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ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation | https://ieeexplore.ieee.org/document/9561766/ | [
"Rita Laezza",
"Robert Gieselmann",
"Florian T. Pokorny",
"Yiannis Karayiannidis",
"Rita Laezza",
"Robert Gieselmann",
"Florian T. Pokorny",
"Yiannis Karayiannidis"
] | Recent advances in machine learning have triggered an enormous interest in using learning-based approaches for robot control and object manipulation. While the majority of existing algorithms are evaluated under the assumption that the involved bodies are rigid, a large number of practical applications contain deformable objects. In this work we focus on Deformable Linear Objects (DLOs) which can ... |
Adversarial Imitation Learning with Trajectorial Augmentation and Correction | https://ieeexplore.ieee.org/document/9561915/ | [
"Dafni Antotsiou",
"Carlo Ciliberto",
"Tae-Kyun Kim",
"Dafni Antotsiou",
"Carlo Ciliberto",
"Tae-Kyun Kim"
] | Deep Imitation Learning requires a large number of expert demonstrations, which are not always easy to obtain, especially for complex tasks. A way to overcome this shortage of labels is through data augmentation. However, this cannot be easily applied to control tasks due to the sequential nature of the problem. In this work, we introduce a novel augmentation method which preserves the success of ... |
Learning Reachable Manifold and Inverse Mapping for a Redundant Robot manipulator | https://ieeexplore.ieee.org/document/9561589/ | [
"Seungsu Kim",
"Julien Perez",
"Seungsu Kim",
"Julien Perez"
] | Validating the kinematic feasibility of a planned robot motion and finding corresponding inverse solutions are time-consuming processes, especially for long-horizon manipulation tasks. Most existing approaches are based on solving iterative gradient-based optimization, so the processes are time-consuming and have a high risk of falling in local minima. In this work, we propose a unified framework ... |
Leveraging Forward Model Prediction Error for Learning Control | https://ieeexplore.ieee.org/document/9561396/ | [
"Sarah Bechtle",
"Bilal Hammoud",
"Akshara Rai",
"Franziska Meier",
"Ludovic Righetti",
"Sarah Bechtle",
"Bilal Hammoud",
"Akshara Rai",
"Franziska Meier",
"Ludovic Righetti"
] | Learning for model based control can be sample-efficient and generalize well, however successfully learning models and controllers that represent the problem at hand can be challenging for complex tasks. Using inaccurate models for learning can lead to sub-optimal solutions that are unlikely to perform well in practice. In this work, we present a learning approach which iterates between model lear... |
GoSafe: Globally Optimal Safe Robot Learning | https://ieeexplore.ieee.org/document/9560738/ | [
"Dominik Baumann",
"Alonso Marco",
"Matteo Turchetta",
"Sebastian Trimpe",
"Dominik Baumann",
"Alonso Marco",
"Matteo Turchetta",
"Sebastian Trimpe"
] | When learning policies for robotic systems from data, safety is a major concern, as violation of safety constraints may cause hardware damage. SafeOpt is an efficient Bayesian optimization (BO) algorithm that can learn policies while guaranteeing safety with high probability. However, its search space is limited to an initially given safe region. We extend this method by exploring outside the init... |
Distilling a Hierarchical Policy for Planning and Control via Representation and Reinforcement Learning | https://ieeexplore.ieee.org/document/9561017/ | [
"Jung-Su Ha",
"Young-Jin Park",
"Hyeok-Joo Chae",
"Soon-Seo Park",
"Han-Lim Choi",
"Jung-Su Ha",
"Young-Jin Park",
"Hyeok-Joo Chae",
"Soon-Seo Park",
"Han-Lim Choi"
] | We present a hierarchical planning and control framework that enables an agent to perform various tasks and adapt to a new task flexibly. Rather than learning an individual policy for each particular task, the proposed framework, DISH, distills a hierarchical policy from a set of tasks by representation and reinforcement learning. The framework is based on the idea of latent variable models that r... |
Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots | https://ieeexplore.ieee.org/document/9560869/ | [
"Weixuan Zhang",
"Marco Tognon",
"Lionel Ott",
"Roland Siegwart",
"Juan Nieto",
"Weixuan Zhang",
"Marco Tognon",
"Lionel Ott",
"Roland Siegwart",
"Juan Nieto"
] | Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn a statistical model from real experiments. However, the efficient and effective data collection for such a data-driven system on real robots is still an open c... |
Differentiable Physics Models for Real-world Offline Model-based Reinforcement Learning | https://ieeexplore.ieee.org/document/9561805/ | [
"Michael Lutter",
"Johannes Silberbauer",
"Joe Watson",
"Jan Peters",
"Michael Lutter",
"Johannes Silberbauer",
"Joe Watson",
"Jan Peters"
] | A limitation of model-based reinforcement learning (MBRL) is the exploitation of errors in the learned models. Blackbox models can fit complex dynamics with high fidelity, but their behavior is undefined outside of the data distribution. Physics-based models are better at extrapolating, due to the general validity of their informed structure, but underfit in the real world due to the presence of u... |
Adversarial Training is Not Ready for Robot Learning | https://ieeexplore.ieee.org/document/9561036/ | [
"Mathias Lechner",
"Ramin Hasani",
"Radu Grosu",
"Daniela Rus",
"Thomas A. Henzinger",
"Mathias Lechner",
"Ramin Hasani",
"Radu Grosu",
"Daniela Rus",
"Thomas A. Henzinger"
] | Adversarial training is an effective method to train deep learning models that are resilient to norm-bounded perturbations, with the cost of nominal performance drop. While adversarial training appears to enhance the robustness and safety of a deep model deployed in open-world decision-critical applications, counterintuitively, it induces undesired behaviors in robot learning settings. In this pap... |
Deep Learning on 3D Object Detection for Automatic Plug-in Charging Using a Mobile Manipulator | https://ieeexplore.ieee.org/document/9561106/ | [
"Zhengxue Zhou",
"Leihui Li",
"Riwei Wang",
"Xuping Zhang",
"Zhengxue Zhou",
"Leihui Li",
"Riwei Wang",
"Xuping Zhang"
] | Increasing research attention has been attracted to automatic plug-in charging in an unmanned and dangerous environment. In this work, we develop an object detection solution based on deep learning on 3D point clouds using a mobile robot manipulator to provide mobility and manipulation. In this solution, the 3D point cloud technology is adopted to measure the shapes and depth information for plugi... |
Rate Mode Bilateral Teleoperation Based on Passivity Tanks and Variable Admittance Control | https://ieeexplore.ieee.org/document/9561813/ | [
"Charlélie Saudrais",
"Laurent Barbé",
"Bernard Bayle",
"Charlélie Saudrais",
"Laurent Barbé",
"Bernard Bayle"
] | Bilateral teleoperation under rate mode is known to be a difficult problem in terms of stability, especially when the slave manipulator interacts with a time-varying environment. This paper presents an energy based variable admittance control approach, whose principle combines the monitoring and the regulation of the energy exchanges with a passivity tank. It allows stable interactions with force ... |
Task Autocorrection for Immersive Teleoperation | https://ieeexplore.ieee.org/document/9560877/ | [
"Chenyang Wang",
"Simon Huber",
"Stelian Coros",
"Roi Poranne",
"Chenyang Wang",
"Simon Huber",
"Stelian Coros",
"Roi Poranne"
] | Teleoperating robotic arms is a challenging task that requires years of training to master. It is mentally demanding, as the operator must internally compute transformations, or rely on muscle memory, to perform even the simplest tasks. Alternative methods that rely on embodiment –the immersive, first person experience of controlling the robot from its point of view are recently becoming more popu... |
Manipulability optimization for multi-arm teleoperation | https://ieeexplore.ieee.org/document/9561105/ | [
"Florian Kennel-Maushart",
"Roi Poranne",
"Stelian Coros",
"Florian Kennel-Maushart",
"Roi Poranne",
"Stelian Coros"
] | Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve autonomous behaviour later on. The increased availability of collaborative robot arms and Virtual Reality (VR) devices, provides ample opportunity for development of nov... |
Human-robot collaborative object transfer using human motion prediction based on Cartesian pose Dynamic Movement Primitives | https://ieeexplore.ieee.org/document/9562035/ | [
"Antonis Sidiropoulos",
"Yiannis Karayiannidis",
"Zoe Doulgeri",
"Antonis Sidiropoulos",
"Yiannis Karayiannidis",
"Zoe Doulgeri"
] | In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives). During transportation of the object to new unknown targets, a DMP-based reference model and an EKF (Extended Kalman Filter) for estimating the target pose and ... |
Dynamic Projection of Human Motion for Safe and Efficient Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9561726/ | [
"Xuming Meng",
"Roman Weitschat",
"Xuming Meng",
"Roman Weitschat"
] | In the modern manufacturing process, novel technologies enable the collaboration between humans and robots, which increases productivity while keeping flexibility. However, these technologies also lead to new challenges, e.g., maximization of Human-Robot Collaboration (HRC) performance while ensuring safety for the human being in fenceless robot applications. In this paper, an approach of the dyna... |
Achieving Hard Real-Time Capability for 3D Human Pose Estimation Systems | https://ieeexplore.ieee.org/document/9561390/ | [
"Patrick Schlosser",
"Christoph Ledermann",
"Patrick Schlosser",
"Christoph Ledermann"
] | In the industrial domain, the application of any system as a safety function has to follow strict rules and requirements, defined in safety standards such as ISO 13849 [1] and ISO 13855 [2]. Two core requirements are an extremely low rate of dangerous errors and an upper limit for the response time of the system (hard real-time requirement). Current approaches in the field of human pose estimation... |
Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control | https://ieeexplore.ieee.org/document/9561506/ | [
"Francesco Tassi",
"Elena De Momi",
"Arash Ajoudani",
"Francesco Tassi",
"Elena De Momi",
"Arash Ajoudani"
] | Today’s robots are expected to fulfill different requirements originated from executing complex tasks in uncertain environments, often in collaboration with humans. To deal with this type of multi-objective control problem, hierarchical least-square optimization techniques are often employed, defining multiple tasks as objective functions, listed in hierarchical manner. The solution to the Inverse... |
An Optimization Approach for a Robust and Flexible Control in Collaborative Applications | https://ieeexplore.ieee.org/document/9561098/ | [
"Federico Benzi",
"Cristian Secchi",
"Federico Benzi",
"Cristian Secchi"
] | In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to ensure safety and reactivity to the variable conditions of the collaborative scenario.In this paper we propose a control architecture capable of maximizing the flexi... |
Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study | https://ieeexplore.ieee.org/document/9561768/ | [
"Ilias Aouaj",
"Vincent Padois",
"Alessandro Saccon",
"Ilias Aouaj",
"Vincent Padois",
"Alessandro Saccon"
] | Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping and pushing of objects. Starting from the recorded dynamic response of a 7DOF torque-controlled robot that intentionally impacts a rigid surface, we investigat... |
Conv1D Energy-Aware Path Planner for Mobile Robots in Unstructured Environments | https://ieeexplore.ieee.org/document/9560771/ | [
"Marco Visca",
"Arthur Bouton",
"Roger Powell",
"Yang Gao",
"Saber Fallah",
"Marco Visca",
"Arthur Bouton",
"Roger Powell",
"Yang Gao",
"Saber Fallah"
] | Driving energy consumption plays a major role in the navigation of mobile robots in challenging environments, especially if they are left to operate unattended under limited on-board power. This paper reports on first results of an energy-aware path planner, which can provide estimates of the driving energy consumption and energy recovery of a robot traversing complex uneven terrains. Energy is es... |
Resilient Collision-tolerant Navigation in Confined Environments | https://ieeexplore.ieee.org/document/9561999/ | [
"Paolo De Petris",
"Huan Nguyen",
"Mihir Kulkarni",
"Frank Mascarich",
"Kostas Alexis",
"Paolo De Petris",
"Huan Nguyen",
"Mihir Kulkarni",
"Frank Mascarich",
"Kostas Alexis"
] | This work presents the design and autonomous navigation policy of the Resilient Micro Flyer, a new type of collision-tolerant robot tailored to fly through extremely confined environments and manhole-sized tubes. The robot maintains a low weight (<500g) and implements a combined rigid-compliant design through the integration of elastic flaps around its stiff collision-tolerant frame. These passive... |
Experimental Validation of Unsteady Wave Induced Loads on a Stationary Remotely Operated Vehicle | https://ieeexplore.ieee.org/document/9562010/ | [
"Kyle L. Walker",
"Roman Gabl",
"Simona Aracri",
"Yu Cao",
"Adam A. Stokes",
"Aristides Kiprakis",
"Francesco Giorgio-Serchi",
"Kyle L. Walker",
"Roman Gabl",
"Simona Aracri",
"Yu Cao",
"Adam A. Stokes",
"Aristides Kiprakis",
"Francesco Giorgio-Serchi"
] | Shallow water environments pose daunting scenarios for the operation of Unmanned Underwater Vehicles (UUVs), due to significantly larger wave disturbances being present in comparison to a typical deep sea situation. Performing inspection and maintenance tasks at close quarters in these conditions requires reliable control methods robust to external disturbances, allowing accurate position and atti... |
ASVLite: a high-performance simulator for autonomous surface vehicles | https://ieeexplore.ieee.org/document/9561815/ | [
"Toby Thomas",
"David M. Bossens",
"Danesh Tarapore",
"Toby Thomas",
"David M. Bossens",
"Danesh Tarapore"
] | The energy of ocean waves is the key distinguishing factor of marine environments compared to other aquatic environments such as lakes and rivers. Waves significantly affect the dynamics of marine vehicles; hence it is imperative to consider the dynamics of vehicles in waves when developing efficient control strategies for autonomous surface vehicles (ASVs). However, most marine simulators availab... |
Continuous Shortest Path Vector Field Navigation on 3D Triangular Meshes for Mobile Robots | https://ieeexplore.ieee.org/document/9560981/ | [
"Sebastian Pütz",
"Thomas Wiemann",
"Malte Kleine Piening",
"Joachim Hertzberg",
"Sebastian Pütz",
"Thomas Wiemann",
"Malte Kleine Piening",
"Joachim Hertzberg"
] | We present a highly efficient approach to compute continuous shortest path vector fields on arbitrarily shaped 3D triangular meshes for robot navigation in complex real-world outdoor environments. The continuity of the vector field allows to query the shortest distance, direction and geodesic path to the goal at any point within the mesh triangles, resulting in accurate paths. In order to avoid im... |
Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics | https://ieeexplore.ieee.org/document/9561636/ | [
"Yuxuan Yang",
"Johannes A. Stork",
"Todor Stoyanov",
"Yuxuan Yang",
"Johannes A. Stork",
"Todor Stoyanov"
] | Modeling dynamics of deformable linear objects (DLOs), such as cables, hoses, sutures, and catheters, is an important and challenging problem for many robotic manipulation applications. In this paper, we propose the first method to model and learn full 3D dynamics of DLOs from data. Our approach is capable of capturing the complex twisting and bending dynamics of DLOs and allows local effects to p... |
Modal Dynamic Modelling and Experimental Validation of a Curved Extensible Continuum Manipulator | https://ieeexplore.ieee.org/document/9561914/ | [
"Hao Wang",
"Xuping Zhang",
"Hao Wang",
"Xuping Zhang"
] | This study presents a novel dynamic modelling method for analyzing the modal properties of a curved extensible continuum manipulator (ECM). Considering the variable bending angle and the length, the kinematic and static models are firstly established for descripting the geometric posture deformation and deflection generated by gravity. Then, the modal dynamic model is developed along the centerlin... |
Online Informative Path Planning for Active Information Gathering of a 3D Surface | https://ieeexplore.ieee.org/document/9561963/ | [
"Hai Zhu",
"Jen Jen Chung",
"Nicholas R.J. Lawrance",
"Roland Siegwart",
"Javier Alonso-Mora",
"Hai Zhu",
"Jen Jen Chung",
"Nicholas R.J. Lawrance",
"Roland Siegwart",
"Javier Alonso-Mora"
] | This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide full coverage of the surface, which inherently assumes the surface information is uniformly distributed hence ignoring potential spatial correlations of the in... |
Mathematical Modeling of a Highly Underactuated Tool for Draping Fiber Plies on Double Curved Molds | https://ieeexplore.ieee.org/document/9560772/ | [
"Gudmundur G. G. Serpina",
"Henrik G. Petersen",
"Gudmundur G. G. Serpina",
"Henrik G. Petersen"
] | In this paper, we present a model based approach for predicting the forward kinematics of a tool for picking prepreg fiber plies from a flat table and draping them onto a double curved mold. The tool consists of suction cups interlinked with springs. The tool has 60 actuated and 240 passive degrees of freedom. The prediction is based on establishing a kinematic model of the total potential energy ... |
On-line force capability evaluation based on efficient polytope vertex search | https://ieeexplore.ieee.org/document/9562050/ | [
"Antun Skuric",
"Vincent Padois",
"David Daney",
"Antun Skuric",
"Vincent Padois",
"David Daney"
] | Ellipsoid-based manipulability measures are often used to characterize the force/velocity task-space capabilities of robots. While computationally simple, this approach largely approximate and underestimate the true capabilities. Force/velocity polytopes appear to be a more appropriate representation to characterize the robot’s task-space capabilities. However, due to the computational complexity ... |
Shared Autonomy for Teleoperated Driving: A Real-Time Interactive Path Planning Approach | https://ieeexplore.ieee.org/document/9561918/ | [
"Dmitrij Schitz",
"Shuai Bao",
"Dominik Rieth",
"Harald Aschemann",
"Dmitrij Schitz",
"Shuai Bao",
"Dominik Rieth",
"Harald Aschemann"
] | Teleoperation deals with extraordinary situations where an external operator takes over the control of an autonomous vehicle. Especially in complex urban scenarios, this may cause a too high workload for the human operator, resulting in suboptimal solutions. This contribution presents a teleoperation paradigm to raise the autonomy level of teleoperated driving, while the operator still remains the... |
Comfortable and Safe Decelerations for a Self-Driving Transit Bus | https://ieeexplore.ieee.org/document/9561648/ | [
"Alexis Mifsud",
"Matteo Ciocca",
"Pierre-Brice Wieber",
"Alexis Mifsud",
"Matteo Ciocca",
"Pierre-Brice Wieber"
] | We propose a combination of Model Predictive Control and Lexicographic Programming to address complex scenarios with conflicting goals related to various aspects of comfort and safety of passengers in a transit bus, generating different deceleration profiles depending on the speed of the bus and distance to obstacles, validated in experiments with a standard transit bus equipped with self-driving ... |
A Multi-UAV System for Detection and Elimination of Multiple Targets | https://ieeexplore.ieee.org/document/9562057/ | [
"Yurii Stasinchuk",
"Matouš Vrba",
"Matěj Petrlík",
"Tomáš Báča",
"Vojtěch Spurný",
"Daniel Hert",
"David Žaitlík",
"Tiago Nascimento",
"Martin Saska",
"Yurii Stasinchuk",
"Matouš Vrba",
"Matěj Petrlík",
"Tomáš Báča",
"Vojtěch Spurný",
"Daniel Hert",
"David Žaitlík",
"Tiago Nascimento",
"Martin Saska"
] | The problem of safe interception of multiple intruder UAVs by a team of cooperating autonomous aerial vehicles is addressed in this paper. The presented work is motivated by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 where this task was simplified to an interaction with a set of static and dynamic objects (balloons and a UAV), and by a real autonomous aerial interception ... |
Autonomous Aerial Swarming in GNSS-denied Environments with High Obstacle Density | https://ieeexplore.ieee.org/document/9561284/ | [
"Afzal Ahmad",
"Viktor Walter",
"Pavel Petráček",
"Matěj Petrlík",
"Tomáš Báča",
"David Žaitlík",
"Martin Saska",
"Afzal Ahmad",
"Viktor Walter",
"Pavel Petráček",
"Matěj Petrlík",
"Tomáš Báča",
"David Žaitlík",
"Martin Saska"
] | The compact flocking of relatively localized Un-manned Aerial Vehicles (UAVs) in high obstacle density areas is discussed in this paper. The presented work tackles realistic scenarios in which the environment map is not known apriori and the use of a global localization system and communication infrastructure is difficult due to the presence of obstacles. To achieve flocking in such a constrained ... |
Adaptive stiffness estimation impedance control for achieving sustained contact in aerial manipulation | https://ieeexplore.ieee.org/document/9561886/ | [
"Lovro Marković",
"Marko Car",
"Matko Orsag",
"Stjepan Bogdan",
"Lovro Marković",
"Marko Car",
"Matko Orsag",
"Stjepan Bogdan"
] | This paper presents a manipulator-equipped unmanned aerial vehicle (UAV) performing contact-based surface inspection. Using stereo camera information, a contact point is determined and an approach path is generated to ensure an autonomous workflow. The proposed inspection method uses an impedance controller to regulate the force applied by the end-effector to the contact surface. Due to the often ... |
Model Predictive Control for Dynamic Quadrotor Bearing Formations | https://ieeexplore.ieee.org/document/9561304/ | [
"Julian Erskine",
"Rafael Balderas-Hill",
"Isabelle Fantoni",
"Abdelhamid Chriette",
"Julian Erskine",
"Rafael Balderas-Hill",
"Isabelle Fantoni",
"Abdelhamid Chriette"
] | Formation control of multi-agent systems deals with groups of robots forming specific spatial geometries. Combined with the advancements of unmanned aerial vehicles (UAVs) in the past decade, formation control may potentially be applied to tasks such as search-and-rescue, surveillance, even collaborative manipulation. A key challenge is the decentralization of formation control, where each agent b... |
Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations | https://ieeexplore.ieee.org/document/9561990/ | [
"Lazar Peric",
"Maximilian Brunner",
"Karen Bodie",
"Marco Tognon",
"Roland Siegwart",
"Lazar Peric",
"Maximilian Brunner",
"Karen Bodie",
"Marco Tognon",
"Roland Siegwart"
] | In this paper, we present a model predictive controller for a fully actuated aerial manipulator to track a hybrid force and pose trajectory at the end-effector in an aerial interaction task. A force sensor at the end-effector is used to detect contact and to directly control the interaction force. We propose an approach for automatic transition between three operation modes which reflect the state... |
A Tethered Quadrotor UAV−Buoy System for Marine Locomotion | https://ieeexplore.ieee.org/document/9560878/ | [
"Ahmad Kourani",
"Naseem Daher",
"Ahmad Kourani",
"Naseem Daher"
] | Unmanned aerial vehicles (UAVs) are finding their way into offshore applications. In this work, we postulate an original system that entails a marine locomotive quadrotor UAV that manipulates the velocity of a floating buoy by means of a cable. By leveraging the advantages of UAVs relative to high speed, maneuverability, ease of deployment, and wide field of vision, the proposed UAV−buoy system pa... |
Distributed Variable-Baseline Stereo SLAM from two UAVs | https://ieeexplore.ieee.org/document/9560944/ | [
"Marco Karrer",
"Margarita Chli",
"Marco Karrer",
"Margarita Chli"
] | Visual-Inertial Odometry (VIO) has been widely used and researched to control and aid the automation of navigation of robots especially in the absence of absolute position measurements, such as GPS. However, when the observable landmarks in the scene lie far away, as in high-altitude flights for example, the fidelity of the metric scale estimate in VIO greatly degrades. Aiming to tackle this issue... |
Embodied Reasoning for Discovering Object Properties via Manipulation | https://ieeexplore.ieee.org/document/9561212/ | [
"Jan Kristof Behrens",
"Michal Nazarczuk",
"Karla Stepanova",
"Matej Hoffmann",
"Yiannis Demiris",
"Krystian Mikolajczyk",
"Jan Kristof Behrens",
"Michal Nazarczuk",
"Karla Stepanova",
"Matej Hoffmann",
"Yiannis Demiris",
"Krystian Mikolajczyk"
] | In this paper, we present an integrated system that includes reasoning from visual and natural language inputs, action and motion planning, executing tasks by a robotic arm, manipulating objects, and discovering their properties. A vision to action module recognises the scene with objects and their attributes and analyses enquiries formulated in natural language. It performs multi-modal reasoning ... |
Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation | https://ieeexplore.ieee.org/document/9561968/ | [
"Keyhan Kouhkiloui Babarahmati",
"Carlo Tiseo",
"Quentin Rouxel",
"Zhibin Li",
"Michael Mistry",
"Keyhan Kouhkiloui Babarahmati",
"Carlo Tiseo",
"Quentin Rouxel",
"Zhibin Li",
"Michael Mistry"
] | Robotic teleoperation provides human-in-the-loop capabilities of complex manipulation tasks in dangerous or remote environments, such as for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture using a passive Fractal Impedance Controller (FIC), which does not depend upon an active viscous component for guaranteeing stability. Compared to a tra... |
Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization | https://ieeexplore.ieee.org/document/9561527/ | [
"Carmel Rabinovitz",
"Niko Grupen",
"Aviv Tamar",
"Carmel Rabinovitz",
"Niko Grupen",
"Aviv Tamar"
] | Robotic tasks such as manipulation with visual inputs require image features that capture the physical properties of the scene, e.g., the position and configuration of objects. Recently, it has been suggested to learn such features in an unsupervised manner from simulated, self-supervised, robot interaction; the idea being that high-level physical properties are well captured by modern physical si... |
“What’s This?” - Learning to Segment Unknown Objects from Manipulation Sequences | https://ieeexplore.ieee.org/document/9560806/ | [
"Wout Boerdijk",
"Martin Sundermeyer",
"Maximilian Durner",
"Rudolph Triebel",
"Wout Boerdijk",
"Martin Sundermeyer",
"Maximilian Durner",
"Rudolph Triebel"
] | We present a novel framework for self-supervised grasped object segmentation with a robotic manipulator. Our method successively learns an agnostic foreground segmentation followed by a distinction between manipulator and object solely by observing the motion between consecutive RGB frames. In contrast to previous approaches, we propose a single, end-to-end trainable architecture which jointly inc... |
Robust Distributed Estimation of the Algebraic Connectivity for Networked Multi-robot Systems | https://ieeexplore.ieee.org/document/9561201/ | [
"Ioanna Malli",
"Charalampos P. Bechlioulis",
"Kostas J. Kyriakopoulos",
"Ioanna Malli",
"Charalampos P. Bechlioulis",
"Kostas J. Kyriakopoulos"
] | The connectivity of distributed networked multi-robot systems is a crucial operational specification, since the involved robots interact/communicate locally only with their immediate neighbors. Thus, in this work, we propose a distributed algorithm to estimate the algebraic connectivity of the underlying communication graph, which stands as a valid connectivity metric. Our method establishes robus... |
ModGNN: Expert Policy Approximation in Multi-Agent Systems with a Modular Graph Neural Network Architecture | https://ieeexplore.ieee.org/document/9561386/ | [
"Ryan Kortvelesy",
"Amanda Prorok",
"Ryan Kortvelesy",
"Amanda Prorok"
] | Recent work in the multi-agent domain has shown the promise of Graph Neural Networks (GNNs) to learn complex coordination strategies. However, most current approaches use minor variants of a Graph Convolutional Network (GCN), which applies a convolution to the communication graph formed by the multi-agent system. In this paper, we investigate whether the performance and generalization of GCNs can ... |
Optimization-Inspired Controller Design for Transient Legged Locomotion | https://ieeexplore.ieee.org/document/9560759/ | [
"Callen Fisher",
"Joshua Van Zyl",
"Reuben Govender",
"Amir Patel",
"Callen Fisher",
"Joshua Van Zyl",
"Reuben Govender",
"Amir Patel"
] | For robots to leave the safety of the laboratory and explore the world, maneuverability will need to be mastered. However, transient motions, such as rapid acceleration and deceleration, have received little attention in the literature. This is mainly due to the complexity of analyzing these high dimensional systems that have no closed-form solution which makes controller design a non-trivial task... |
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control | https://ieeexplore.ieee.org/document/9561510/ | [
"Ruben Grandia",
"Andrew J. Taylor",
"Aaron D. Ames",
"Marco Hutter",
"Ruben Grandia",
"Andrew J. Taylor",
"Aaron D. Ames",
"Marco Hutter"
] | The problem of dynamic locomotion over rough terrain requires both accurate foot placement together with an emphasis on dynamic stability. Existing approaches to this problem prioritize immediate safe foot placement over longer term dynamic stability considerations, or relegate the coordination of foot placement and dynamic stability to heuristic methods. We propose a multi-layered locomotion fram... |
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach | https://ieeexplore.ieee.org/document/9561239/ | [
"Matteo Parigi Polverini",
"Enrico Mingo Hoffman",
"Arturo Laurenzi",
"Nikos G. Tsagarakis",
"Matteo Parigi Polverini",
"Enrico Mingo Hoffman",
"Arturo Laurenzi",
"Nikos G. Tsagarakis"
] | The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the higher number of degrees-of-freedom and the increased weight of the system, compared to the bipedal and quadrupedal counterparts, pose significant research challenges in terms of computational load and real implementation... |
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots | https://ieeexplore.ieee.org/document/9560731/ | [
"Edo Jelavic",
"Farbod Farshidian",
"Marco Hutter",
"Edo Jelavic",
"Farbod Farshidian",
"Marco Hutter"
] | Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and optimization-based planning approach that can cope with challenging terrain. The sampling-based stage computes whole-body configurations and contact schedule, whi... |
Image Representation of a City and Its Taxi Fleet for End-To-End Learning of Rebalancing Policies | https://ieeexplore.ieee.org/document/9561552/ | [
"Joel Gächter",
"Alessandro Zanardi",
"Claudio Ruch",
"Emilio Frazzoli",
"Joel Gächter",
"Alessandro Zanardi",
"Claudio Ruch",
"Emilio Frazzoli"
] | In recent years, mobility on demand has experienced a major revival due to various ride-hailing companies entering the market. Competing in this field requires an efficient operation. Therefore, the applied policy, which cares for vehicle-to-customer assignment and vehicle repositioning, has to achieve good customer service and minimize cost while trying to keep the impact on the environment as lo... |
COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts | https://ieeexplore.ieee.org/document/9560909/ | [
"Thomas Thuesen Enevoldsen",
"Christopher Reinartz",
"Roberto Galeazzi",
"Thomas Thuesen Enevoldsen",
"Christopher Reinartz",
"Roberto Galeazzi"
] | The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal ship domain to determine the compliant region where the path deviation is to be generated. The sampling strategy is integrated within the optimal rapidly-exploring... |
Learning to Robustly Negotiate Bi-Directional Lane Usage in High-Conflict Driving Scenarios | https://ieeexplore.ieee.org/document/9561071/ | [
"Christoph Killing",
"Adam Villaflor",
"John M. Dolan",
"Christoph Killing",
"Adam Villaflor",
"John M. Dolan"
] | Recently, autonomous driving has made substantial progress in addressing the most common traffic scenarios like intersection navigation and lane changing. However, most of these successes have been limited to scenarios with well-defined traffic rules and require minimal negotiation with other vehicles. In this paper, we introduce a previously unconsidered, yet everyday, high-conflict driving scena... |
Self-Supervised Motion Retargeting with Safety Guarantee | https://ieeexplore.ieee.org/document/9560860/ | [
"Sungjoon Choi",
"Min Jae Song",
"Hyemin Ahn",
"Joohyung Kim",
"Sungjoon Choi",
"Min Jae Song",
"Hyemin Ahn",
"Joohyung Kim"
] | In this paper, we present self-supervised shared latent embedding (S3LE), a data-driven motion retargeting method that enables the generation of natural motions in humanoid robots from motion capture data or RGB videos. While it requires paired data consisting of human poses and their corresponding robot configurations, it significantly alleviates the necessity of time-consuming data-collection vi... |
Sparse Multilevel Roadmaps for High-Dimensional Robotic Motion Planning | https://ieeexplore.ieee.org/document/9562053/ | [
"Andreas Orthey",
"Marc Toussaint",
"Andreas Orthey",
"Marc Toussaint"
] | Sparse roadmaps are important to compactly represent state spaces, to determine problems to be infeasible and to terminate in finite time. However, sparse roadmaps do not scale well to high-dimensional planning problems. In prior work, we showed improved planning performance on high-dimensional planning problems by using multilevel abstractions to simplify state spaces. In this work, we generalize... |
Saliency Features for 3D CAD-Data in the Context of Sampling-Based Motion Planning | https://ieeexplore.ieee.org/document/9560979/ | [
"Robert Hegewald",
"Nicola Wolpert",
"Elmar Schömer",
"Robert Hegewald",
"Nicola Wolpert",
"Elmar Schömer"
] | In this paper, we consider disassembly scenarios for real-world 3D CAD-data, where each component is defined by a triangle mesh. For a fast construction of collision-free disassembly paths, common approaches use sampling-based rigid body motion planning which is well studied in the literature. One fact that has so far received little attention is that in industrial disassembly scenarios components... |
Search-based Planning of Dynamic MAV Trajectories Using Local Multiresolution State Lattices | https://ieeexplore.ieee.org/document/9560969/ | [
"Daniel Schleich",
"Sven Behnke",
"Daniel Schleich",
"Sven Behnke"
] | Search-based methods that use motion primitives can incorporate the system’s dynamics into the planning and thus generate dynamically feasible MAV trajectories that are globally optimal. However, searching high-dimensional state lattices is computationally expensive. Local multiresolution is a commonly used method to accelerate spatial path planning. While paths within the vicinity of the robot ar... |
Multifunctional Arm for Telerobotic Wind Turbine Blade Repair | https://ieeexplore.ieee.org/document/9560968/ | [
"Rasoul Sadeghian",
"Sina Sareh",
"Rasoul Sadeghian",
"Sina Sareh"
] | Within the Multi-Platform Inspection, Maintenance and Repair in Extreme Environments (MIMRee) project, a lightweight and multifunctional robotic repair arm is created for wind turbine blades. The design features a toolbox at the base of the arm housing multiple end-effector tools and an autonomous end-effector tool-changer. The arm communicates commands and data via internet with a bespoke user in... |
Automated Behavior Tree Error Recovery Framework for Robotic Systems | https://ieeexplore.ieee.org/document/9561002/ | [
"Ruichao Wu",
"Sitar Kortik",
"Christoph Hellmann Santos",
"Ruichao Wu",
"Sitar Kortik",
"Christoph Hellmann Santos"
] | Reacting to unexpected conditions and recovering from errors is crucial for robots to perform their missions continuously in dynamic environments. This paper introduces a novel framework aiming to handle errors impairing the quality of robot services concerning on-line management of error recovery. The framework is a combination of an execution generation tool, a learning module, and a recovery pi... |
Design of a magnetic actuation system for a microbiota-collection ingestible capsule | https://ieeexplore.ieee.org/document/9561142/ | [
"Martina Finocchiaro",
"Cristina Giosuè",
"Gaspare Drago",
"Fabio Cibella",
"Arianna Menciassi",
"Mario Sprovieri",
"Gastone Ciuti",
"Martina Finocchiaro",
"Cristina Giosuè",
"Gaspare Drago",
"Fabio Cibella",
"Arianna Menciassi",
"Mario Sprovieri",
"Gastone Ciuti"
] | Minimally invasive wireless devices, allowing the sampling of gut’s bacteria, are needed for a longitudinal understanding of the role of the microbiota on the human health. Herein, we present a novel magnetic actuation system fitting inside a 11.5 × 30.5 mm wireless ingestible capsule. Lacking any electronic components, the capsule robot is designed for the collection of microbiota’s samples throu... |
Reactive Cooperative Manipulation based on Set Primitives and Circular Fields | https://ieeexplore.ieee.org/document/9561985/ | [
"Riddhiman Laha",
"Luis F.C. Figueredo",
"Juraj Vrabel",
"Abdalla Swikir",
"Sami Haddadin",
"Riddhiman Laha",
"Luis F.C. Figueredo",
"Juraj Vrabel",
"Abdalla Swikir",
"Sami Haddadin"
] | This paper addresses the problem of real-time planning in constrained dual-arm manipulation scenarios. Our proposed coupling leverages manipulability information of the cooperative bimanual task-space to a vector-field based planner by means of a repulsive circulatory field, while geometric primitives in Spin(3)⋉ℝ3 are explored for flexible task relaxation. Furthermore, the circular field informs ... |
Efficient Multi-scale POMDPs for Robotic Object Search and Delivery | https://ieeexplore.ieee.org/document/9561047/ | [
"Luc Holzherr",
"Julian Förster",
"Michel Breyer",
"Juan Nieto",
"Roland Siegwart",
"Jen Jen Chung",
"Luc Holzherr",
"Julian Förster",
"Michel Breyer",
"Juan Nieto",
"Roland Siegwart",
"Jen Jen Chung"
] | We present a novel hierarchical POMDP framework to solve an object search and delivery task where the agent is given a prior belief about the possible item locations. Solving POMDPs is computationally demanding and, as such, applications have typically been limited to small environments. The proposed hierarchical POMDP framework performs reasoning on multiple spatial scales in order to reduce comp... |
Co-Optimizing Robot, Environment, and Tool Design via Joint Manipulation Planning | https://ieeexplore.ieee.org/document/9561256/ | [
"Marc Toussaint",
"Jung-Su Ha",
"Ozgur S. Oguz",
"Marc Toussaint",
"Jung-Su Ha",
"Ozgur S. Oguz"
] | Existing work on sequential manipulation planning and trajectory optimization typically assumes the robot, environment and tools to be given. However, in particular in industrial applications, it is highly interesting to ask, what would be an optimal robot design, tool shape, or robot station geometry for a particular ensemble of manipulation tasks. To tackle this problem we propose a formulation ... |
End-to-End Semi-supervised Learning for Differentiable Particle Filters | https://ieeexplore.ieee.org/document/9561889/ | [
"Hao Wen",
"Xiongjie Chen",
"Georgios Papagiannis",
"Conghui Hu",
"Yunpeng Li",
"Hao Wen",
"Xiongjie Chen",
"Georgios Papagiannis",
"Conghui Hu",
"Yunpeng Li"
] | Recent advances in incorporating neural networks into particle filters provide the desired flexibility to apply particle filters in large-scale real-world applications. The dynamic and measurement models in this framework are learnable through the differentiable implementation of particle filters. Past efforts in optimising such models often require the knowledge of true states which can be expens... |
Learning to Localize in New Environments from Synthetic Training Data | https://ieeexplore.ieee.org/document/9560872/ | [
"Dominik Winkelbauer",
"Maximilian Denninger",
"Rudolph Triebel",
"Dominik Winkelbauer",
"Maximilian Denninger",
"Rudolph Triebel"
] | Most existing approaches for visual localization either need a detailed 3D model of the environment or, in the case of learning-based methods, must be retrained for each new scene. This can either be very expensive or simply impossible for large, unknown environments, for example in search-and-rescue scenarios. Although there are learning-based approaches that operate scene-agnostically, the gener... |
Exploration of Large Outdoor Environments Using Multi-Criteria Decision Making | https://ieeexplore.ieee.org/document/9561580/ | [
"Hannah Lehner",
"Martin J. Schuster",
"Tim Bodenmüller",
"Rudolph Triebel",
"Hannah Lehner",
"Martin J. Schuster",
"Tim Bodenmüller",
"Rudolph Triebel"
] | We present a Multi-Criteria Decision Making (MCDM) framework specifically designed for planetary exploration. Our work is based on PROMETHEE II, which allows operators to add task-specific criteria and conditions. We extended this algorithm to improve its resource usage by reducing the number of candidate exploration goals that have to be evaluated and compared. This is crucial when given a large ... |
SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes | https://ieeexplore.ieee.org/document/9561512/ | [
"Juan J. Gómez-Rodríguez",
"José Lamarca",
"Javier Morlana",
"Juan D. Tardós",
"José M. M. Montiel",
"Juan J. Gómez-Rodríguez",
"José Lamarca",
"Javier Morlana",
"Juan D. Tardós",
"José M. M. Montiel"
] | Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM), a novel monocular deformable SLAM method able to map highly deforming environments, built on top of DefSLAM [1]. To robustly solve data association in challenging deforming scenes, SD-DefSLAM combines direct and indir... |
Learning Robot Trajectories subject to Kinematic Joint Constraints | https://ieeexplore.ieee.org/document/9561159/ | [
"Jonas C. Kiemel",
"Torsten Kröger",
"Jonas C. Kiemel",
"Torsten Kröger"
] | We present an approach to learn fast and dynamic robot motions without exceeding limits on the position θ, velocity $\dot \theta $ , acceleration $\ddot \theta $ and jerk $\dddot \theta $ of each robot joint. Movements are generated by mapping the predictions of a neural network to safely executable joint accelerations. The neural network is invoked periodically and trained via reinforcement learn... |
Self-Imitation Learning by Planning | https://ieeexplore.ieee.org/document/9561411/ | [
"Sha Luo",
"Hamidreza Kasaei",
"Lambert Schomaker",
"Sha Luo",
"Hamidreza Kasaei",
"Lambert Schomaker"
] | Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a challenging problem in deploying IL and RL methods is how to generate and collect massive, broadly distributed data such that these methods can generalize effectively. I... |
Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives | https://ieeexplore.ieee.org/document/9560901/ | [
"Lars Berscheid",
"Christian Friedrich",
"Torsten Kröger",
"Lars Berscheid",
"Christian Friedrich",
"Torsten Kröger"
] | Robot learning is often simplified to planar manipulation due to its data consumption. Then, a common approach is to use a fully-convolutional neural network (FCNN) to estimate the reward of grasp primitives. In this work, we extend this approach by parametrizing the two remaining, lateral degrees of freedom (DoFs) of the primitives. We apply this principle to the task of 6 DoF bin picking: We int... |
Conditional StyleGAN for Grasp Generation | https://ieeexplore.ieee.org/document/9561751/ | [
"Florian Patzelt",
"Robert Haschke",
"Helge Ritter",
"Florian Patzelt",
"Robert Haschke",
"Helge Ritter"
] | We present an approach based on conditional generative adversarial networks (GANs) to generate grasps directly and in a feed-forward manner from a raw depth image input. Building on the recently introduced StyleGAN architecture we extend results from an earlier proof-of-concept paper [1] and demonstrate successful sim2real transfer of grasp outputs for a robot arm with a Shadow Dexterous Hand. We ... |
Go Fetch! - Dynamic Grasps using Boston Dynamics Spot with External Robotic Arm | https://ieeexplore.ieee.org/document/9561835/ | [
"Simon Zimmermann",
"Roi Poranne",
"Stelian Coros",
"Simon Zimmermann",
"Roi Poranne",
"Stelian Coros"
] | We combine Boston Dynamics Spot® with a light-weight, external robot arm to perform dynamic grasping maneuvers. While Spot is a reliable, robust and easy-to-control mobile robot, these highly desirable qualities come with the price that the control access granted to the user is restricted. Consequently Spot’s behavior must largely be treated as a black box, which causes difficulties when combined ... |
Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps | https://ieeexplore.ieee.org/document/9561228/ | [
"Jens Lundell",
"Enric Corona",
"Tran Nguyen Le",
"Francesco Verdoja",
"Philippe Weinzaepfel",
"Grégory Rogez",
"Francesc Moreno-Noguer",
"Ville Kyrki",
"Jens Lundell",
"Enric Corona",
"Tran Nguyen Le",
"Francesco Verdoja",
"Philippe Weinzaepfel",
"Grégory Rogez",
"Francesc Moreno-Noguer",
"Ville Kyrki"
] | While there exists many methods for manipulating rigid objects with parallel-jaw grippers, grasping with multi-finger robotic hands remains a quite unexplored research topic. Reasoning and planning collision-free trajectories on the additional degrees of freedom of several fingers represents an important challenge that, so far, involves computationally costly and slow processes. In this work, we p... |
Sample-efficient Reinforcement Learning in Robotic Table Tennis | https://ieeexplore.ieee.org/document/9560764/ | [
"Jonas Tebbe",
"Lukas Krauch",
"Yapeng Gao",
"Andreas Zell",
"Jonas Tebbe",
"Lukas Krauch",
"Yapeng Gao",
"Andreas Zell"
] | Reinforcement learning (RL) has achieved some impressive recent successes in various computer games and simulations. Most of these successes are based on having large numbers of episodes from which the agent can learn. In typical robotic applications, however, the number of feasible attempts is very limited. In this paper we present a sample-efficient RL algorithm applied to the example of a table... |
No Face-Touch: Exploiting Wearable Devices and Machine Learning for Gesture Detection | https://ieeexplore.ieee.org/document/9561178/ | [
"S. Marullo",
"T. Lisini Baldi",
"G. Paolocci",
"N. D’Aurizio",
"D. Prattichizzo",
"S. Marullo",
"T. Lisini Baldi",
"G. Paolocci",
"N. D’Aurizio",
"D. Prattichizzo"
] | Avoiding face-touches has been one of the most common medical recommendations since the beginning of the COVID-19 pandemic. This work aims at providing people with help in contrasting this widespread, yet noxious habit. The solution we present exploits wearable devices to detect hand motions ending up into a face-touch and promptly notify the user exploiting haptic feedback. To this aim, we propos... |
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups | https://ieeexplore.ieee.org/document/9561248/ | [
"Prashanth Ramadoss",
"Giulio Romualdi",
"Stefano Dafarra",
"Francisco Javier Andrade Chavez",
"Silvio Traversaro",
"Daniele Pucci",
"Prashanth Ramadoss",
"Giulio Romualdi",
"Stefano Dafarra",
"Francisco Javier Andrade Chavez",
"Silvio Traversaro",
"Daniele Pucci"
] | This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically meaningful estimator which is characterized by concentrated Gaussian distributions. The configuration of a floating base system like a humanoid robot usually req... |
Improving Safety and Accuracy of Impedance Controlled Robot Manipulators with Proximity Perception and Proactive Impact Reactions | https://ieeexplore.ieee.org/document/9561025/ | [
"Yitao Ding",
"Ulrike Thomas",
"Yitao Ding",
"Ulrike Thomas"
] | We present a system which improves the safety and accuracy of impedance controlled robotic manipulators with proximity perception. Proximity servoed manipulators, which use proximity sensors attached to the robot’s outer shell, have recently demonstrated robust collision avoidance abilities. Nevertheless, unwanted collisions cannot be avoided entirely. As a fallback safety mechanism, robots with j... |
Optimal scaling of dynamic safety zones for collaborative robotics | https://ieeexplore.ieee.org/document/9561611/ | [
"Lorenzo Scalera",
"Renato Vidoni",
"Andrea Giusti",
"Lorenzo Scalera",
"Renato Vidoni",
"Andrea Giusti"
] | We propose a safety control approach based on the online optimal scaling of the size of bounding volumes used as dynamic safety zones for collaborative robotics. Intersection tests between bounding volumes surrounding robot and human allow the safety controller to identify possible collisions. Our proposed approach optimizes online smooth stop trajectories, to be engaged if a potential collision i... |
3D Collision-Force-Map for Safe Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9561845/ | [
"Petr Svarny",
"Jakub Rozlivek",
"Lukas Rustler",
"Matej Hoffmann",
"Petr Svarny",
"Jakub Rozlivek",
"Lukas Rustler",
"Matej Hoffmann"
] | The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds that a moving robot is allowed to exert on human body parts during impact, along with a simple formula to obtain maximum allowed speed of the robot in the whole w... |
Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions | https://ieeexplore.ieee.org/document/9561981/ | [
"Wenceslao Shaw Cortez",
"Christos K. Verginis",
"Dimos V. Dimarogonas",
"Wenceslao Shaw Cortez",
"Christos K. Verginis",
"Dimos V. Dimarogonas"
] | In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a pre-defined region, but respect velocity constraints and ensure passivity with respect to external perturbations that may arise from a human or the environment. The propo... |
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy | https://ieeexplore.ieee.org/document/9561677/ | [
"Maged Iskandar",
"Oliver Eiberger",
"Alin Albu-Schäffer",
"Alessandro De Luca",
"Alexander Dietrich",
"Maged Iskandar",
"Oliver Eiberger",
"Alin Albu-Schäffer",
"Alessandro De Luca",
"Alexander Dietrich"
] | Physical human-robot interaction is known to be a crucial aspect in modern lightweight robotics. Herein, the estimation of external interactions is essential for the effective and safe collaboration. In this work, an extended momentum-based disturbance observer is presented which includes the sensing redundancy related to additional force-torque measurements. The observer eliminates the need for a... |
CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems | https://ieeexplore.ieee.org/document/9561528/ | [
"Robin Jeanne Kirschner",
"João Jantalia",
"Nico Mansfeld",
"Saeed Abdolshah",
"Sami Haddadin",
"Robin Jeanne Kirschner",
"João Jantalia",
"Nico Mansfeld",
"Saeed Abdolshah",
"Sami Haddadin"
] | In physical human-robot interaction (pHRI), robots need to detect and react to intended and unintended contacts in a safe manner. Proprioceptive sensing capabilities and collision detection and identification techniques differ among commercially available robots, which means that also their sensitivity to detect dynamic collisions with the environment or the human co-worker differ. Up to now, ther... |
A Data-Driven Approach for Contact Detection, Classification and Reaction in Physical Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9561827/ | [
"Martina Lippi",
"Giuseppe Gillini",
"Alessandro Marino",
"Filippo Arrichiello",
"Martina Lippi",
"Giuseppe Gillini",
"Alessandro Marino",
"Filippo Arrichiello"
] | This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context, both intentional and accidental contacts between human and robot might occur due to the complexity of tasks and environment, to the uncertainty of human behavio... |
Pointing at Moving Robots: Detecting Events from Wrist IMU Data | https://ieeexplore.ieee.org/document/9561387/ | [
"Gabriele Abbate",
"Boris Gromov",
"Luca M. Gambardella",
"Alessandro Giusti",
"Gabriele Abbate",
"Boris Gromov",
"Luca M. Gambardella",
"Alessandro Giusti"
] | We propose a practical approach for detecting the event that a human wearing an IMU-equipped bracelet points at a moving robot; the approach uses a learned classifier to verify if the robot motion (as measured by its odometry) matches the wrist motion, and does not require that the relative pose of the operator and robot is known in advance. To train the model and validate the system, we collect d... |
PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention | https://ieeexplore.ieee.org/document/9562047/ | [
"Claus Smitt",
"Michael Halstead",
"Tobias Zaenker",
"Maren Bennewitz",
"Chris McCool",
"Claus Smitt",
"Michael Halstead",
"Tobias Zaenker",
"Maren Bennewitz",
"Chris McCool"
] | We present PATHoBot an autonomous crop surveying and intervention robot for glasshouse environments. The aim of this platform is to autonomously gather high quality data and also estimate key phenotypic parameters. To achieve this we retro-fit an off-the-shelf pipe-rail trolley with an array of multi-modal cameras, navigation sensors and a robotic arm for close surveying tasks and intervention. In... |
Using depth information and colour space variations for improving outdoor robustness for instance segmentation of cabbage | https://ieeexplore.ieee.org/document/9561792/ | [
"Nils Lüling",
"David Reiser",
"Alexander Stana",
"H.W. Griepentrog",
"Nils Lüling",
"David Reiser",
"Alexander Stana",
"H.W. Griepentrog"
] | Image-based yield detection in agriculture could raise harvest efficiency and cultivation performance of farms. Following this goal, this research focuses on improving instance segmentation of field crops under varying environmental conditions. Five data sets of cabbage plants were recorded under varying lighting outdoor conditions. The images were acquired using a commercial mono camera. Addition... |
MP-STSP: A Multi-Platform Steiner Traveling Salesman Problem Formulation for Precision Agriculture in Orchards | https://ieeexplore.ieee.org/document/9561023/ | [
"Renzo Fabrizio Carpio",
"Jacopo Maiolini",
"Ciro Potena",
"Emanuele Garone",
"Giovanni Ulivi",
"Andrea Gasparn",
"Renzo Fabrizio Carpio",
"Jacopo Maiolini",
"Ciro Potena",
"Emanuele Garone",
"Giovanni Ulivi",
"Andrea Gasparn"
] | In this work, we propose a global planning strategy specifically designed for precision agriculture settings, where field activities may have different requirements ranging from a full orchard inspection to sparse targeted per-plant interventions. This global planning strategy is formulated as a novel Multi-Platform Steiner Traveling Salesman Problem (MP-STSP) where, in order to guarantee the expl... |
Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks | https://ieeexplore.ieee.org/document/9561608/ | [
"Marvin Stuede",
"Timo Lerche",
"Martin Alexander Petersen",
"Svenja Spindeldreier",
"Marvin Stuede",
"Timo Lerche",
"Martin Alexander Petersen",
"Svenja Spindeldreier"
] | We consider the problem of people search by a mobile social robot in case of a situation that cannot be solved by the robot alone. Examples are physically opening a closed door or operating an elevator. Based on the Behavior Tree framework, we create a modular and easily extendable action sequence with the goal of finding a person to assist the robot. By decomposing the Behavior Tree as a Discrete... |
Integration of a Human-aware Risk-based Braking System into an Open-Field Mobile Robot | https://ieeexplore.ieee.org/document/9561522/ | [
"José C. Mayoral",
"Lars Grimstad",
"Pål J. From",
"Grzegorz Cielniak",
"José C. Mayoral",
"Lars Grimstad",
"Pål J. From",
"Grzegorz Cielniak"
] | Safety integration components for robotic applications are a mandatory feature for any autonomous mobile application, including human avoidance behaviors. This paper proposes a novel parametrizable scene risk evaluator for open-field applications that use humans motion predictions and pre-defined hazard zones to estimate a braking factor. Parameters optimization uses simulated data. The evaluation... |
Online velocity fluctuation of off-road wheeled mobile robots: A reinforcement learning approach | https://ieeexplore.ieee.org/document/9560816/ | [
"François Gauthier-Clerc",
"Ashley Hill",
"Jean Laneurit",
"Roland Lenain",
"Éric Lucet",
"François Gauthier-Clerc",
"Ashley Hill",
"Jean Laneurit",
"Roland Lenain",
"Éric Lucet"
] | During the off-road path following of a wheeled mobile robot in presence of poor grip conditions, the longitudinal velocity should be limited in order to maintain safe navigation with limited tracking errors, while at the same time being high enough to minimize travel time. Thus, this paper presents a new approach of online speed fluctuation, capable of limiting the lateral error below a given thr... |
Switching Control in Two-Wheeled Self-Balancing Robots | https://ieeexplore.ieee.org/document/9561574/ | [
"Nikita Murasovs",
"Maria Elena Giannaccini",
"Sumeet S. Aphale",
"Nikita Murasovs",
"Maria Elena Giannaccini",
"Sumeet S. Aphale"
] | A two-wheeled self-balancing robot is a statically unstable non-linear system with strong coupling dynamics. Common practices in the development of control systems for such robots are either to linearise the region of application to be used with linear controllers or to use complex nonlinear controllers such as Fuzzy logic, Sliding Mode, and Neural Networks. Nonetheless, in this paper, we are prop... |
A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation | https://ieeexplore.ieee.org/document/9561192/ | [
"Ribin Balachandran",
"Hrishik Mishra",
"Michael Panzirsch",
"Christian Ott",
"Ribin Balachandran",
"Hrishik Mishra",
"Michael Panzirsch",
"Christian Ott"
] | Multi-agent control of a robot using multiple controllers is vital in domains like shared control and reliable control. The strategy of assigning a varying priority (authority) to each agent controller, and commanding the robot using an authority-weighted sum of the forces produced by all the agents has been exploited in prior works. In this paper, firstly, we show that this strategy results in a ... |
Decentralized Connectivity Maintenance with Time Delays using Control Barrier Functions | https://ieeexplore.ieee.org/document/9561066/ | [
"Beatrice Capelli",
"Hassan Fouad",
"Giovanni Beltrame",
"Lorenzo Sabattini",
"Beatrice Capelli",
"Hassan Fouad",
"Giovanni Beltrame",
"Lorenzo Sabattini"
] | Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must keep the multi-robot system connected independently from the system’s mission and in the presence of undesired real world effects such as communication delays, mod... |
Multi-robot Implicit Control of Herds | https://ieeexplore.ieee.org/document/9561231/ | [
"Eduardo Sebastián",
"Eduardo Montijano",
"Eduardo Sebastián",
"Eduardo Montijano"
] | This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics, escaping from the herders. Many applications demand the herding of numerous and/or heterogeneous entities, making the development of flexible control solutions cha... |
Robust Frequency-Based Structure Extraction | https://ieeexplore.ieee.org/document/9561381/ | [
"Tomasz Piotr Kucner",
"Matteo Luperto",
"Stephanie Lowry",
"Martin Magnusson",
"Achim J. Lilienthal",
"Tomasz Piotr Kucner",
"Matteo Luperto",
"Stephanie Lowry",
"Martin Magnusson",
"Achim J. Lilienthal"
] | State of the art mapping algorithms can produce high-quality maps. However, they are still vulnerable to clutter and outliers which can affect map quality and in consequence hinder the performance of a robot, and further map processing for semantic understanding of the environment. This paper presents ROSE, a method for building-level structure detection in robotic maps. ROSE exploits the fact tha... |
A Hybrid Collision Model for Safety Collision Control | https://ieeexplore.ieee.org/document/9561730/ | [
"T. Noël",
"T. Flayols",
"J. Mirabel",
"J. Carpentier",
"N. Mansard",
"T. Noël",
"T. Flayols",
"J. Mirabel",
"J. Carpentier",
"N. Mansard"
] | Self-collision detection and avoidance are essential for reactive control, in particular for dynamics robots equipped with legs or arms. Yet, only few control methods are able to handle such constraints, and it is often necessary to rely on path planning to define a collision-free trajectory that the controller would then track. In this paper, we introduce a combination of two lightweight, conserv... |
Efficient Recovery of Multi-Camera Motion from Two Affine Correspondences | https://ieeexplore.ieee.org/document/9561796/ | [
"Banglei Guan",
"Ji Zhao",
"Daniel Barath",
"Friedrich Fraundorfer",
"Banglei Guan",
"Ji Zhao",
"Daniel Barath",
"Friedrich Fraundorfer"
] | We propose an efficient method to estimate the relative pose of a multi-camera system from a minimum of two affine correspondences (ACs). Our solution is novel as it computes the 6DOF relative pose by utilizing a first-order rotation approximation. We directly derive a single polynomial based on the constraint between ACs and the generalized camera model. Then a closed-form solution is found analy... |
Dynamic-Aware Autonomous Exploration in Populated Environments | https://ieeexplore.ieee.org/document/9560933/ | [
"Valentina Cavinato",
"Thomas Eppenberger",
"Dina Youakim",
"Roland Siegwart",
"Renaud Dubé",
"Valentina Cavinato",
"Thomas Eppenberger",
"Dina Youakim",
"Roland Siegwart",
"Renaud Dubé"
] | Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can compromise the exploration process by temporarily blocking passages, narrow paths, exits or entrances to other areas yet to be explored. In this work, we formul... |
Goal-Conditioned End-to-End Visuomotor Control for Versatile Skill Primitives | https://ieeexplore.ieee.org/document/9560752/ | [
"Oliver Groth",
"Chia-Man Hung",
"Andrea Vedaldi",
"Ingmar Posner",
"Oliver Groth",
"Chia-Man Hung",
"Andrea Vedaldi",
"Ingmar Posner"
] | Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick- and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives. However, common conditioning schemes either rely on task-specific fine tuning - e.g. using one-shot imitation learning (IL) - or on sampling approaches using a for... |
Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control | https://ieeexplore.ieee.org/document/9561529/ | [
"Arda Yiğit",
"Miguel Arpa Perozo",
"Loïc Cuvillon",
"Sylvain Durand",
"Jacques Gangloff",
"Arda Yiğit",
"Miguel Arpa Perozo",
"Loïc Cuvillon",
"Sylvain Durand",
"Jacques Gangloff"
] | Aerial manipulation increases significantly the workspace size of robotic manipulators. However, aerial manipulation suffers from a lack of autonomy due to limited embedded energy. The Aerial Manipulator with Elastic Suspension (AMES) is designed to cope with this issue. It is an omnidirectional aerial vehicle equipped with a gripper and suspended under a robotic carrier by a spring for gravity co... |
Pneumatic-Mechanical Systems in UAVs: Autonomous Power Line Sensor Unit Deployment | https://ieeexplore.ieee.org/document/9560946/ | [
"Nicolai Iversen",
"Aljaž Kramberger",
"Oscar Bowen Schofield",
"Emad Ebeid",
"Nicolai Iversen",
"Aljaž Kramberger",
"Oscar Bowen Schofield",
"Emad Ebeid"
] | Unmanned Aerial Vehicles (UAVs) have introduced benefits in many areas of the energy sector. Today, power line sensor deployment is manually executed on passive power lines using helicopters, introducing great risks, costs and difficulties for the power distribution companies and the human operators.In this paper, we present a novel modular mechanical system utilizing pneumatic as the actuation so... |
Combined System Identification and State Estimation for a Quadrotor UAV | https://ieeexplore.ieee.org/document/9561850/ | [
"Christoph Böhm",
"Christian Brommer",
"Alexander Hardt-Stremayr",
"Stephan Weiss",
"Christoph Böhm",
"Christian Brommer",
"Alexander Hardt-Stremayr",
"Stephan Weiss"
] | Precise system identification is an important aspect of adequate control design and parameter definition to allow for accurate and reliable navigation. While this is well known in robotics, the community working with small rotorcraft Unmanned Aerial Vehicles (UAVs) has yet to discover the benefits. In contrast to existing work, which often performs offline or deterministic (i.e. closed-form) syste... |
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