke Kawasaki",
"Masaki Takahashi",
"Shunsuke Mochizuki",
"Yosuke Kawasaki",
"Masaki Takahashi"
] | For the proper functioning of mobile manipulator-type autonomous robot performing complicated tasks in a human-robot coexistence environment, tasks and motions must be planned simultaneously. In such environments, a human and robot should collaborate with each other. Therefore, the robot must act in accordance with the human and avoid useless actions duplicated with those of humans. However, any a... |
VR Facial Animation for Immersive Telepresence Avatars | https://ieeexplore.ieee.org/document/9981892/ | [
"Andre Rochow",
"Max Schwarz",
"Michael Schreiber",
"Sven Behnke",
"Andre Rochow",
"Max Schwarz",
"Michael Schreiber",
"Sven Behnke"
] | VR Facial Animation is necessary in applications requiring clear view of the face, even though a VR headset is worn. In our case, we aim to animate the face of an operator who is controlling our robotic avatar system. We propose a real-time capable pipeline with very fast adaptation for specific operators. In a quick enrollment step, we capture a sequence of source images from the operator without... |
An offline geometric model for controlling the shape of elastic linear objects | https://ieeexplore.ieee.org/document/9981466/ | [
"Omid Aghajanzadeh",
"Miguel Aranda",
"Gonzalo López-Nicolás",
"Roland Lenain",
"Youcef Mezouar",
"Omid Aghajanzadeh",
"Miguel Aranda",
"Gonzalo López-Nicolás",
"Roland Lenain",
"Youcef Mezouar"
] | We propose a new approach to control the shape of deformable objects with robots. Specifically, we consider a fixed-length elastic linear object lying on a 2D workspace. Our main idea is to encode the object's deformation behavior in an offline constant Jacobian matrix. To derive this Jacobian, we use geometric deformation modeling and combine recent work from the fields of deformable object contr... |
Skeleton-based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space | https://ieeexplore.ieee.org/document/9981159/ | [
"Abhinav Gandhi",
"Sreejani Chatterjee",
"Berk Calli",
"Abhinav Gandhi",
"Sreejani Chatterjee",
"Berk Calli"
] | This paper presents a novel visual servoing method that controls a robotic manipulator in the configuration space as opposed to the classical vision-based control methods solely focusing on the end effector pose. We first extract the robot's shape from depth images using a skeletonization algorithm and represent it using parametric curves. We then adopt an adaptive visual servoing scheme that esti... |
Conditional Visual Servoing for Multi-Step Tasks | https://ieeexplore.ieee.org/document/9981443/ | [
"Sergio Izquierdo",
"Max Argus",
"Thomas Brox",
"Sergio Izquierdo",
"Max Argus",
"Thomas Brox"
] | Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to one environment state. We propose a modular approach to extend visual servoing to scenarios with multiple demonstration sequences. We call this conditional servo... |
Optimal Shape Servoing with Task-focused Convergence Constraints | https://ieeexplore.ieee.org/document/9981902/ | [
"Victor H. Giraud",
"Maxime Padrin",
"Mohammadreza Shetab-Bushehri",
"Chedli Bouzgarrou",
"Youcef Mezouar",
"Erol Ozgur",
"Victor H. Giraud",
"Maxime Padrin",
"Mohammadreza Shetab-Bushehri",
"Chedli Bouzgarrou",
"Youcef Mezouar",
"Erol Ozgur"
] | Most deformable object manipulation tasks still rely on skillful human operators. To automate such tasks, a robotic system should not only be able to deform an object to a desired shape but also servo its deformation along a specific path towards the desired shape. We propose a shape servoing control scheme to automate such tasks. Our scheme controls the deformation trajectory towards the desired ... |
An Event-triggered Visual Servoing Predictive Control Strategy for the Surveillance of Contour-based Areas using Multirotor Aerial Vehicles | https://ieeexplore.ieee.org/document/9981176/ | [
"Sotirios N. Aspragkathos",
"Mario Sinani",
"George C. Karras",
"Fotis Panetsos",
"Kostas J. Kyriakopoulos",
"Sotirios N. Aspragkathos",
"Mario Sinani",
"George C. Karras",
"Fotis Panetsos",
"Kostas J. Kyriakopoulos"
] | In this paper, an Event-triggered Image-based Visual Servoing Nonlinear Model Predictive Controller (ET-IBVS-NMPC) for multirotor aerial vehicles is presented. The proposed scheme is developed for the autonomous surveillance of contour-based areas with different characteristics (e.g. forest paths, coastlines, road pavements). For this purpose, an appropriately trained Deep Neural Network (DNN) is ... |
Vision-based rotational control of an agile observation satellite | https://ieeexplore.ieee.org/document/9981398/ | [
"Maxime Robic",
"Renaud Fraisse",
"Eric Marchand",
"François Chaumette",
"Maxime Robic",
"Renaud Fraisse",
"Eric Marchand",
"François Chaumette"
] | Recent Earth observation satellites are now equipped with new instrument that allows image feedback in real-time. Problematic such as ground target tracking, moving or not, can now be addressed by precisely controlling the satellite attitude. In this paper, we propose to consider this problem using a visual servoing approach. While focusing on the target, the control scheme has also to take into a... |
DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing | https://ieeexplore.ieee.org/document/9981868/ | [
"Yasunori Toshimitsu",
"Kento Kawaharazuka",
"Akihiro Miki",
"Kei Okada",
"Masayuki Inaba",
"Yasunori Toshimitsu",
"Kento Kawaharazuka",
"Akihiro Miki",
"Kei Okada",
"Masayuki Inaba"
] | For robots to move in the real world, they must first correctly understand the state of its own body and the tools that it holds. In this research, we propose DIJE, an algorithm to estimate the image Jacobian for every pixel. It is based on an optical flow calculation and a simplified Kalman Filter that can be efficiently run on the whole image in real time. It does not rely on markers nor knowled... |
Self-supervised Wide Baseline Visual Servoing via 3D Equivariance | https://ieeexplore.ieee.org/document/9981907/ | [
"Jinwook Huh",
"Jungseok Hong",
"Suveer Garg",
"Hyun Soo Park",
"Volkan Isler",
"Jinwook Huh",
"Jungseok Hong",
"Suveer Garg",
"Hyun Soo Park",
"Volkan Isler"
] | One of the challenging input settings for visual servoing is when the initial and goal camera views are far apart. Such settings are difficult because the wide baseline can cause drastic changes in object appearance and cause occlusions. This paper presents a novel self-supervised visual servoing method for wide baseline images which does not require 3D ground truth supervision. Existing approache... |
Multi-Camera-LiDAR Auto-Calibration by Joint Structure-from-Motion | https://ieeexplore.ieee.org/document/9981532/ | [
"Diantao Tu",
"Baoyu Wang",
"Hainan Cui",
"Yuqian Liu",
"Shuhan Shen",
"Diantao Tu",
"Baoyu Wang",
"Hainan Cui",
"Yuqian Liu",
"Shuhan Shen"
] | Multiple sensors, especially cameras and LiDARs, are widely used in autonomous vehicles. In order to fuse data from different sensors accurately, precise calibrations are required, including camera intrinsic parameters, and relative poses between multiple cameras and LiDARs. However, most existing camera-LiDAR calibration methods need to place manually designed calibration objects in multiple loca... |
GeoROS: Georeferenced Real-time Orthophoto Stitching with Unmanned Aerial Vehicle | https://ieeexplore.ieee.org/document/9981560/ | [
"Guangze Gao",
"Mengke Yuan",
"Zhihao Ma",
"Jiaming Gu",
"Weiliang Meng",
"Shibiao Xu",
"Xiaopeng Zhang",
"Guangze Gao",
"Mengke Yuan",
"Zhihao Ma",
"Jiaming Gu",
"Weiliang Meng",
"Shibiao Xu",
"Xiaopeng Zhang"
] | Simultaneous orthophoto stitching during the flight of Unmanned Aerial Vehicles (UAV) can greatly promote the practicability and instantaneity of diverse applications such as emergency disaster rescue, digital agriculture, and cadastral survey, which is of remarkable interest in aerial photogrammetry. However, the inaccurately estimated camera poses and the intuitive fusion strategy of existing me... |
Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes | https://ieeexplore.ieee.org/document/9981545/ | [
"Binbin Xu",
"Andrew J. Davison",
"Stefan Leutenegger",
"Binbin Xu",
"Andrew J. Davison",
"Stefan Leutenegger"
] | In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions from depth inputs and a category-level shape prior with the aim that completed object geometry leads to better object reconstruction and tracking accuracy. For ea... |
Robot-aided Microbial Density Estimation and Mapping | https://ieeexplore.ieee.org/document/9981278/ | [
"J. J. J. Pey",
"A. P. Povendhan",
"T. Pathmakumar",
"M. R. Elara",
"J. J. J. Pey",
"A. P. Povendhan",
"T. Pathmakumar",
"M. R. Elara"
] | Estimating the microbial infestation profile of an area is essential for an effective cleaning process. However, current methods used to inspect the microbial infestation within a spatial region are manual and laborious. For large regions that require automated cleaning, conventional methods of microbial examination are not practical. We propose a novel robot-aided microbial density estimation and... |
Elevation Mapping for Locomotion and Navigation using GPU | https://ieeexplore.ieee.org/document/9981507/ | [
"Takahiro Miki",
"Lorenz Wellhausen",
"Ruben Grandia",
"Fabian Jenelten",
"Timon Homberger",
"Marco Hutter",
"Takahiro Miki",
"Lorenz Wellhausen",
"Ruben Grandia",
"Fabian Jenelten",
"Timon Homberger",
"Marco Hutter"
] | Perceiving the surrounding environment is crucial for autonomous mobile robots. An elevation map provides a memory-efficient and simple yet powerful geometric represen-tation of the terrain for ground robots. The robots can use this information for navigation in an unknown environment or perceptive locomotion control over rough terrain. Depending on the application, various post processing steps m... |
LODM: Large-scale Online Dense Mapping for UAV | https://ieeexplore.ieee.org/document/9981994/ | [
"Jianxin Huang",
"Laijian Li",
"Xiangrui Zhao",
"Xiaolei Lang",
"Deye Zhu",
"Yong Liu",
"Jianxin Huang",
"Laijian Li",
"Xiangrui Zhao",
"Xiaolei Lang",
"Deye Zhu",
"Yong Liu"
] | This paper proposes an online large-scale dense mapping method for UAVs with a height of 150–250 meters. We first fuse the GPS with the visual odometry to estimate the scaled poses and sparse points. In order to use the depth of sparse points for depth map, we propose Sparse Confidence Cascade View-Aggregation MVSNet (SCCVA-MVSNet), which projects the depth-converged points in the sliding window o... |
Robotic Powder Grinding with a Soft Jig for Laboratory Automation in Material Science | https://ieeexplore.ieee.org/document/9981081/ | [
"Yusaku Nakajima",
"Masashi Hamaya",
"Yuta Suzuki",
"Takafumi Hawai",
"Felix von Drigalski",
"Kazutoshi Tanaka",
"Yoshitaka Ushiku",
"Kanta Ono",
"Yusaku Nakajima",
"Masashi Hamaya",
"Yuta Suzuki",
"Takafumi Hawai",
"Felix von Drigalski",
"Kazutoshi Tanaka",
"Yoshitaka Ushiku",
"Kanta Ono"
] | Grinding materials into a fine powder is a time-consuming task in material science that is generally performed by hand, as current automated grinding machines might not be suitable for preparing small-sized samples. This study presents a robotic powder grinding system for laboratory automation in material science applications that observe the powder's state to improve the grinding outcome. We deve... |
Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling | https://ieeexplore.ieee.org/document/9981636/ | [
"Dennis Knobbe",
"Henning Zwirnmann",
"Moritz Eckhoff",
"Sami Haddadin",
"Dennis Knobbe",
"Henning Zwirnmann",
"Moritz Eckhoff",
"Sami Haddadin"
] | Laboratory automation is a suitable solution to establish higher reproducibility with less manual work and thus higher quality standards in life sciences. To date, mobile robots are capable of performing autonomous pick-and-place tasks in the laboratory, and specialized pipetting machines can be used for sequenced liquid handling. However, the complex and creative process of developing new researc... |
Registering Articulated Objects With Human-in-the-loop Corrections | https://ieeexplore.ieee.org/document/9981949/ | [
"Michael Hagenow",
"Emmanuel Senft",
"Evan Laske",
"Kimberly Hambuchen",
"Terrence Fong",
"Robert Radwin",
"Michael Gleicher",
"Bilge Mutlu",
"Michael Zinn",
"Michael Hagenow",
"Emmanuel Senft",
"Evan Laske",
"Kimberly Hambuchen",
"Terrence Fong",
"Robert Radwin",
"Michael Gleicher",
"Bilge Mutlu",
"Michael Zinn"
] | Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing human-in-the-loop methods for registering objects do not consider articulations and the corresponding impact to the geometry of the object, which can cause the methods to f... |
Generalized Laplace Particle Filter on Lie Groups Applied to Ambiguous Doppler Navigation | https://ieeexplore.ieee.org/document/9982086/ | [
"Clément Chahbazian",
"Nicolas Merlinge",
"Karim Dahia",
"Bénédicte Winter-Bonnet",
"Aurélien Blanc",
"Christian Musso",
"Clément Chahbazian",
"Nicolas Merlinge",
"Karim Dahia",
"Bénédicte Winter-Bonnet",
"Aurélien Blanc",
"Christian Musso"
] | Particle filters are suited to solve nonlinear and non-Gaussian estimation problems which find numerous applications in autonomous systems navigation. Previous works on Laplace Particle Filter on Lie groups (LG-LPF) demonstrated its robustness and accuracy on challenging navigation scenarios compared to classic particle filters. Nevertheless, LG-LPF is applicable when the prior probability density... |
Towards Autonomous Control of Surgical Instruments using Adaptive-Fusion Tracking and Robot Self-Calibration | https://ieeexplore.ieee.org/document/9981141/ | [
"Chiyu Wang",
"João Cartucho",
"Daniel Elson",
"Ara Darzi",
"Stamatia Giannarou",
"Chiyu Wang",
"João Cartucho",
"Daniel Elson",
"Ara Darzi",
"Stamatia Giannarou"
] | The ability to track surgical instruments in realtime is crucial for autonomous Robotic Assisted Surgery (RAS). Recently, the fusion of visual and kinematic data has been proposed to track surgical instruments. However, these methods assume that both sensors are equally reliable, and cannot successfully handle cases where there are significant perturbations in one of the sensors' data. In this pap... |
AFT-VO: Asynchronous Fusion Transformers for Multi-View Visual Odometry Estimation | https://ieeexplore.ieee.org/document/9981835/ | [
"Nimet Kaygusuz",
"Oscar Mendez",
"Richard Bowden",
"Nimet Kaygusuz",
"Oscar Mendez",
"Richard Bowden"
] | Motion estimation approaches typically employ sensor fusion techniques, such as the Kalman Filter, to handle individual sensor failures. More recently, deep learning-based fusion approaches have been proposed, increasing the performance and requiring less model-specific implementations. However, current deep fusion approaches often assume that sensors are synchronised, which is not always practica... |
A Portable Multiscopic Camera for Novel View and Time Synthesis in Dynamic Scenes | https://ieeexplore.ieee.org/document/9982040/ | [
"Tianjia Zhang",
"Yuen-Fui Lau",
"Qifeng Chen",
"Tianjia Zhang",
"Yuen-Fui Lau",
"Qifeng Chen"
] | We present a portable multiscopic camera system with a dedicated model for novel view and time synthesis in dynamic scenes. Our goal is to render high-quality images for a dynamic scene from any viewpoint at any time using our portable multiscopic camera. To achieve such novel view and time synthesis, we develop a physical multiscopic camera equipped with five cameras to train a neural radiance fi... |
HD-CCSOM: Hierarchical and Dense Collaborative Continuous Semantic Occupancy Mapping through Label Diffusion | https://ieeexplore.ieee.org/document/9981756/ | [
"Yinan Deng",
"Meiling Wang",
"Yi Yang",
"Yufeng Yue",
"Yinan Deng",
"Meiling Wang",
"Yi Yang",
"Yufeng Yue"
] | The collaborative operation of multiple robots can make up for the shortcomings of a single robot, such as limited field of perception or sensor failure. multirobots collaborative semantic mapping can enhance their comprehensive contextual understanding of the environment. However, existing multirobots collaborative semantic mapping algorithms mainly apply discrete occupancy map inference, and do ... |
Scalable and Modular Ultra-Wideband Aided Inertial Navigation | https://ieeexplore.ieee.org/document/9981937/ | [
"Roland Jung",
"Stephan Weiss",
"Roland Jung",
"Stephan Weiss"
] | Navigating accurately in potentially GPS-denied environments is a perquisite of autonomous systems. Relative localization based on ultra-wideband (UWB) is - especially indoors - a promising technology. In this paper, we present a probabilistic filter based Modular Multi-Sensor Fusion (MMSF) approach with the capability of using efficiently all information in a fully meshed UWB ranging network. Thi... |
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements | https://ieeexplore.ieee.org/document/9981301/ | [
"Charles Champagne Cossette",
"Mohammed Ayman Shalaby",
"David Saussié",
"Jérôme Le Ny",
"James Richard Forbes",
"Charles Champagne Cossette",
"Mohammed Ayman Shalaby",
"David Saussié",
"Jérôme Le Ny",
"James Richard Forbes"
] | In multi-robot missions, relative position and attitude information between robots is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of inter-robot range measurements is investigated. Specifically, it is shown that the estimation accuracy is highly dependent on the true relative poses themselves, ... |
Monocular Event Visual Inertial Odometry based on Event-corner using Sliding Windows Graph-based Optimization | https://ieeexplore.ieee.org/document/9981970/ | [
"Weipeng Guan",
"Peng Lu",
"Weipeng Guan",
"Peng Lu"
] | Event cameras are biologically-inspired vision sensors that capture pixel-level illumination changes instead of the intensity image at a fixed frame rate. They offer many advantages over the standard cameras, such as high dynamic range, high temporal resolution (low latency), no motion blur, etc. Therefore, developing state estimation algorithms based on event cameras offers exciting opportunities... |
Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs | https://ieeexplore.ieee.org/document/9982031/ | [
"Xiangyang Zhi",
"Jiawei Hou",
"Yiren Lu",
"Laurent Kneip",
"Sören Schwertfeger",
"Xiangyang Zhi",
"Jiawei Hou",
"Yiren Lu",
"Laurent Kneip",
"Sören Schwertfeger"
] | Spatiotemporal calibration of sensors, especially of those which do not share their fields of view, is becoming increasingly important in the fields of autonomous driving and robotics. This paper presents a general sensor calibration method, named Multical, that makes use of multiple planar calibration targets whose poses will be estimated alongside spatiotemporal calibration. Multical exploits co... |
Safe Reinforcement Learning for Legged Locomotion | https://ieeexplore.ieee.org/document/9982038/ | [
"Tsung-Yen Yang",
"Tingnan Zhang",
"Linda Luu",
"Sehoon Ha",
"Jie Tan",
"Wenhao Yu",
"Tsung-Yen Yang",
"Tingnan Zhang",
"Linda Luu",
"Sehoon Ha",
"Jie Tan",
"Wenhao Yu"
] | Designing control policies for legged locomotion11In this work, we specifically consider quadruped locomotion. is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of applying model-free reinforcement learning in real world is safety. In this paper, we propose a safe ... |
Safety Guided Policy Optimization | https://ieeexplore.ieee.org/document/9981030/ | [
"Dohyeong Kim",
"Yunho Kim",
"Kyungjae Lee",
"Songhwai Oh",
"Dohyeong Kim",
"Yunho Kim",
"Kyungjae Lee",
"Songhwai Oh"
] | In reinforcement learning (RL), exploration is essential to achieve a globally optimal policy but unconstrained exploration can cause damages to robots and nearby people. To handle this safety issue in exploration, safe RL has been proposed to keep the agent under the specified safety constraints while maximizing cumulative rewards. This paper introduces a new safe RL method which can be applied t... |
How to Spend Your Robot Time: Bridging Kickstarting and Offline Reinforcement Learning for Vision-based Robotic Manipulation | https://ieeexplore.ieee.org/document/9981126/ | [
"Alex X. Lee",
"Coline Devin",
"Jost Tobias Springenberg",
"Yuxiang Zhou",
"Thomas Lampe",
"Abbas Abdolmaleki",
"Konstantinos Bousmalis",
"Alex X. Lee",
"Coline Devin",
"Jost Tobias Springenberg",
"Yuxiang Zhou",
"Thomas Lampe",
"Abbas Abdolmaleki",
"Konstantinos Bousmalis"
] | Reinforcement learning (RL) has been shown to be effective at learning control from experience. However, RL typically requires a large amount of online interaction with the environment. This limits its applicability to real-world settings, such as in robotics, where such interaction is expensive. In this work we investigate ways to minimize online interactions in a target task, by reusing a subopt... |
A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation | https://ieeexplore.ieee.org/document/9981185/ | [
"Xiang Zhu",
"Shucheng Kang",
"Jianyu Chen",
"Xiang Zhu",
"Shucheng Kang",
"Jianyu Chen"
] | Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL policy is imperfect during training or in unseen scenarios. In this paper, we propose a contact-safe reinforcement learning framework for contact-rich robot manipul... |
Learning Skills to Navigate without a Master: A Sequential Multi-Policy Reinforcement Learning Algorithm | https://ieeexplore.ieee.org/document/9981607/ | [
"Ambedkar Dukkipati",
"Rajarshi Banerjee",
"Ranga Shaarad Ayyagari",
"Dhaval Parmar Udaybhai",
"Ambedkar Dukkipati",
"Rajarshi Banerjee",
"Ranga Shaarad Ayyagari",
"Dhaval Parmar Udaybhai"
] | Solving complex problems using reinforcement learning necessitates breaking down the problem into manageable tasks, and learning policies to solve these tasks. These policies, in turn, have to be controlled by a master policy that takes high-level decisions. Hence learning policies involves hierarchical decision structures. However, training such methods in practice may lead to poor generalization... |
Ordinal Inverse Reinforcement Learning Applied to Robot Learning with Small Data | https://ieeexplore.ieee.org/document/9981731/ | [
"Adrià Colomé",
"Carme Torras",
"Adrià Colomé",
"Carme Torras"
] | Over the last decade, the ability to teach actions to robots in a user-friendly way has gained relevance, and a practical way of teaching robots a new task is to use Inverse Reinforcement Learning (IRL). In IRL, an expert teacher shows the robot a desired behaviour and an agent builds a model of the reward. The agent can also infer a policy that performs in an optimal way within the limitations of... |
Advanced Skills by Learning Locomotion and Local Navigation End-to-End | https://ieeexplore.ieee.org/document/9981198/ | [
"Nikita Rudin",
"David Hoeller",
"Marko Bjelonic",
"Marco Hutter",
"Nikita Rudin",
"David Hoeller",
"Marko Bjelonic",
"Marco Hutter"
] | The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity. However, by breaking down the navigation problem into these sub-tasks, we limit the robot's capabilities since the individual tasks do not consider the full solu... |
NavDreams: Towards Camera-Only RL Navigation Among Humans | https://ieeexplore.ieee.org/document/9982045/ | [
"Daniel Dugas",
"Olov Andersson",
"Roland Siegwart",
"Jen Jen Chung",
"Daniel Dugas",
"Olov Andersson",
"Roland Siegwart",
"Jen Jen Chung"
] | Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used. While images present a significant challenge when it comes to perception and planning, they also allow capturing potentially important details, such as complex geom... |
Impact Makes a Sound and Sound Makes an Impact: Sound Guides Representations and Explorations | https://ieeexplore.ieee.org/document/9981510/ | [
"Xufeng Zhao",
"Cornelius Weber",
"Muhammad Burhan Hafez",
"Stefan Wermter",
"Xufeng Zhao",
"Cornelius Weber",
"Muhammad Burhan Hafez",
"Stefan Wermter"
] | Sound is one of the most informative and abundant modalities in the real world while being robust to sense without contacts by small and cheap sensors that can be placed on mobile devices. Although deep learning is capable of extracting information from multiple sensory inputs, there has been little use of sound for the control and learning of robotic actions. For unsupervised reinforcement learni... |
Origami Robot Self-folding by Magnetic Induction | https://ieeexplore.ieee.org/document/9981604/ | [
"Jialun Liu",
"Xiao Chen",
"Quentin Lahondes",
"Kaan Esendag",
"Dana Damian",
"Shuhei Miyashita",
"Jialun Liu",
"Xiao Chen",
"Quentin Lahondes",
"Kaan Esendag",
"Dana Damian",
"Shuhei Miyashita"
] | Inspired by the traditional art of paper folding, origami, autonomous production of 3D structures from 2D sheets can be achieved by the implementation of self-folding techniques. One technique to achieve such transformation is the usage of thermo-responsive smart materials such as self-folding polymeric films, which can be controlled by heat to shrink. Achieving remote self-folding with a practica... |
A passive, asymmetrically-compliant knee joint improves obstacle traversal in an insect-scale legged robot | https://ieeexplore.ieee.org/document/9981497/ | [
"Perrin E. Schiebel",
"Michelle C. Yuen",
"Robert J. Wood",
"Perrin E. Schiebel",
"Michelle C. Yuen",
"Robert J. Wood"
] | Insects can locomote readily in challenging environments, such as over steep inclines and across obstacle-laden terrains, which still frustrate robots of similar size. In this work, inspired by the passive compliant properties of insect limbs, we use the insect-scale Harvard Ambulatory Microrobot and multilayer microfabrication techniques as platform to study the ability of passive mechanisms to i... |
Torque-Actuated Multimodal Locomotion of Ferrofluid Robot With Environment and Task Adaptability | https://ieeexplore.ieee.org/document/9981041/ | [
"Lidong Yang",
"Mengmeng Sun",
"Li Zhang",
"Lidong Yang",
"Mengmeng Sun",
"Li Zhang"
] | Soft microrobotics have recently been an active field that advances microrobotics with new robot design, locomotion, and applications. In this paper, we study the ferrofluid robot (FR), which has soft nature and exhibits paramagnetism. Currently, the FR locomotion is usually realized by magnetic force. To enable the FR with more locomotion modes for environment and task adaptability, we program th... |
OCTOANTS: A Heterogeneous Lightweight Intelligent Multi-Robot Collaboration System with Resource-constrained IoT Devices | https://ieeexplore.ieee.org/document/9982135/ | [
"Qian Zhang",
"Ruiyang Quan",
"Siqin Qimuge",
"Peimin Xia",
"Jiaheng Wang",
"Xin Zan",
"Fangshi Wang",
"Changchuan Chen",
"Qi Wei",
"Huichan Zhao",
"Xinjun Liu",
"Fei Qiao",
"Qian Zhang",
"Ruiyang Quan",
"Siqin Qimuge",
"Peimin Xia",
"Jiaheng Wang",
"Xin Zan",
"Fangshi Wang",
"Changchuan Chen",
"Qi Wei",
"Huichan Zhao",
"Xinjun Liu",
"Fei Qiao"
] | As the focus on highly intelligent robots continues, a problem that cannot be ignored has emerged: resource con-straints. Considering the game problem of resource limitation and the level of intelligence, we focus on lightweight intelligence. This work is a further refinement of our previous work, a heterogeneous lightweight intelligent multi-robot system. In-spired by the nature creatures “octopu... |
Beyond the Limit Automated Driving with Performance Constrained Reachability Analysis | https://ieeexplore.ieee.org/document/9981708/ | [
"Tong Zhao",
"Ekim Yurtsever",
"Giorgio Rizzoni",
"Tong Zhao",
"Ekim Yurtsever",
"Giorgio Rizzoni"
] | Professional human drivers usually have more than one driving strategy to handle incoming traffic situations. These different strategies activate different performance characteristics of the vehicle, enabling the driver to minimize the risk in a variety of situations by optimizing the strategy selection. In the same spirit, we define a novel concept of strategy-wise performance metric and creative... |
Set-point Control for a Ground-based Reconfigurable Robot | https://ieeexplore.ieee.org/document/9981358/ | [
"Wei Cheah",
"Bruno Vilhena Adorno",
"Simon Watson",
"Barry Lennox",
"Wei Cheah",
"Bruno Vilhena Adorno",
"Simon Watson",
"Barry Lennox"
] | Reconfigurable mobile robots are well suited for inspection tasks in legacy nuclear facilities where access is restricted and the environment is often cluttered. A reconfig-urable snake robot, MIRRAX, has previously been developed to investigate such facilities. The joints used for the robot's reconfiguration introduce additional constraints on the robot's control, such as balance, on top of the e... |
Enhanced Quadruped Locomotion of a Rat Robot Based on the Lateral Flexion of a Soft Actuated Spine | https://ieeexplore.ieee.org/document/9981674/ | [
"Yuhong Huang",
"Zhenshan Bing",
"Florian Walter",
"Alex Rohregger",
"Zitao Zhang",
"Kai Huang",
"Fabrice O. Morin",
"Alois Knoll",
"Yuhong Huang",
"Zhenshan Bing",
"Florian Walter",
"Alex Rohregger",
"Zitao Zhang",
"Kai Huang",
"Fabrice O. Morin",
"Alois Knoll"
] | In nature, the movement of quadrupeds is completed under the combined action of the spine and the legs. Inspired by this, this paper explores the effect of a lateral flexing spine on the locomotion of a rat robot. Benefiting from the regular lateral flexion of a soft actuated spine, the rat robot exhibits enhance step length of its hind legs and increased translational velocity by coordinating the... |
Shape and Motion Optimization of Rigid Planar Effectors for Contact Trajectory Satisfaction | https://ieeexplore.ieee.org/document/9981918/ | [
"Rebecca H. Jiang",
"Neel Doshi",
"Ravi Gondhalekar",
"Alberto Rodriguez",
"Rebecca H. Jiang",
"Neel Doshi",
"Ravi Gondhalekar",
"Alberto Rodriguez"
] | We propose a framework for co-optimizing the shape and motion of rigid robotic effectors for planar tasks. While planning object and robot-object contact trajectories is extensively studied, designing an effector that can execute the planned trajectories receives less attention. As such, our framework synthesizes an object trajectory and object-effector contact trajectory into an effector trajecto... |
Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability | https://ieeexplore.ieee.org/document/9981825/ | [
"Lasse Jenning Maywald",
"Felix Wiebe",
"Shivesh Kumar",
"Mahdi Javadi",
"Frank Kirchner",
"Lasse Jenning Maywald",
"Felix Wiebe",
"Shivesh Kumar",
"Mahdi Javadi",
"Frank Kirchner"
] | Unlike fully actuated systems, the control of underactuated robots necessitates the use of passive dynamics to fulfill control objectives. Hence, there is an increased interdependence between their design parameters and the closed loop performance. This paper proposes a novel approach for co-optimization of robot design and controller parameters for increased certifiable stability obtained with me... |
RoSA:A Mechatronically Synthesized Dataset for Rotodynamic System Anomaly Detection | https://ieeexplore.ieee.org/document/9982146/ | [
"Yip Fun Yeung",
"Alex Paul-Ajuwape",
"Farida Tahiry",
"Mikio Furokawa",
"Takayuki Hirano",
"Kamal Youcef-Toumi",
"Yip Fun Yeung",
"Alex Paul-Ajuwape",
"Farida Tahiry",
"Mikio Furokawa",
"Takayuki Hirano",
"Kamal Youcef-Toumi"
] | The time-series datasets commonly applied for anomaly detection research showcase specific suboptimal properties. This work novelly conceptualizes condition state synthesis to improve the data-synthetic pipeline of an anomalous-event dataset. We demonstrate two technical contributions in this study. First, we propose a methodology to formulate, accelerate and enrich the condition state synthetic p... |
Toward Dexterous Flapping Flight: Effective Large Yaw Torque Generation by $2\times 2$-Degrees-of-Freedom Flapping Wings | https://ieeexplore.ieee.org/document/9981990/ | [
"M. Hamamoto",
"M. Hamamoto"
] | Through the efforts of robotic engineers and inspired by the flapping flight of smaller creatures (e.g., insects and hummingbirds), the untethered stable hovering of flapping micro-aerial vehicles (FMAVs) has been achieved. Now, engineers are evaluating how to improve the mobility of these vehicles. The maneuverability of insects and birds in flight, such as their sharp turns and their takeoffs an... |
Comparative Model Evaluation with a Symmetric Three-Link Swimming Robot | https://ieeexplore.ieee.org/document/9981131/ | [
"Brian J. Van Stratum",
"Max P. Austin",
"Kourosh Shoele",
"Jonathan E. Clark",
"Brian J. Van Stratum",
"Max P. Austin",
"Kourosh Shoele",
"Jonathan E. Clark"
] | In this paper we present swimming and modeling for Trident, a three-link lamprey inspired robot that is able to climb on flat smooth walls. We explore two gaits proposed to work for linear swimming, and three gaits for turning maneuvers. We compare the experimental results obtained from these swimming experiments with two different reduced order fluid interaction models, one a previously published... |
Development of a Stingray-inspired High-Frequency Propulsion Platform with Variable Wavelength | https://ieeexplore.ieee.org/document/9981761/ | [
"Qiang Zhong",
"Yicong Fu",
"Leo Liu",
"Daniel B. Quinn",
"Qiang Zhong",
"Yicong Fu",
"Leo Liu",
"Daniel B. Quinn"
] | Undulatory fin motions in fish-like robots are typically created using intricate arrays of servo motors. Motor arrays offer impressive versatility in terms of kinematics, but their complexity leads to constraints on size, hydrodynamic force production, and power consumption, particularly when studying propulsive performance at high-frequencies. Here we present an alternative design that uses a sin... |
Amoeba-inspired swimming through isoperimetric modulation of body shape | https://ieeexplore.ieee.org/document/9982120/ | [
"Curtis Sparks",
"Nathan Justus",
"Ross Hatton",
"Nick Gravish",
"Curtis Sparks",
"Nathan Justus",
"Ross Hatton",
"Nick Gravish"
] | In this work we present the design of a swimming robot that is inspired by the body shape modulation of small microorganisms. Amoebas are small single celled organisms that locomote through deformation and shape change of their body. To achieve similar shape modulation for swimming propulsion in a robot we developed a novel flexible appendage using tape springs. A tape spring is an elongated strip... |
A compliant thorax design for robustness and elastic energy exchange in flapping-wing robots | https://ieeexplore.ieee.org/document/9981927/ | [
"Hang Gao",
"James Lynch",
"Nick Gravish",
"Hang Gao",
"James Lynch",
"Nick Gravish"
] | Flapping wing insects benefit from a compliant thorax that provides elastic energy exchange and resiliency to wing collisions. In this paper, we present a flapping wing robot that uses an underactuated compliant transmission inspired by the insect thorax. We developed a novel fabrication method that combines carbon fiber (CF) laminate and soft robotics fabrication techniques for transmission const... |
Reconstructed Student-Teacher and Discriminative Networks for Anomaly Detection | https://ieeexplore.ieee.org/document/9981509/ | [
"Shinji Yamada",
"Satoshi Kamiya",
"Kazuhiro Hotta",
"Shinji Yamada",
"Satoshi Kamiya",
"Kazuhiro Hotta"
] | Anomaly detection is an important problem in computer vision; however, the scarcity of anomalous samples makes this task difficult. Thus, recent anomaly detection methods have used only “normal images” with no abnormal areas for training. In this work, a powerful anomaly detection method is proposed based on student-teacher feature pyramid matching (STPM), which consists of a student and teacher n... |
Systematic Evaluation and Analysis on Hybrid Strategies of Automatic Agent Last-mile Delivery | https://ieeexplore.ieee.org/document/9981064/ | [
"Xiaotong Zhang",
"Abdullatif Al Alsheikh",
"Kamal Youcef-Toumi",
"Xiaotong Zhang",
"Abdullatif Al Alsheikh",
"Kamal Youcef-Toumi"
] | This paper focuses on problems associated with the deployment of automatic agents for last-mile delivery. We propose a framework and methodology to systematically evaluate and compare different hybrid strategies. Performance metrics in agent noise, delivery time, energy consumption, coverage rate, package throughput, and system costs are defined rigorously and modeled mathematically. Using the met... |
Multi-Object Grasping - Efficient Robotic Picking and Transferring Policy for Batch Picking | https://ieeexplore.ieee.org/document/9981799/ | [
"Adheesh Shenoy",
"Tianze Chen",
"Yu Sun",
"Adheesh Shenoy",
"Tianze Chen",
"Yu Sun"
] | In a typical fulfillment center, the order fulfilling process is managed by a warehouse management system (WMS). For efficiency, WMS usually applies batch picking, also called multi-order picking, to collect the same items for multiple orders. Suppose an item appears in multiple orders, instead of repeatedly revisiting the exact picking location multiple times, a picker will be instructed to pick ... |
AssembleRL: Learning to Assemble Furniture from Their Point Clouds | https://ieeexplore.ieee.org/document/9982112/ | [
"Ozgur Aslan",
"Burak Bolat",
"Batuhan Bal",
"Tugba Tumer",
"Erol Sahin",
"Sinan Kalkan",
"Ozgur Aslan",
"Burak Bolat",
"Batuhan Bal",
"Tugba Tumer",
"Erol Sahin",
"Sinan Kalkan"
] | The rise of simulation environments has enabled learning-based approaches for assembly planning, which is otherwise a labor-intensive and daunting task. Assembling furniture is especially interesting since furniture are intricate and pose challenges for learning-based approaches. Surprisingly, humans can solve furniture assembly mostly given a 2D snapshot of the assembled product. Although recent ... |
MS-cubic: A Modularized Manufacturing System with scalability, portability and parallelism Modular design suitable for drilling, welding and picking and feasibility verification through drilling experiment | https://ieeexplore.ieee.org/document/9981791/ | [
"Takehito Yoshida",
"Amane Toriyama",
"Shin'ichi Warisawa",
"Rui Fukui",
"Takehito Yoshida",
"Amane Toriyama",
"Shin'ichi Warisawa",
"Rui Fukui"
] | The existing manufacturing systems based on processes involving the transportation of workpiece are unsuitable for large products such as air mobility systems. This study proposes a novel ultra-complex manufacturing system called the “Modularized-Structure and Multiple-Points Simultaneous Machining System (MS-cubic)” based on the concept of intelligent space, which simultaneously performs multiple... |
DH-LC: Hierarchical Matching and Hybrid Bundle Adjustment Towards Accurate and Robust Loop Closure | https://ieeexplore.ieee.org/document/9981061/ | [
"Xiongfeng Peng",
"Zhihua Liu",
"Qiang Wang",
"Yun-Tae Kim",
"Xiongfeng Peng",
"Zhihua Liu",
"Qiang Wang",
"Yun-Tae Kim"
] | A loop closure module plays an important role in visual SLAM systems, which can reduce the accumulat-ed drift. This task faces the challenges of large viewpoint changes and expensive computational costs when optimizing the global map. This paper proposes DH-LC, a novel accurate and robust loop closure method that consists of hierarchical spatial feature matching (HSFM) and hybrid bundle adjustment... |
One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation | https://ieeexplore.ieee.org/document/9981308/ | [
"Sha Lu",
"Xuecheng Xu",
"Huan Yin",
"Zexi Chen",
"Rong Xiong",
"Yue Wang",
"Sha Lu",
"Xuecheng Xu",
"Huan Yin",
"Zexi Chen",
"Rong Xiong",
"Yue Wang"
] | LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation and translation, using only the current scan as query and a database of map scans. Inspired by the definition of a recognized place, we consider that a good global localization solution should keep the pose estimation acc... |
Keyframe Selection with Information Occupancy Grid Model for Long-term Data Association | https://ieeexplore.ieee.org/document/9981050/ | [
"Weinan Chen",
"Hanjing Ye",
"Lei Zhu",
"Chao Tang",
"Changfei Fu",
"Yonggang Chen",
"Hong Zhang",
"Weinan Chen",
"Hanjing Ye",
"Lei Zhu",
"Chao Tang",
"Changfei Fu",
"Yonggang Chen",
"Hong Zhang"
] | As the basics of Visual Simultaneous Localization And Mapping (VSLAM), keyframes play an essential role. In previous works, keyframes are selected according to a series of view change-based strategies for short-term data association (STDA). However, the texture enrichment of frames is always ignored, resulting in the failure of long-term data association (LTDA). In this paper, we propose an inform... |
Are We Ready for Robust and Resilient SLAM? A Framework For Quantitative Characterization of SLAM Datasets | https://ieeexplore.ieee.org/document/9981283/ | [
"Islam Ali",
"Hong Zhang",
"Islam Ali",
"Hong Zhang"
] | Reliability of SLAM systems is considered one of the critical requirements in modern autonomous systems. This directed the efforts to developing many state-of-the-art systems, creating challenging datasets, and introducing rigorous metrics to measure SLAM performance. However, the link between datasets and performance in the robustness/resilience context has rarely been explored. In order to fill ... |
Robust Change Detection Based on Neural Descriptor Fields | https://ieeexplore.ieee.org/document/9981246/ | [
"Jiahui Fu",
"Yilun Du",
"Kurran Singh",
"Joshua B. Tenenbaum",
"John J. Leonard",
"Jiahui Fu",
"Yilun Du",
"Kurran Singh",
"Joshua B. Tenenbaum",
"John J. Leonard"
] | The ability to reason about changes in the environment is crucial for robots operating over extended periods of time. Agents are expected to capture changes during operation so that actions can be followed to ensure a smooth progression of the working session. However, varying viewing angles and accumulated localization errors make it easy for robots to falsely detect changes in the surrounding wo... |
LayoutSLAM: Object Layout based Simultaneous Localization and Mapping for Reducing Object Map Distortion | https://ieeexplore.ieee.org/document/9981492/ | [
"Kenta Gunji",
"Kazunori Ohno",
"Shotaro Kojima",
"Ranulfo Bezerra",
"Yoshito Okada",
"Masashi Konyo",
"Satoshi Tadokoro",
"Kenta Gunji",
"Kazunori Ohno",
"Shotaro Kojima",
"Ranulfo Bezerra",
"Yoshito Okada",
"Masashi Konyo",
"Satoshi Tadokoro"
] | There is an increasing demand for robots that can be substituted for humans in various tasks. Mobile robots are being introduced in factories, stores, and public facilities for carrying goods and cleaning. In factories and stores, desks and shelves are arranged such that the work and movement of personnel are reduced. The surrounding furniture is also set to ensure that a single task can be perfor... |
SLAM-Supported Self-Training for 6D Object Pose Estimation | https://ieeexplore.ieee.org/document/9981145/ | [
"Ziqi Lu",
"Yihao Zhang",
"Kevin Doherty",
"Odin Severinsen",
"Ethan Yang",
"John Leonard",
"Ziqi Lu",
"Yihao Zhang",
"Kevin Doherty",
"Odin Severinsen",
"Ethan Yang",
"John Leonard"
] | Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the prediction performance. To mitigate the domain gap, we can potentially perform self-training in the target domain, using predictions on robot-captured images as... |
ROLL: Long-Term Robust LiDAR-based Localization With Temporary Mapping in Changing Environments | https://ieeexplore.ieee.org/document/9982153/ | [
"Bin Peng",
"Hongle Xie",
"Weidong Chen",
"Bin Peng",
"Hongle Xie",
"Weidong Chen"
] | Long-term scene changes pose challenges to localization systems using a pre-built map. This paper presents a LiDAR-based system that provides robust localization against those challenges. Our method starts with activation of a mapping process temporarily when global matching towards the pre-built map is unreliable. The temporary map will be merged onto the pre-built map for later localization sess... |
Semantic Topological Descriptor for Loop Closure Detection within 3D Point Clouds In Outdoor Environment | https://ieeexplore.ieee.org/document/9981965/ | [
"Ming Liao",
"Yunzhou Zhang",
"Jinpeng Zhang",
"Liang Liang",
"Sonya Coleman",
"Dermot Kerr",
"Ming Liao",
"Yunzhou Zhang",
"Jinpeng Zhang",
"Liang Liang",
"Sonya Coleman",
"Dermot Kerr"
] | Loop closure detection has the potential to correct the drift of trajectories and build a global consistent map in LiDAR SLAM, however it remains a challenging problem in outdoor environment due to the sparsity of 3D point clouds data, large-scale scenes and moving objects. Inspired by the way humans perceive the environment through recognizing objects and identifying their relations, this paper p... |
Gaussian Variational Inference with Covariance Constraints Applied to Range-only Localization | https://ieeexplore.ieee.org/document/9981520/ | [
"Abhishek Goudar",
"Wenda Zhao",
"Timothy D. Barfoot",
"Angela P. Schoellig",
"Abhishek Goudar",
"Wenda Zhao",
"Timothy D. Barfoot",
"Angela P. Schoellig"
] | Accurate and reliable state estimation is becoming increasingly important as robots venture into the real world. Gaussian variational inference (GVI) is a promising alternative for nonlinear state estimation, which estimates a full probability density for the posterior instead of a point estimate as in maximum a posteriori (MAP)-based approaches. GVI works by optimizing for the parameters of a mul... |
Pose Refinement with Joint Optimization of Visual Points and Lines | https://ieeexplore.ieee.org/document/9981420/ | [
"Shuang Gao",
"Jixiang Wan",
"Yishan Ping",
"Xudong Zhang",
"Shuzhou Dong",
"Yuchen Yang",
"Haikuan Ning",
"Jijunnan Li",
"Yandong Guo",
"Shuang Gao",
"Jixiang Wan",
"Yishan Ping",
"Xudong Zhang",
"Shuzhou Dong",
"Yuchen Yang",
"Haikuan Ning",
"Jijunnan Li",
"Yandong Guo"
] | High-precision camera re-localization technology in a pre-established 3D environment map is the basis for many tasks, such as Augmented Reality, Robotics and Autonomous Driving. The point-based visual re-localization approaches are well-developed in recent decades, but are insufficient in some feature-less cases. In this paper, we design a complete pipeline for camera pose refinement with points a... |
Comprehensive Reactive Safety: No Need For A Trajectory If You Have A Strategy | https://ieeexplore.ieee.org/document/9981757/ | [
"Fang Da",
"Fang Da"
] | Safety guarantees in motion planning for autonomous driving typically involve certifying the trajectory to be collision-free under any motion of the uncontrollable participants in the environment, such as the human-driven vehicles on the road. As a result they usually employ a conservative bound on the behavior of such participants, such as reachability analysis. We point out that planning traject... |
Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains | https://ieeexplore.ieee.org/document/9982136/ | [
"Troy McMahon",
"Aravind Sivaramakrishnan",
"Kushal Kedia",
"Edgar Granados",
"Kostas E. Bekris",
"Troy McMahon",
"Aravind Sivaramakrishnan",
"Kushal Kedia",
"Edgar Granados",
"Kostas E. Bekris"
] | This paper explores learning an effective controller for improving the efficiency of kinodynamic planning for vehicular systems navigating uneven terrains. It describes the pipeline for training the corresponding controller and using it for motion planning purposes. The training process uses a soft actor-critic approach with hindsight experience replay to train a model, which is parameterized by t... |
Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map | https://ieeexplore.ieee.org/document/9982200/ | [
"Xiaoyi Cai",
"Michael Everett",
"Jonathan Fink",
"Jonathan P. How",
"Xiaoyi Cai",
"Michael Everett",
"Jonathan Fink",
"Jonathan P. How"
] | Motion planning in off-road environments re-quires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into a finite number of semantic categories that often are not sufficient to capture the ability (i.e., the speed) with which a robot can traverse off-road terrain... |
Dynamic Replanning with Posterior Sampling | https://ieeexplore.ieee.org/document/9981617/ | [
"Brian Hou",
"Siddhartha S. Srinivasa",
"Brian Hou",
"Siddhartha S. Srinivasa"
] | When navigating to a goal in an uncertain environment, a robot must simultaneously navigate the exploration-exploitation tradeoff: should it aim to gain information and reduce uncertainty, or should it simply brave the unknown? We formalize this as the Bayesian dynamic motion planning problem, and we analyze how several strategies from the literature balance these concerns via determinization and ... |
Energy-Aware Planning-Scheduling for Autonomous Aerial Robots | https://ieeexplore.ieee.org/document/9981285/ | [
"Adam Seewald",
"Héctor García de Marina",
"Henrik Skov Midtiby",
"Ulrik Pagh Schultz",
"Adam Seewald",
"Héctor García de Marina",
"Henrik Skov Midtiby",
"Ulrik Pagh Schultz"
] | In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a novel variable coverage motion robust to air-borne constraints and an empirically motivated energy model. The model includes the energy contribution of the sche... |
Learning to Herd Amongst Obstacles from an Optimized Surrogate | https://ieeexplore.ieee.org/document/9982269/ | [
"Jixuan Zhi",
"Jyh-Ming Lien",
"Jixuan Zhi",
"Jyh-Ming Lien"
] | This paper investigates how a shepherd robot can efficiently steer a coherent group by intelligently moving behind the group in obstacle-filled environments. It was been shown that a model trained by deep reinforcement learning can guide a small number (2–4) of agents among obstacles. However, herding a larger group becomes significantly more challenging because it exhibits the characteristics sim... |
Geometric Savitzky-Golay Filtering of Noisy Rotations on SO(3) with Simultaneous Angular Velocity and Acceleration Estimation | https://ieeexplore.ieee.org/document/9981409/ | [
"Maarten Jongeneel",
"Alessandro Saccon",
"Maarten Jongeneel",
"Alessandro Saccon"
] | This paper focuses on the problem of smoothing a rotation trajectory corrupted by noise, while simultaneously estimating its corresponding angular velocity and angular acceleration. To this end, we develop a geometric version of the Savitzky-Golay filter on SO(3) that avoids following the conventional practice of first converting the rotation trajectory into Euler-like angles, performing the filte... |
Automated design of task specific additively manufacturable coupled serial chain mechanisms for tracing predefined planar trajectories | https://ieeexplore.ieee.org/document/9981723/ | [
"Simon Schiele",
"Sebastian Baumgartner",
"Simon Laudahn",
"Tim C. Lueth",
"Simon Schiele",
"Sebastian Baumgartner",
"Simon Laudahn",
"Tim C. Lueth"
] | This work presents the automatic design of additively manufacturable serially linked one degree of freedom manipulators whose end effectors move along individually prescribed 2D trajectories. The kinematic coupling of the links is done by using gear stages consisting of spur gears and toothed belt gears. The basic design parameters of these mechanisms are determined using a Fourier series. The cal... |
Robot Learning to Paint from Demonstrations | https://ieeexplore.ieee.org/document/9981633/ | [
"Younghyo Park",
"Seunghun Jeon",
"Taeyoon Lee",
"Younghyo Park",
"Seunghun Jeon",
"Taeyoon Lee"
] | Robotic painting tasks in the real world are often made complicated by the highly complex and stochastic nature of the dynamics that underlie, e.g., physical contact between the painting tool and a canvas, color blendings between painting mediums, and many more. Simulation-based inverse graphics algorithms, for example, can not be directly transferred to the real-world due in large to the consider... |
Robot Dance Generation with Music Based Trajectory Optimization | https://ieeexplore.ieee.org/document/9981462/ | [
"Melya Boukheddimi",
"Daniel Harnack",
"Shivesh Kumar",
"Rohit Kumar",
"Shubham Vyas",
"Octavio Arriaga",
"Frank Kirchner",
"Melya Boukheddimi",
"Daniel Harnack",
"Shivesh Kumar",
"Rohit Kumar",
"Shubham Vyas",
"Octavio Arriaga",
"Frank Kirchner"
] | Musical dancing is an ubiquitous phenomenon in the human society. Providing robots the ability to dance has the potential to make the human robot co-existence more acceptable in our society. Hence, dancing robots have generated a considerable research interest in the recent years. In this paper, we present a novel formalization of robot dancing as planning and control of optimally timed actions ba... |
Robotic Detection of a Human-Comprehensible Gestural Language for Underwater Multi-Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9981450/ | [
"Sadman Sakib Enan",
"Michael Fulton",
"Junaed Sattar",
"Sadman Sakib Enan",
"Michael Fulton",
"Junaed Sattar"
] | In this paper, we present a motion-based robotic communication framework that enables non-verbal communication among autonomous underwater vehicles (AUVs) and human divers. We design a gestural language for AUV-to-AUV communication which can be easily understood by divers observing the conversation - unlike typical radio frequency, light, or audio-based AUV communication. To allow AUVs to visually... |
Intuitive & Efficient Human-robot Collaboration via Real-time Approximate Bayesian Inference | https://ieeexplore.ieee.org/document/9982251/ | [
"Javier Felip",
"David Gonzalez-Aguirre",
"Lama Nachman",
"Javier Felip",
"David Gonzalez-Aguirre",
"Lama Nachman"
] | The combination of collaborative robots and end-to-end AI, promises flexible automation of human tasks in factories and warehouses. However, such promise seems a few breakthroughs away. In the meantime, humans and cobots will collaborate helping each other. For these collaborations to be effective and safe, robots need to model, predict and exploit human's intents for responsive decision making pr... |
Gesture2Vec: Clustering Gestures using Representation Learning Methods for Co-speech Gesture Generation | https://ieeexplore.ieee.org/document/9981117/ | [
"Payam Jome Yazdian",
"Mo Chen",
"Angelica Lim",
"Payam Jome Yazdian",
"Mo Chen",
"Angelica Lim"
] | Co-speech gestures are a principal component in conveying messages and enhancing interaction experiences between humans and critical ingredients in human-agent interaction, including virtual agents and robots. Existing machine learning approaches have yielded only marginal success in learning speech-to-motion at the frame level. Current methods generate repetitive gesture sequences that lack appro... |
Robowflex: Robot Motion Planning with MoveIt Made Easy | https://ieeexplore.ieee.org/document/9981698/ | [
"Zachary Kingston",
"Lydia E. Kavraki",
"Zachary Kingston",
"Lydia E. Kavraki"
] | Robowflex is a software library for robot motion planning in industrial and research applications, leveraging the popular Moveit library and Robot Operating System (ROS) middleware. Robowflex provides an augmented API for crafting and manipulating motion planning queries within a single program, making motion planning with Moveit easy. Robowflex's high-level API simplifies many common use-cases wh... |
Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor | https://ieeexplore.ieee.org/document/9981190/ | [
"Vincent Groenhuis",
"Gijs Rolff",
"Koen Bosman",
"Leon Abelmann",
"Stefano Stramigioli",
"Vincent Groenhuis",
"Gijs Rolff",
"Koen Bosman",
"Leon Abelmann",
"Stefano Stramigioli"
] | Absolute position detection in sensorless electric stepper motors potentially allows for higher space efficiency, improved shock resistance, simplified installation, reduced number of parts and lowered cost. A prototype is demonstrated measuring 42 × 42 × 34 mm3 with seven coils arranged in a star configuration. The rotor is ϕ 25.8 × 12.5 mm2 and has 51 teeth which are irregularly spaced. At the d... |
A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects | https://ieeexplore.ieee.org/document/9981169/ | [
"Tran Nguyen Le",
"Jens Lundell",
"Fares J. Abu-Dakka",
"Ville Kyrki",
"Tran Nguyen Le",
"Jens Lundell",
"Fares J. Abu-Dakka",
"Ville Kyrki"
] | Evaluation of grasps on deformable $3\mathrm{D}$ objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question. A central issue with most quality measures is their dependence on contact points, which for deformable objects depend on the deformations. This paper proposes a grasp quality measure for deformable objects th... |
Optimal Nonprehensile Interception Strategy for Objects in Flight | https://ieeexplore.ieee.org/document/9981714/ | [
"Cheng Zhou",
"Yanbo Long",
"Ying Cao",
"Longfei Zhao",
"Bidan Huang",
"Yu Zheng",
"Cheng Zhou",
"Yanbo Long",
"Ying Cao",
"Longfei Zhao",
"Bidan Huang",
"Yu Zheng"
] | Intercepting an object in flight through nonpre-hensile manipulation is a challenging problem, which is aimed at catching and stopping a flying object using little contacts without completely restraining its relative motion to the robot. This paper presents a two-stage optimal trajectory generation method to tackle this problem. At the pre-catching stage, optimal position and attitude trajectories... |
MasKGrasp: Mask-based Grasping for Scenes with Multiple General Real-world Objects | https://ieeexplore.ieee.org/document/9982130/ | [
"Junho Lee",
"Junhwa Hur",
"Inwoo Hwang",
"Young Min Kim",
"Junho Lee",
"Junhwa Hur",
"Inwoo Hwang",
"Young Min Kim"
] | In this paper, we introduce a mask-based grasping method that discerns multiple objects within the scene regard-less of transparency or specularity and finds the optimal grasp position avoiding clutter. Conventional vision-based robotic grasping approaches often fail to extend to the scenes containing transparent objects due to their different visual appearance. To handle the different visual char... |
Development of Pneumatically Driven Tensegrity Manipulator without Mechanical Springs | https://ieeexplore.ieee.org/document/9982208/ | [
"Yuhei Yoshimitsu",
"Kenta Tsukamoto",
"Shuhei Ikemoto",
"Yuhei Yoshimitsu",
"Kenta Tsukamoto",
"Shuhei Ikemoto"
] | This paper reports a tensegrity manipulator driven by 40 pneumatic cylinders without mechanical springs. In general, tensegrity robots use mechanical springs to achieve a stable/curved tensegrity structure, and this is true even when a component extends/retracts with an actuator. The stiffness of the mechanical spring should be high to increase the stiffness of the entire structure and improve the... |
Fixture-Aware DDQN for Generalized Environment-Enabled Grasping | https://ieeexplore.ieee.org/document/9982182/ | [
"Eddie Sasagawa",
"Changhyun Choi",
"Eddie Sasagawa",
"Changhyun Choi"
] | This paper expands on the problem of grasping an object that can only be grasped by a single parallel gripper when a fixture (e.g., wall, heavy object) is harnessed. Preceding work that tackle this problem are limited in that the employed networks implicitly learn specific targets and fixtures to leverage. However, the notion of a usable fixture can vary in different environments, at times without... |
Tactile-Guided Dynamic Object Planar Manipulation | https://ieeexplore.ieee.org/document/9981270/ | [
"Boyuan Liang",
"Wenyu Liang",
"Yan Wu",
"Boyuan Liang",
"Wenyu Liang",
"Yan Wu"
] | Planar pushing is a fundamental robot manipulation task with most algorithms built upon the quasi-static as-sumption. Under this assumption the end-effector should apply force on the pushed object along the full moving trajectory. This means that the target position must lie in the robot's workspace. To enable a robot to deliver objects outside of its workspace and facilitate faster delivery, the ... |
3D visual-based tension control in strip-like deformable objects using a catenary model | https://ieeexplore.ieee.org/document/9982197/ | [
"N. Roca Filella",
"A. Koessler",
"B.C. Bouzgarrou",
"J.-A. Corrales Ramon",
"N. Roca Filella",
"A. Koessler",
"B.C. Bouzgarrou",
"J.-A. Corrales Ramon"
] | In recent years, there has been a growing interest in robotic manipulation of deformable objects. In order to perform certain tasks, the robot must control the shape of the object while taking care not to apply excessive stresses so as not to deform it irreversibly. This is the case when extracting elasto-plastic objects in strips from an industrial reel. In order to control the mechanical stresse... |
DGBench: An Open-Source, Reproducible Benchmark for Dynamic Grasping | https://ieeexplore.ieee.org/document/9981670/ | [
"Ben Burgess-Limerick",
"Chris Lehnert",
"Jürgen Leitner",
"Peter Corke",
"Ben Burgess-Limerick",
"Chris Lehnert",
"Jürgen Leitner",
"Peter Corke"
] | This paper introduces DGBench, a fully reproducible open-source testing system to enable benchmarking of dynamic grasping in environments with unpredictable relative motion between robot and object. We use the proposed benchmark to compare several visual perception arrangements. Traditional perception systems developed for static grasping are unable to provide feedback during the final phase of a ... |
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