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Model Quality Aware RANSAC: A Robust Camera Motion Estimator | https://ieeexplore.ieee.org/document/9341345/ | [
"Shu-Hao Yeh",
"Yan Lu",
"Dezhen Song",
"Shu-Hao Yeh",
"Yan Lu",
"Dezhen Song"
] | Robust estimation of camera motion under the presence of outlier noisevision. Despite existing efforts that focus on detecting motion and scene degeneracies, the best existing approach that builds on Random Consensus Sampling (RANSAC) still has non-negligible failure rate. Since a single failure can lead to the failure of the entire visual simultaneous localization and mapping, it is important to ... |
A Fast and Robust Place Recognition Approach for Stereo Visual Odometry Using LiDAR Descriptors | https://ieeexplore.ieee.org/document/9341733/ | [
"Jiawei Mo",
"Junaed Sattar",
"Jiawei Mo",
"Junaed Sattar"
] | Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images representing these locations. However, such approaches are sensitive to visual appearance change and also can be computationally expensive. In this paper, we propose an a... |
KLIEP-based Density Ratio Estimation for Semantically Consistent Synthetic to Real Images Adaptation in Urban Traffic Scenes | https://ieeexplore.ieee.org/document/9341547/ | [
"Artem Savkin",
"Federico Tombari",
"Artem Savkin",
"Federico Tombari"
] | Synthetic data has been applied in many deep learning based computer vision tasks. Limited performance of algorithms trained solely on synthetic data has been approached with domain adaptation techniques such as the ones based on generative adversarial framework. We demonstrate how adversarial training alone can introduce semantic inconsistencies in translated images. To tackle this issue we propo... |
Graduated Assignment Graph Matching for Realtime Matching of Image Wireframes | https://ieeexplore.ieee.org/document/9341237/ | [
"Joseph Menke",
"Allen Y. Yang",
"Joseph Menke",
"Allen Y. Yang"
] | We present an algorithm for the realtime matching of wireframe extractions in pairs of images. Here we treat extracted wireframes as graphs and propose a simplified Graduated Assignment algorithm to use with this problem. Using this algorithm we achieve a 30% accuracy improvement over the baseline method. We show that, for this problem, the simplified Graduated Assignment algorithm can achieve rea... |
Edge-based Visual Odometry with Stereo Cameras using Multiple Oriented Quadtrees | https://ieeexplore.ieee.org/document/9341486/ | [
"Changhyeon Kim",
"Junha Kim",
"H. Jin Kim",
"Changhyeon Kim",
"Junha Kim",
"H. Jin Kim"
] | We propose an efficient edge-based stereo visual odometry (VO) using multiple quadtrees created according to image gradient orientations. To characterize edges, we classify them into eight orientation groups according to their image gradient directions. Using the edge groups, we construct eight quadtrees and set overlapping areas belonging to adjacent quadtrees for robust and efficient matching. F... |
Perception-Aware Path Finding and Following of Snake Robot in Unknown Environment | https://ieeexplore.ieee.org/document/9341429/ | [
"Weixin Yang",
"Gang Wang",
"Yantao Shen",
"Weixin Yang",
"Gang Wang",
"Yantao Shen"
] | In this paper, we investigate the perception-aware path finding, planning and following for a class of snake robots autonomously serpentining in an unmodeled and unknown environment. In the work, the onboard LiDAR sensor mounted on the head of the snake robot is utilized to reconstruct the local environment, by which and the modified rapidly-exploring random tree method, a feasible path from the c... |
Joint Feature Selection and Time Optimal Path Parametrization for High Speed Vision-Aided Navigation | https://ieeexplore.ieee.org/document/9341654/ | [
"Igor Spasojevic",
"Varun Murali",
"Sertac Karaman",
"Igor Spasojevic",
"Varun Murali",
"Sertac Karaman"
] | We study a problem in vision-aided navigation in which an autonomous agent has to traverse a specified path in minimal time while ensuring extraction of a steady stream of visual percepts with low latency. Vision-aided robots extract motion estimates from the sequence of images of their on-board cameras by registering the change in bearing to landmarks in their environment. The computational burde... |
AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot | https://ieeexplore.ieee.org/document/9340939/ | [
"Tong Qin",
"Tongqing Chen",
"Yilun Chen",
"Qing Su",
"Tong Qin",
"Tongqing Chen",
"Yilun Chen",
"Qing Su"
] | Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localization ability is of great importance. Traditional visual-based methods suffer from tracking lost due to texture-less regions, repeated structures, and appearance changes. In this paper, we exploit robust semantic feature... |
DGAZE: Driver Gaze Mapping on Road | https://ieeexplore.ieee.org/document/9341782/ | [
"Isha Dua",
"Thrupthi Ann John",
"Riya Gupta",
"C.V. Jawahar",
"Isha Dua",
"Thrupthi Ann John",
"Riya Gupta",
"C.V. Jawahar"
] | Driver gaze mapping is crucial to estimate driver attention and determine which objects the driver is focusing on while driving. We introduce DGAZE, the first large-scale driver gaze mapping dataset. Unlike previous works, our dataset does not require expensive wearable eye-gaze trackers and instead relies on mobile phone cameras for data collection. The data was collected in a lab setting designe... |
Autonomous Obstacle Avoidance for UAV based on Fusion of Radar and Monocular Camera | https://ieeexplore.ieee.org/document/9341432/ | [
"Hang Yu",
"Fan Zhang",
"Panfeng Huang",
"Chen Wang",
"Li Yuanhao",
"Hang Yu",
"Fan Zhang",
"Panfeng Huang",
"Chen Wang",
"Li Yuanhao"
] | UAVs face many challenges in autonomous obstacle avoidance in large outdoor scenarios, specifically the long communication distance from ground stations. The computing power of onboard computers is limited, and the unknown obstacles cannot be accurately detected. In this paper, an autonomous obstacle avoidance scheme based on the fusion of millimeter wave radar and monocular camera is proposed. Th... |
UST: Unifying Spatio-Temporal Context for Trajectory Prediction in Autonomous Driving | https://ieeexplore.ieee.org/document/9340943/ | [
"Hao He",
"Hengchen Dai",
"Naiyan Wang",
"Hao He",
"Hengchen Dai",
"Naiyan Wang"
] | Trajectory prediction has always been a challenging problem for autonomous driving, since it needs to infer the latent intention from the behaviors and interactions from traffic participants. This problem is intrinsically hard, because each participant may behave differently under different environments and interactions. This key is to effectively model the interlaced influence from both spatial c... |
Automatic Failure Recovery and Re-Initialization for Online UAV Tracking with Joint Scale and Aspect Ratio Optimization | https://ieeexplore.ieee.org/document/9341744/ | [
"Fangqiang Ding",
"Changhong Fu",
"Yiming Li",
"Jin Jin",
"Chen Feng",
"Fangqiang Ding",
"Changhong Fu",
"Yiming Li",
"Jin Jin",
"Chen Feng"
] | Current unmanned aerial vehicle (UAV) visual tracking algorithms are primarily limited with respect to: (i) the kind of size variation they can deal with, (ii) the implementation speed which hardly meets the real-time requirement. In this work, a real-time UAV tracking algorithm with powerful size estimation ability is proposed. Specifically, the overall tracking task is allocated to two 2D filter... |
Asynchronous Event-based Line Tracking for Time-to-Contact Maneuvers in UAS | https://ieeexplore.ieee.org/document/9341240/ | [
"A. Gómez Eguíluz",
"J.P. Rodríguez-Gómez",
"J.R. Martínez-de Dios",
"A. Ollero",
"A. Gómez Eguíluz",
"J.P. Rodríguez-Gómez",
"J.R. Martínez-de Dios",
"A. Ollero"
] | This paper presents an bio-inspired event-based perception scheme for agile aerial robot maneuvering. It tries to mimic birds, which perform purposeful maneuvers by closing the separation in the retinal image (w.r.t. the goal) to follow time-to-contact trajectories. The proposed approach is based on event cameras, also called artificial retinas, which provide fast response and robustness against m... |
Enhanced Transfer Learning for Autonomous Driving with Systematic Accident Simulation | https://ieeexplore.ieee.org/document/9341538/ | [
"Shivam Akhauri",
"Laura Y. Zheng",
"Ming C. Lin",
"Shivam Akhauri",
"Laura Y. Zheng",
"Ming C. Lin"
] | Simulation data can be utilized to extend real-world driving data in order to cover edge cases, such as vehicle accidents. The importance of handling edge cases can be observed in the high societal costs in handling car accidents, as well as potential dangers to human drivers. In order to cover a wide and diverse range of all edge cases, we systemically parameterize and simulate the most common ac... |
A Framework for Online Updates to Safe Sets for Uncertain Dynamics | https://ieeexplore.ieee.org/document/9341606/ | [
"Jennifer C. Shih",
"Franziska Meier",
"Akshara Rai",
"Jennifer C. Shih",
"Franziska Meier",
"Akshara Rai"
] | Safety is crucial for deploying robots in the real world. One way of reasoning about safety of robots is by building safe sets through Hamilton-Jacobi (HJ) reachability. However, safe sets are often computed offline, assuming perfect knowledge of the dynamics, due to high compute time. In the presence of uncertainty, the safe set computed offline becomes inaccurate online, potentially leading to d... |
DMLO: Deep Matching LiDAR Odometry | https://ieeexplore.ieee.org/document/9341206/ | [
"Zhichao Li",
"Naiyan Wang",
"Zhichao Li",
"Naiyan Wang"
] | LiDAR odometry is a fundamental task for various areas such as robotics, autonomous driving. This problem is difficult since it requires the systems to be highly robust running in noisy real-world data. Existing methods are mostly local iterative methods. Feature-based global registration methods are not preferred since extracting accurate matching pairs in the nonuniform and sparse LiDAR data rem... |
Accurate and Robust Teach and Repeat Navigation by Visual Place Recognition: A CNN Approach | https://ieeexplore.ieee.org/document/9341764/ | [
"Luis G. Camara",
"Tomáš Pivoňka",
"Martin Jílek",
"Carl Gäbert",
"Karel Košnar",
"Libor Přeučil",
"Luis G. Camara",
"Tomáš Pivoňka",
"Martin Jílek",
"Carl Gäbert",
"Karel Košnar",
"Libor Přeučil"
] | We propose a novel teach-and-repeat navigation system, SSM-Nav, which is based on the output of the recently introduced SSM visual place recognition methodology. During the teach phase, a teleoperated wheeled robot stores in a database features of images taken along an arbitrary route. During the repeat phase or navigation, a CNN-based comparison of each captured image is performed against the dat... |
Self-supervised Simultaneous Alignment and Change Detection | https://ieeexplore.ieee.org/document/9340840/ | [
"Yukuko Furukawa",
"Kumiko Suzuki",
"Ryuhei Hamaguchi",
"Masaki Onishi",
"Ken Sakurada",
"Yukuko Furukawa",
"Kumiko Suzuki",
"Ryuhei Hamaguchi",
"Masaki Onishi",
"Ken Sakurada"
] | This study proposes a self-supervised method for detecting scene changes from an image pair. For mobile cameras such as drive recorders, to alleviate the camera viewpoints' difference, image alignment and change detection must be optimized simultaneously because they depend on each other. Moreover, lighting condition makes the scene change detection more difficult because it widely varies in image... |
Deep Inverse Sensor Models as Priors for evidential Occupancy Mapping | https://ieeexplore.ieee.org/document/9341308/ | [
"Daniel Bauer",
"Lars Kuhnert",
"Lutz Eckstein",
"Daniel Bauer",
"Lars Kuhnert",
"Lutz Eckstein"
] | With the recent boost in autonomous driving, increased attention has been paid on radars as an input for occupancy mapping. Besides their many benefits, the inference of occupied space based on radar detections is notoriously difficult because of the data sparsity and the environment dependent noise (e.g. multipath reflections). Recently, deep learning-based inverse sensor models, from here on cal... |
Online Exploration of Tunnel Networks Leveraging Topological CNN-based World Predictions | https://ieeexplore.ieee.org/document/9341170/ | [
"Manish Saroya",
"Graeme Best",
"Geoffrey A. Hollinger",
"Manish Saroya",
"Graeme Best",
"Geoffrey A. Hollinger"
] | Robotic exploration requires adaptively selecting navigation goals that result in the rapid discovery and mapping of an unknown world. In many real-world environments, subtle structural cues can provide insight about the unexplored world, which may be exploited by a decision maker to improve the speed of exploration. In sparse subterranean tunnel networks, these cues come in the form of topologica... |
Learning Local Planners for Human-aware Navigation in Indoor Environments | https://ieeexplore.ieee.org/document/9341783/ | [
"Ronja Guldenring",
"Michael Görner",
"Norman Hendrich",
"Niels Jul Jacobsen",
"Jianwei Zhang",
"Ronja Guldenring",
"Michael Görner",
"Norman Hendrich",
"Niels Jul Jacobsen",
"Jianwei Zhang"
] | Established indoor robot navigation frameworks build on the separation between global and local planners. Whereas global planners rely on traditional graph search algorithms, local planners are expected to handle driving dynamics and resolve minor conflicts. We present a system to train neural-network policies for such a local planner component, explicitly accounting for humans navigating the spac... |
Efficient Exploration in Constrained Environments with Goal-Oriented Reference Path | https://ieeexplore.ieee.org/document/9341620/ | [
"Kei Ota",
"Yoko Sasaki",
"Devesh K. Jha",
"Yusuke Yoshiyasu",
"Asako Kanezaki",
"Kei Ota",
"Yoko Sasaki",
"Devesh K. Jha",
"Yusuke Yoshiyasu",
"Asako Kanezaki"
] | In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different environments using high-dimensional inputs (a 2D map), while following feasible paths that avoid obstacles in obstacle-cluttered environment. To achieve this, we ... |
Multiplicative Controller Fusion: Leveraging Algorithmic Priors for Sample-efficient Reinforcement Learning and Safe Sim-To-Real Transfer | https://ieeexplore.ieee.org/document/9341372/ | [
"Krishan Rana",
"Vibhavari Dasagi",
"Ben Talbot",
"Michael Milford",
"Niko Sünderhauf",
"Krishan Rana",
"Vibhavari Dasagi",
"Ben Talbot",
"Michael Milford",
"Niko Sünderhauf"
] | Learning-based approaches often outperform hand-coded algorithmic solutions for many problems in robotics. However, learning long-horizon tasks on real robot hardware can be intractable, and transferring a learned policy from simulation to reality is still extremely challenging. We present a novel approach to model-free reinforcement learning that can leverage existing sub-optimal solutions as an ... |
Reinforcement Learning-based Hierarchical Control for Path Following of a Salamander-like Robot | https://ieeexplore.ieee.org/document/9341656/ | [
"Xueyou Zhang",
"Xian Guo",
"Yongchun Fang",
"Wei Zhu",
"Xueyou Zhang",
"Xian Guo",
"Yongchun Fang",
"Wei Zhu"
] | Path following is a challenging task for legged robots. In this paper, we present a hierarchical control architecture for path following of a quadruped salamander-like robot, in which, the tracking problem is decomposed into two sub-tasks: high-level policy learning based on the framework of reinforcement learning (RL) and low-level traditional controller design. More specifically, the high-level ... |
Hierarchical Reinforcement Learning Method for Autonomous Vehicle Behavior Planning | https://ieeexplore.ieee.org/document/9341496/ | [
"Zhiqian Qiao",
"Zachariah Tyree",
"Priyantha Mudalige",
"Jeff Schneider",
"John M. Dolan",
"Zhiqian Qiao",
"Zachariah Tyree",
"Priyantha Mudalige",
"Jeff Schneider",
"John M. Dolan"
] | Behavioral decision making is an important aspect of autonomous vehicles (AV). In this work, we propose a behavior planning structure based on hierarchical reinforcement learning (HRL) which is capable of performing autonomous vehicle planning tasks in simulated environments with multiple sub-goals. In this hierarchical structure, the network is capable of 1) learning one task with multiple sub-go... |
Reinforcement co-Learning of Deep and Spiking Neural Networks for Energy-Efficient Mapless Navigation with Neuromorphic Hardware | https://ieeexplore.ieee.org/document/9340948/ | [
"Guangzhi Tang",
"Neelesh Kumar",
"Konstantinos P. Michmizos",
"Guangzhi Tang",
"Neelesh Kumar",
"Konstantinos P. Michmizos"
] | Energy-efficient mapless navigation is crucial for mobile robots as they explore unknown environments with limited on-board resources. Although the recent deep rein-forcement learning (DRL) approaches have been successfully applied to navigation, their high energy consumption limits their use in several robotic applications. Here, we propose a neuromorphic approach that combines the energy-efficie... |
Learning Agile Locomotion via Adversarial Training | https://ieeexplore.ieee.org/document/9341777/ | [
"Yujin Tang",
"Jie Tan",
"Tatsuya Harada",
"Yujin Tang",
"Jie Tan",
"Tatsuya Harada"
] | Developing controllers for agile locomotion is a long-standing challenge for legged robots. Reinforcement learning (RL) and Evolution Strategy (ES) hold the promise of automating the design process of such controllers. However, dedicated and careful human effort is required to design training environments to promote agility. In this paper, we present a multi-agent learning system, in which a quadr... |
Stochastic Grounded Action Transformation for Robot Learning in Simulation | https://ieeexplore.ieee.org/document/9340780/ | [
"Siddharth Desai",
"Haresh Karnan",
"Josiah P. Hanna",
"Garrett Warnell",
"and Peter Stone",
"Siddharth Desai",
"Haresh Karnan",
"Josiah P. Hanna",
"Garrett Warnell",
"and Peter Stone"
] | Robot control policies learned in simulation do not often transfer well to the real world. Many existing solutions to this sim-to-real problem, such as the Grounded Action Transformation (GAT) algorithm, seek to correct for- or ground-these differences by matching the simulator to the real world. However, the efficacy of these approaches is limited if they do not explicitly account for stochastici... |
Learning Domain Randomization Distributions for Training Robust Locomotion Policies | https://ieeexplore.ieee.org/document/9341019/ | [
"Melissa Mozian",
"Juan Camilo Gamboa Higuera",
"David Meger",
"Gregory Dudek",
"Melissa Mozian",
"Juan Camilo Gamboa Higuera",
"David Meger",
"Gregory Dudek"
] | This paper considers the problem of learning behaviors in simulation without knowledge of the precise dynamical properties of the target robot platform(s). In this context, our learning goal is to mutually maximize task efficacy on each environment considered and generalization across the widest possible range of environmental conditions. The physical parameters of the simulator are modified by a ... |
Exploration Strategy based on Validity of Actions in Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9341014/ | [
"Hyung-Suk Yoon",
"Sang-Hyun Lee",
"Seung-Woo Seo",
"Hyung-Suk Yoon",
"Sang-Hyun Lee",
"Seung-Woo Seo"
] | How to explore environments is one of the most critical factors for the performance of an agent in reinforcement learning. Conventional exploration strategies such as ε-greedy algorithm and Gaussian exploration noise simply depend on pure randomness. However, it is required for an agent to consider its training progress and long-term usefulness of actions to efficiently explore complex environment... |
Autonomous Exploration Under Uncertainty via Deep Reinforcement Learning on Graphs | https://ieeexplore.ieee.org/document/9341657/ | [
"Fanfei Chen",
"John D. Martin",
"Yewei Huang",
"Jinkun Wang",
"Brendan Englot",
"Fanfei Chen",
"John D. Martin",
"Yewei Huang",
"Jinkun Wang",
"Brendan Englot"
] | We consider an autonomous exploration problem in which a range-sensing mobile robot is tasked with accurately mapping the landmarks in an a priori unknown environment efficiently in real-time; it must choose sensing actions that both curb localization uncertainty and achieve information gain. For this problem, belief space planning methods that forward- simulate robot sensing and estimation may of... |
No Map, No Problem: A Local Sensing Approach for Navigation in Human-Made Spaces Using Signs | https://ieeexplore.ieee.org/document/9340813/ | [
"Claire Liang",
"Ross A. Knepper",
"Florian T. Pokorny",
"Claire Liang",
"Ross A. Knepper",
"Florian T. Pokorny"
] | Robot navigation in human spaces today largely relies on the construction of precise geometric maps and a global motion plan. In this work, we navigate with only local sensing by using available signage - as designed for humans - in human-made environments such as airports. We propose a formalization of "signage" and define 4 levels of signage that we call complete, fully-specified, consistent and... |
Rapid Autonomous Semantic Mapping | https://ieeexplore.ieee.org/document/9341564/ | [
"Anup Parikh",
"Mark W. Koch",
"Timothy J. Blada",
"Stephen P. Buerger",
"Anup Parikh",
"Mark W. Koch",
"Timothy J. Blada",
"Stephen P. Buerger"
] | A semantic understanding of the environment is needed to enable high level autonomy in robotic systems. Recent results have demonstrated rapid progress in underlying technology areas, but few results have been reported on end-to-end systems that enable effective autonomous perception in complex environments. In this paper, we describe an approach for rapidly and autonomously mapping unknown enviro... |
Lifelong update of semantic maps in dynamic environments | https://ieeexplore.ieee.org/document/9341516/ | [
"Manjunath Narayana",
"Andreas Kolling",
"Lucio Nardelli",
"Phil Fong",
"Manjunath Narayana",
"Andreas Kolling",
"Lucio Nardelli",
"Phil Fong"
] | A robot understands its world through the raw information it senses from its surroundings. This raw information is not suitable as a shared representation between the robot and its user. A semantic map, containing high-level information that both the robot and user understand, is better suited to be a shared representation. We use the semantic map as the user-facing interface on our fleet of floor... |
Efficient Object Search Through Probability-Based Viewpoint Selection | https://ieeexplore.ieee.org/document/9340989/ | [
"Alejandra C. Hernandez",
"Erik Derner",
"Clara Gomez",
"Ramon Barber",
"Robert Babuška",
"Alejandra C. Hernandez",
"Erik Derner",
"Clara Gomez",
"Ramon Barber",
"Robert Babuška"
] | The ability to search for objects is a precondition for various robotic tasks. In this paper, we address the problem of finding objects in partially known indoor environments. Using the knowledge of the floor plan and the mapped objects, we consider object-object and object-room co-occurrences as prior information for identifying promising locations where an unmapped object can be present. We prop... |
Dense Incremental Metric-Semantic Mapping via Sparse Gaussian Process Regression | https://ieeexplore.ieee.org/document/9341658/ | [
"Ehsan Zobeidi",
"Alec Koppel",
"Nikolay Atanasov",
"Ehsan Zobeidi",
"Alec Koppel",
"Nikolay Atanasov"
] | We develop an online probabilistic metric-semantic mapping approach for autonomous robots relying on streaming RGB-D observations. We cast this problem as a Bayesian inference task, requiring encoding both the geometric surfaces and semantic labels (e.g., chair, table, wall) of the unknown environment. We propose an online Gaussian Process (GP) training and inference approach, which avoids the com... |
Collaborative Semantic Perception and Relative Localization Based on Map Matching | https://ieeexplore.ieee.org/document/9340970/ | [
"Yufeng Yue",
"Chunyang Zhao",
"Mingxing Wen",
"Zhenyu Wu",
"Danwei Wang",
"Yufeng Yue",
"Chunyang Zhao",
"Mingxing Wen",
"Zhenyu Wu",
"Danwei Wang"
] | In order to enable a team of robots to operate successfully, retrieving accurate relative transformation between robots is the fundamental requirement. So far, most research on relative localization mainly focus on geometry features such as points, lines and planes. To address this problem, collaborative semantic map matching is proposed to perform semantic perception and relative localization. Th... |
3D Odor Source Localization using a Micro Aerial Vehicle: System Design and Performance Evaluation | https://ieeexplore.ieee.org/document/9341501/ | [
"Chiara Ercolani",
"Alcherio Martinoli",
"Chiara Ercolani",
"Alcherio Martinoli"
] | Finding chemical compounds in the air has applications when situations such as gas leaks, environmental emergencies and toxic chemical dispersion occur. Enabling robots to undertake this task would provide a powerful tool to prevent dangerous situations and assist humans when emergencies arise. While the dispersion of chemical compounds in the air is intrinsically a three-dimensional (3D) phenomen... |
BARK: Open Behavior Benchmarking in Multi-Agent Environments | https://ieeexplore.ieee.org/document/9341222/ | [
"Julian Bernhard",
"Klemens Esterle",
"Patrick Hart",
"Tobias Kessler",
"Julian Bernhard",
"Klemens Esterle",
"Patrick Hart",
"Tobias Kessler"
] | Predicting and planning interactive behaviors in complex traffic situations presents a challenging task. Especially in scenarios involving multiple traffic participants that interact densely, autonomous vehicles still struggle to interpret situations and to eventually achieve their own mission goal. As driving tests are costly and challenging scenarios are hard to find and reproduce, simulation is... |
The VCU-RVI Benchmark: Evaluating Visual Inertial Odometry for Indoor Navigation Applications with an RGB-D Camera | https://ieeexplore.ieee.org/document/9341713/ | [
"He Zhang",
"Lingqiu Jin",
"Cang Ye",
"He Zhang",
"Lingqiu Jin",
"Cang Ye"
] | This paper presents VCU-RVI, a new visual inertial odometry (VIO) benchmark with a set of diverse data sequences in different indoor scenarios. The benchmark was captured using an Structure Core (SC) sensor, consisting of an RGB-D camera and an IMU. It provides aligned color and depth images with 640×480 resolution at 30 Hz. The camera's data is synchronized with the IMU's data at 100 Hz. Thirty-n... |
A Framework for Human-Robot Interaction User Studies | https://ieeexplore.ieee.org/document/9341286/ | [
"Vidyasagar Rajendran",
"Pamela Carreno-Medrano",
"Wesley Fisher",
"Alexander Werner",
"Dana Kulić",
"Vidyasagar Rajendran",
"Pamela Carreno-Medrano",
"Wesley Fisher",
"Alexander Werner",
"Dana Kulić"
] | Human-Robot Interaction (HRI) user studies are challenging to evaluate and compare due to a lack of standardization and the infrastructure required to implement each study. The lack of experimental infrastructure also makes it difficult to systematically evaluate the impact of individual components (e.g., the quality of perception software) on overall system performance. This work proposes a frame... |
Autonomous Vehicle Benchmarking using Unbiased Metrics | https://ieeexplore.ieee.org/document/9340902/ | [
"David Paz",
"Po-jung Lai",
"Nathan Chan",
"Yuqing Jiang",
"Henrik I. Christensen",
"David Paz",
"Po-jung Lai",
"Nathan Chan",
"Yuqing Jiang",
"Henrik I. Christensen"
] | With the recent development of autonomous vehicle technology, there have been active efforts on the deployment of this technology at different scales that include urban and highway driving. While many of the prototypes showcased have been shown to operate under specific cases, little effort has been made to better understand their shortcomings and generalizability to new areas. Distance, uptime an... |
Integrated Benchmarking and Design for Reproducible and Accessible Evaluation of Robotic Agents | https://ieeexplore.ieee.org/document/9341677/ | [
"Jacopo Tani",
"Andrea F. Daniele",
"Gianmarco Bernasconi",
"Amaury Camus",
"Aleksandar Petrov",
"Anthony Courchesne",
"Bhairav Mehta",
"Rohit Suri",
"Tomasz Zaluska",
"Matthew R. Walter",
"Emilio Frazzoli",
"Liam Paull",
"Andrea Censi",
"Jacopo Tani",
"Andrea F. Daniele",
"Gianmarco Bernasconi",
"Amaury Camus",
"Aleksandar Petrov",
"Anthony Courchesne",
"Bhairav Mehta",
"Rohit Suri",
"Tomasz Zaluska",
"Matthew R. Walter",
"Emilio Frazzoli",
"Liam Paull",
"Andrea Censi"
] | As robotics matures and increases in complexity, it is more necessary than ever that robot autonomy research be reproducible. Compared to other sciences, there are specific challenges to benchmarking autonomy, such as the complexity of the software stacks, the variability of the hardware and the reliance on data-driven techniques, amongst others. In this paper, we describe a new concept for reprod... |
Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles | https://ieeexplore.ieee.org/document/9341193/ | [
"Charles Dawson",
"Ashkan Jasour",
"Andreas Hofmann",
"Brian Williams",
"Charles Dawson",
"Ashkan Jasour",
"Andreas Hofmann",
"Brian Williams"
] | Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of safety as the robot moves, even when the exact locations of nearby obstacles are not known. In this paper, we solve this chance-constrained motion planning pro... |
Safety Considerations in Deep Control Policies with Safety Barrier Certificates Under Uncertainty | https://ieeexplore.ieee.org/document/9341315/ | [
"Tom Hirshberg",
"Sai Vemprala",
"Ashish Kapoor",
"Tom Hirshberg",
"Sai Vemprala",
"Ashish Kapoor"
] | Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a challenge due to issues such as partial observability and difficulties in characterizing the behavior of the neural networks. While a lot of emphasis in safe learn... |
Infusing Reachability-Based Safety into Planning and Control for Multi-agent Interactions | https://ieeexplore.ieee.org/document/9341499/ | [
"Xinrui Wang",
"Karen Leung",
"Marco Pavone",
"Xinrui Wang",
"Karen Leung",
"Marco Pavone"
] | Within a robot autonomy stack, the planner and controller are typically designed separately, and serve different purposes. As such, there is often a diffusion of responsibilities when it comes to ensuring safety for the robot. We propose that a planner and controller should share the same interpretation of safety but apply this knowledge in a different yet complementary way. To achieve this, we us... |
Multi-Agent Safe Planning with Gaussian Processes | https://ieeexplore.ieee.org/document/9341169/ | [
"Zheqing Zhu",
"Erdem Bıyık",
"Dorsa Sadigh",
"Zheqing Zhu",
"Erdem Bıyık",
"Dorsa Sadigh"
] | Multi-agent safe systems have become an increasingly important area of study as we can now easily have multiple AI-powered systems operating together. In such settings, we need to ensure the safety of not only each individual agent, but also the overall system. In this paper, we introduce a novel multi-agent safe learning algorithm that enables decentralized safe navigation when there are multiple... |
Safe Path Planning with Multi-Model Risk Level Sets | https://ieeexplore.ieee.org/document/9341084/ | [
"Zefan Huang",
"Wilko Schwarting",
"Alyssa Pierson",
"Hongliang Guo",
"Marcelo Ang",
"Daniela Rus",
"Zefan Huang",
"Wilko Schwarting",
"Alyssa Pierson",
"Hongliang Guo",
"Marcelo Ang",
"Daniela Rus"
] | This paper investigates the safe path planning problem for an autonomous vehicle operating in unstructured, cluttered environments. While some objects may be accurately with canonical perception algorithms, other objects and clutter may be harder to track. We present an approach that combines two methods of risk assessment: for objects with reliable tracking, we use a Gaussian Process (GP) regulat... |
Localization Safety Validation for Autonomous Robots | https://ieeexplore.ieee.org/document/9341434/ | [
"Guillermo Duenas Arana",
"Osama Abdul Hafez",
"Mathieu Joerger",
"Matthew Spenko",
"Guillermo Duenas Arana",
"Osama Abdul Hafez",
"Mathieu Joerger",
"Matthew Spenko"
] | This paper presents a method to validate localization safety for a preplanned trajectory in a given environment. Localization safety is defined as integrity risk and quantified as the probability of an undetected localization failure. Integrity risk differs from previously used metrics in robotics in that it accounts for unmodeled faults and evaluates safety under the worst possible combination of... |
Human-Robot Trust Assessment Using Motion Tracking & Galvanic Skin Response | https://ieeexplore.ieee.org/document/9341267/ | [
"Kasper Hald",
"Matthias Rehmn",
"Thomas B. Moeslund",
"Kasper Hald",
"Matthias Rehmn",
"Thomas B. Moeslund"
] | In this study we set out to design a computer vision-based system to assess human-robot trust in real time during close-proximity human-robot collaboration. This paper presents the setup and hardware for an augmented reality-enabled human-robot collaboration cell as well as a method of measuring operator proximity using an infrared camera. We tested this setup as a tool for assessing trust through... |
Organizing the Internet of Robotic Things: The Effect of Organization Structure on Users’ Evaluation and Compliance toward IoRT Service Platform | https://ieeexplore.ieee.org/document/9340834/ | [
"Byeong June Moon",
"Sonya S. Kwak",
"JongSuk Choi",
"Byeong June Moon",
"Sonya S. Kwak",
"JongSuk Choi"
] | As robots and robotic things become to have more agency, IoRT which consists of robots and robotic things can be considered as a social organization. Accordingly, social organization structure of IoRT could affect users' behavior and perception of IoRT. In this study, in order to examine the effect of social organization structure on people's acceptance of IoRT, we conducted a 2 (social organizati... |
Getting to Know One Another: Calibrating Intent, Capabilities and Trust for Human-Robot Collaboration | https://ieeexplore.ieee.org/document/9340736/ | [
"Joshua Lee",
"Jeffrey Fong",
"Bing Cai Kok",
"Harold Soh",
"Joshua Lee",
"Jeffrey Fong",
"Bing Cai Kok",
"Harold Soh"
] | Common experience suggests that agents who know each other well are better able to work together. In this work, we address the problem of calibrating intention and capabilities in human-robot collaboration. In particular, we focus on scenarios where the robot is attempting to assist a human who is unable to directly communicate her intent. Moreover, both agents may have differing capabilities that... |
Online Explanation Generation for Planning Tasks in Human-Robot Teaming | https://ieeexplore.ieee.org/document/9341792/ | [
"Mehrdad Zakershahrak",
"Ze Gong",
"Nikhillesh Sadassivam",
"Yu Zhang",
"Mehrdad Zakershahrak",
"Ze Gong",
"Nikhillesh Sadassivam",
"Yu Zhang"
] | As AI becomes an integral part of our lives, the development of explainable AI, embodied in the decision-making process of an AI or robotic agent, becomes imperative. For a robotic teammate, the ability to generate explanations to justify its behavior is one of the key requirements of explainable agency. Prior work on explanation generation has been focused on supporting the rationale behind the r... |
IMU-based Parameter Identification and Position Estimation in Twisted String Actuators | https://ieeexplore.ieee.org/document/9341136/ | [
"Simeon Nedelchev",
"Daniil Kirsanov",
"Igor Gaponov",
"Simeon Nedelchev",
"Daniil Kirsanov",
"Igor Gaponov"
] | This study proposes a technique to estimate the output state of twisted string actuators (TSAs) based on payload's acceleration measurements. We outline differential kinematics relationships of the actuator, re-formulate these into a nonlinear parameter identification problem and then apply linearization techniques to efficiently solve it as a quadratic program. Using accurate estimates of string ... |
Reliable chattering-free simulation of friction torque in joints presenting high stiction | https://ieeexplore.ieee.org/document/9340753/ | [
"Rafael Cisneros",
"Mehdi Benallegue",
"Ryo Kikuuwe",
"Mitsuharu Morisawa",
"Fumio Kanehiro",
"Rafael Cisneros",
"Mehdi Benallegue",
"Ryo Kikuuwe",
"Mitsuharu Morisawa",
"Fumio Kanehiro"
] | The simulation of static friction, and especially the effect of stiction, is cumbersome to perform in discrete-time due to its discontinuity at zero velocity and its switching behavior. However, it is essential to achieve reliable simulations of friction to develop compliant torque control algorithms, as they are much disturbed by this phenomenon. This paper takes as a base an elastoplastic model ... |
A Study on the Elongation Behaviour of Synthetic Fibre Ropes under Cyclic Loading | https://ieeexplore.ieee.org/document/9341407/ | [
"Deoraj Asane",
"Alexander Schmitz",
"Yushi Wang",
"Shigeki Sugano",
"Deoraj Asane",
"Alexander Schmitz",
"Yushi Wang",
"Shigeki Sugano"
] | Synthetic fibre ropes have high tensile strength, a lower friction coefficient and are more flexible than steel ropes, and are therefore increasingly used in robotics. However, their characteristics are not well studied. In particular, previous work investigated the long-term behaviour only under static loading. In this paper, we investigate the elongation behaviour of synthetic fibre ropes under ... |
Steering Magnetic Robots in Two Axes with One Pair of Maxwell Coils | https://ieeexplore.ieee.org/document/9341078/ | [
"Emma Benjaminson",
"Matthew Travers",
"Rebecca Taylor",
"Emma Benjaminson",
"Matthew Travers",
"Rebecca Taylor"
] | This work demonstrates a novel approach to steering a magnetic swimming robot in two dimensions with a single pair of Maxwell coils. By leveraging the curvature of the magnetic field gradient, we achieve motion along two axes. This method allows us to control medical magnetic robots using only existing MRI technology, without requiring additional hardware or posing any additional risk to the patie... |
Scaling laws for parallel motor-gearbox arrangements | https://ieeexplore.ieee.org/document/9341309/ | [
"Elias Saerens",
"Stein Crispel",
"Pablo López García",
"Vincent Ducastel",
"Jarl Beckers",
"Joris De Winter",
"Raphaël Furnémont",
"Bram Vanderborght",
"Tom Verstraten",
"Dirk Lefeber",
"Elias Saerens",
"Stein Crispel",
"Pablo López García",
"Vincent Ducastel",
"Jarl Beckers",
"Joris De Winter",
"Raphaël Furnémont",
"Bram Vanderborght",
"Tom Verstraten",
"Dirk Lefeber"
] | Research towards (compliant) actuators, especially redundant ones like the Series Parallel Elastic Actuator (SPEA), has led to the development of drive trains, which have demonstrated to increase efficiency, torque-to-mass-ratio, power-to-mass ratio, etc. In the field of robotics such drive trains can be implemented, enabling technological improvements like safe, adaptable and energy-efficient rob... |
A Concept of a Miniaturized MR Clutch Utilizing MR Fluid in Squeeze Mode | https://ieeexplore.ieee.org/document/9341643/ | [
"Sergey Pisetskiy",
"Mehrdad R. Kermani",
"Sergey Pisetskiy",
"Mehrdad R. Kermani"
] | This paper presents a novel design concept of a miniaturized Magneto-Rheological (MR) clutch. The design uses a set of spur gears as a means to control the torque. MR clutches with various configurations such as disk-, drum-, and armature-based have in the past been reported in the literature. However, to the best of our knowledge, the design of a clutch with spur gears to use MR fluid in squeeze ... |
Development and Evaluation of a Linear Series Clutch Actuator for Vertical Joint Application with Static Balancing | https://ieeexplore.ieee.org/document/9341293/ | [
"Shardul Kulkarni",
"Alexander Schmitz",
"Satoshi Funabashi",
"Shigeki Sugano",
"Shardul Kulkarni",
"Alexander Schmitz",
"Satoshi Funabashi",
"Shigeki Sugano"
] | Future robots are expected to share their workspace with humans. Controlling and limiting the forces that such robots exert on their environment is crucial. While force control can be achieved actively with the help of force sensing, passive mechanisms have no time delay in their response to external forces, and would therefore be preferable. Series clutch actuators can be used to achieve high lev... |
Static Characteristics of Fire Hose Actuators and Design of a Compliant Pneumatic Rotary Drive for Robotics | https://ieeexplore.ieee.org/document/9341342/ | [
"Johannes T. Stoll",
"Kevin Schanz",
"Michael Derstroff",
"Andreas Pott",
"Johannes T. Stoll",
"Kevin Schanz",
"Michael Derstroff",
"Andreas Pott"
] | In this work, we present and explain in detail the design of a new type of pneumatic actuator made of fire hose, the fire hose actuator (FHA), see Fig. 1. We model the force output of this type of actuator and we compare the theoretic results to the data measured on the laboratory test stand.Furthermore, we present the design of a pneumatic rotary drive that is actuated by four of the above-mentio... |
Long-Reach Compact Robotic Arm with LMPA Joints for Monitoring of Reactor Interior | https://ieeexplore.ieee.org/document/9341567/ | [
"Akira Seino",
"Noriaki Seto",
"Luis Canete",
"Takayuki Takahashi",
"Akira Seino",
"Noriaki Seto",
"Luis Canete",
"Takayuki Takahashi"
] | To reduce the risk of radiation leakages similar to the incident at the Fukushima Daiichi Nuclear Power Station, robots have been employed to remove fuel debris from reactors. To perform this process safely, it is important to monitor the interior of a reactor. A camera and neutron sensors are attached to the end of a robotic arm to monitor the interior of the reactor. The basic design requirement... |
An In-Pipe Manipulator for Contamination-Less Rehabilitation of Water Distribution Pipes | https://ieeexplore.ieee.org/document/9341563/ | [
"Yip Fun Yeung",
"Kamal Youcef-Toumi",
"Yip Fun Yeung",
"Kamal Youcef-Toumi"
] | The recent development of in-pipe robots (IPR) with locomotion and inspection functions provides a new possibility to water distribution pipe maintenance - to rehabilitate pipe defects internally. Yet only a limited number of Rehabilitation in-pipe robots (R-IPR) have been proposed. One primary concern that impedes the development of Rehabilitation in-pipe robots is the excessive amount of contami... |
Design and implementation of a pipeline inspection robot with camera image compensation | https://ieeexplore.ieee.org/document/9341503/ | [
"Zhaohan Yuan",
"Jianjun Yuan",
"Shugen Ma",
"Zhaohan Yuan",
"Jianjun Yuan",
"Shugen Ma"
] | In this paper, we updated an inspection robot with passive adaptation ability, which is used to detect small size water supply pipeline. By geometric calculation and kinematic verification, static model of the robot is checked for flexible movement in the pipeline. Besides, inertial measurement unit is leveraged to simultaneously detect the attitude of robot, and different algorithm is tested to c... |
The AmphiSTAR High Speed Amphibious Sprawl Tuned Robot: Design and Experiments | https://ieeexplore.ieee.org/document/9340986/ | [
"Avi Cohen",
"David Zarrouk",
"Avi Cohen",
"David Zarrouk"
] | This paper details the development, modeling and performance of AmphiSTAR, a novel high-speed amphibious robot. The palm size AmphiSTAR, which belongs to the family of STAR robots, is a "wheeled" robot fitted with propellers at its bottom that allow it to crawl on the ground and run (i.e. hover) on water at high speeds. The AmphiSTAR is inspired by two members of the animal kingdom. It possesses a... |
Design of an Underactuated Peristaltic Robot on Soft Terrain | https://ieeexplore.ieee.org/document/9340978/ | [
"Scott Scheraga",
"Alireza Mohammadi",
"Taehyung Kim",
"Stanley Baek",
"Scott Scheraga",
"Alireza Mohammadi",
"Taehyung Kim",
"Stanley Baek"
] | This paper presents an innovative robotic mechanism for generating peristaltic motion for robotic locomotion systems. The designed underactuated peristaltic robot utilizes a minimum amount of electromechanical hardware. Such a minimal electromechanical design not only reduces the number of potential failure modes but also provides the robot design with great potential for scaling to larger and sma... |
Design, Analysis and Preliminary Validation of a 3-DOF Rotational Inertia Generator | https://ieeexplore.ieee.org/document/9341276/ | [
"Jean-Félix Tremblay-Bugeaud",
"Thierry Laliberté",
"Clément Gosselin",
"Jean-Félix Tremblay-Bugeaud",
"Thierry Laliberté",
"Clément Gosselin"
] | This paper investigates the design of a three-degree-of-freedom rotational inertia generator using the gyroscopic effect to provide ungrounded torque feedback. It uses a rotating mass in order to influence the torques needed to move the device, creating a perceived inertia. The dynamic model and the control law of the device are derived, along with those of a comparable concept using three flywhee... |
Development of a Spherical 2-DOF Wrist Employing Spatial Parallelogram Structure | https://ieeexplore.ieee.org/document/9340844/ | [
"Hyunhwan Jeong",
"Sunhyuk Baek",
"Wheekuk Kim",
"Byung-Ju Yi",
"Hyunhwan Jeong",
"Sunhyuk Baek",
"Wheekuk Kim",
"Byung-Ju Yi"
] | A spherical two-degree-of- freedom wrist adapting the structure of the spatial parallelogram is proposed. A U type extended link out of three UU type limbs of the spatial parallelogram is selected as an output link. As a result, the wrist can be interpreted as being formed by combination of a U type limb and a (2-UU)+U type hybrid limb. Screw theory is employed to analyze its first-order kinematic... |
Design of a Linear Gravity Compensator for a Prismatic Joint | https://ieeexplore.ieee.org/document/9341700/ | [
"Do-Won Kim",
"Won-Bum Lee",
"Jae-Bok Song",
"Do-Won Kim",
"Won-Bum Lee",
"Jae-Bok Song"
] | Most existing mechanical gravity compensators have been developed for revolute joints that are found in majority of articulated robot arms. However, robots such as patient transport robots use prismatic joints, which need to handle a heavy payload. In this study, a high-capacity linear gravity compensator (LGC), which comprises pure mechanical components, such as coil springs, a rack-pinion gear, ... |
Locomotion Performance of a Configurable Paddle-Wheel Robot over Dry Sandy Terrain | https://ieeexplore.ieee.org/document/9340828/ | [
"Yayi Shen",
"Shugen Ma",
"Guoteng Zhang",
"Syuya Inoue",
"Yayi Shen",
"Shugen Ma",
"Guoteng Zhang",
"Syuya Inoue"
] | To access rough terrain and enhance the mobility in sandy terrain, a configurable paddle-wheel robot was pro-posed. This report addresses the paddle terradynamics, and the experimental verification of the locomotion performance of the robot over dry sandy terrain. To study the interactive forces between the paddle and the media, a terradynamic model is built and verified through experiments. To ex... |
Optimal Design of a Novel Spherical Scissor Linkage Remote Center of Motion Mechanism for Medical Robotics | https://ieeexplore.ieee.org/document/9341365/ | [
"Mehrnoosh Afshar",
"Jay Carriere",
"Tyler Meyer",
"Ron Sloboda",
"Siraj Husain",
"Nawaid Usmani",
"Mahdi Tavakoli",
"Mehrnoosh Afshar",
"Jay Carriere",
"Tyler Meyer",
"Ron Sloboda",
"Siraj Husain",
"Nawaid Usmani",
"Mahdi Tavakoli"
] | In this paper, a new remote center of motion (RCM) mechanism is presented whose end-effector is able to move through an entire hemisphere. In general, minimally invasive surgery (MIS) applications, an elliptic cone workspace with vertex angles of 60° and 90° gives the surgeon enough freedom to operate. Therefore, the majority of the developed RCM mechanisms have such a cone as the workspace. Howev... |
Computational Design of Balanced Open Link Planar Mechanisms with Counterweights from User Sketches | https://ieeexplore.ieee.org/document/9341027/ | [
"Takuto Takahashi",
"Hiroshi G. Okuno",
"Shigeki Sugano",
"Stelian Coros",
"Bernhard Thomaszewski",
"Takuto Takahashi",
"Hiroshi G. Okuno",
"Shigeki Sugano",
"Stelian Coros",
"Bernhard Thomaszewski"
] | We consider the design of under-actuated articulated mechanism that are able to maintain stable static balance. Our method augments an user-provided design with counter-weights whose mass and attachment locations are automatically computed. The optimized counterweights adjust the center of gravity such that, for bounded external perturbations, the mechanism returns to its original configuration. U... |
A Multi-link In-pipe Inspection Robot Composed of Active and Passive Compliant Joints | https://ieeexplore.ieee.org/document/9341478/ | [
"Atsushi Kakogawa",
"Shugen Ma",
"Atsushi Kakogawa",
"Shugen Ma"
] | AIRo-5.1 an in-pipe inspection robot comprised of two passive compliant joints and a single active compliant joint that is driven by a series elastic actuator (SEA) is presented in the course of this study. As an aid in pipeline maintenance, AIRo-5.1 controls joint angles and the torque of middle joints, to enable them to adapt to bend, branch, vertical pipes, and slippery surfaces. To sense the j... |
Introduction to 7-DoF CoSMo-Arm: High Torque Density Manipulator based on CoSMoA and E-CoSMo | https://ieeexplore.ieee.org/document/9341252/ | [
"Jaeho Noh",
"Jaeyong Lee",
"Seyoung Cheon",
"Woosung Yang",
"Jaeho Noh",
"Jaeyong Lee",
"Seyoung Cheon",
"Woosung Yang"
] | This study proposes a novel 7-DOF robotic manipulator called CoSMo-Arm for high torque density multi-link robotic platform based on a concentrically stacked modular actuator (CoSMoA) and an extended coaxial spherical joint module (E-CoSMo) introduced in previous researches. The CoSMoA is an actuator module designed to improve thermal characteristics by stacking the motor actuator parts to share th... |
FreeBOT: A Freeform Modular Self-reconfigurable Robot with Arbitrary Connection Point - Design and Implementation | https://ieeexplore.ieee.org/document/9341129/ | [
"Guanqi Liang",
"Haobo Luo",
"Ming Li",
"Huihuan Qian",
"Tin Lun Lam",
"Guanqi Liang",
"Haobo Luo",
"Ming Li",
"Huihuan Qian",
"Tin Lun Lam"
] | This paper proposes a novel modular selfreconfigurable robot (MSRR) "FreeBOT", which can be connected freely at any point on other robots. FreeBOT is mainly composed of two parts: a spherical ferromagnetic shell and an internal magnet. The connection between the modules is genderless and instant, since the internal magnet can freely attract other FreeBOT spherical ferromagnetic shells, and not nee... |
A Soft, Modular, and Bi-stable Dome Actuator for Programmable Multi-Modal Locomotion | https://ieeexplore.ieee.org/document/9341138/ | [
"Michael A. Bell",
"Luca Cattani",
"Benjamin Gorissen",
"Katia Bertoldi",
"James C. Weaver",
"Robert J. Wood",
"Michael A. Bell",
"Luca Cattani",
"Benjamin Gorissen",
"Katia Bertoldi",
"James C. Weaver",
"Robert J. Wood"
] | Movement in bio-inspired robots typically relies on the use of a series of actuators and transmissions with one or more degrees of freedom (DOF), allowing asymmetrical ellipsoidal gaits for use in walking, running, swimming, and crawling. In an effort to simplify these multi-component systems, we present a novel, modular, soft, bi-stable, one DOF dome actuator platform that is capable of complex g... |
Transferability in an 8-DoF Parallel Robot with a Configurable Platform | https://ieeexplore.ieee.org/document/9341108/ | [
"Redwan Dahmouche",
"Kefei Wen",
"Clément Gosselin",
"Redwan Dahmouche",
"Kefei Wen",
"Clément Gosselin"
] | Parallel robots with configurable platforms (PRCPs) combine the benefits of parallel robots with additional functionalities such as grasping and cutting. However, some of the theoretical tools used to study classical parallel robots do not apply to parallel robots with configurable platforms. This paper uses screw theory to study the transferable wrenches from the robot's limbs to the configurable... |
Continuous Tension Validation for Cable-Driven Parallel Robots | https://ieeexplore.ieee.org/document/9341202/ | [
"Diane Bury",
"Jean-Baptiste Izard",
"Marc Gouttefarde",
"Florent Lamiraux",
"Diane Bury",
"Jean-Baptiste Izard",
"Marc Gouttefarde",
"Florent Lamiraux"
] | This paper deals with continuous tension validation for Cable-Driven Parallel Robots (CDPRs). The proposed method aims at determining whether or not a quasi-static path is feasible regarding cable tension limits. The available wrench set (AWS) is the set of wrenches that can be generated with cable tensions within given minimum and maximum limits. A pose of the robot is considered valid regarding ... |
Improving Disturbance Rejection and Dynamics of Cable Driven Parallel Robots with On-board Propellers | https://ieeexplore.ieee.org/document/9341033/ | [
"Imane Khayour",
"Loïc Cuvillon",
"Côme Butin",
"Arda Yiğit",
"Sylvain Durand",
"Jacques Gangloff",
"Imane Khayour",
"Loïc Cuvillon",
"Côme Butin",
"Arda Yiğit",
"Sylvain Durand",
"Jacques Gangloff"
] | This work studies redundant actuation for both trajectory tracking and disturbance rejection on flexible cable-driven parallel robots (CDPR). High dynamics/bandwidth unidirectional force generators, like air propellers, are used in combination with conventional but slower cable winding winches. To optimally balance the action of the two types of actuation within their saturation constraints, a mod... |
Generating New Lower Abstract Task Operator using Grid-TLI | https://ieeexplore.ieee.org/document/9340937/ | [
"Shumpei Tokuda",
"Mizuho Katayama",
"Masaki Yamakita",
"Hiroyuki Oyama",
"Shumpei Tokuda",
"Mizuho Katayama",
"Masaki Yamakita",
"Hiroyuki Oyama"
] | We propose a method of subdividing robot tasks into new lower abstract tasks. The description of robot tasks in an abstract manner is effective for motion planning for complex tasks and teaching robot movements in various environments. However, a more efficient task description may be obtained by using a lower abstraction according to the work environment. We argue that a higher abstract task can ... |
Inner-Approximation of Manipulable and Reachable Regions using Bilinear Matrix Inequalities | https://ieeexplore.ieee.org/document/9341017/ | [
"Zherong Pan",
"Liang He",
"Xifeng Gao",
"Zherong Pan",
"Liang He",
"Xifeng Gao"
] | Given an articulated robot arm, we present a method to identify two regions with non-empty interiors. The first region is a subset of the configuration space where every point in the region is manipulable. The second region is a subset of the workspace where every point in the region is reachable by the end-effector. Our method expresses the kinematic state of the robot arm using the maximal coord... |
Towards Transparent Robotic Planning via Contrastive Explanations | https://ieeexplore.ieee.org/document/9341773/ | [
"Shenghui Chen",
"Kayla Boggess",
"Lu Feng",
"Shenghui Chen",
"Kayla Boggess",
"Lu Feng"
] | Providing explanations of chosen robotic actions can help to increase the transparency of robotic planning and improve users' trust. Social sciences suggest that the best explanations are contrastive, explaining not just why one action is taken, but why one action is taken instead of another. We formalize the notion of contrastive explanations for robotic planning policies based on Markov decision... |
Decentralized Safe Reactive Planning under TWTL Specifications | https://ieeexplore.ieee.org/document/9341624/ | [
"Ryan Peterson",
"Ali Tevfik Buyukkocak",
"Derya Aksaray",
"Yasin Yazıcıoglu",
"Ryan Peterson",
"Ali Tevfik Buyukkocak",
"Derya Aksaray",
"Yasin Yazıcıoglu"
] | We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification defined over a 3D environment. We propose a decentralized receding horizon algorithm for online planning of trajectories. We show that when the environment is suff... |
Fast LTL-Based Flexible Planning for Dual-Arm Manipulation | https://ieeexplore.ieee.org/document/9341352/ | [
"Mizuho Katayama",
"Shumpei Tokuda",
"Masaki Yamakita",
"Hiroyuki Oyama",
"Mizuho Katayama",
"Shumpei Tokuda",
"Masaki Yamakita",
"Hiroyuki Oyama"
] | In this paper, we propose a method for automatically generating object handling actions based on simple action definitions. The need to replace workers by robots is increasing, and, in fact, many research projects on robots have worked with simple motion definitions. Many applications are for mobile robots such as drones, however, and if such methods are applied directly to object handling, like a... |
Geometrical Interpretation and Detection of Multiple Task Conflicts using a Coordinate Invariant Index | https://ieeexplore.ieee.org/document/9340690/ | [
"Vincenzo Schettino",
"Mario D. Fiore",
"Claudia Pecorella",
"Fanny Ficuciello",
"Felix Allmendinger",
"Johannes Lachner",
"Stefano Stramigioli",
"Bruno Siciliano",
"Vincenzo Schettino",
"Mario D. Fiore",
"Claudia Pecorella",
"Fanny Ficuciello",
"Felix Allmendinger",
"Johannes Lachner",
"Stefano Stramigioli",
"Bruno Siciliano"
] | Modern robots act in dynamic and partially unknown environments where path replanning can be mandatory if changes in the environment are observed. Task-prioritized control strategies are well known and effective solutions to ensure local adaptation of robot behaviour. The highest priority in a stack of tasks is typically given to the management of correct robot operation or safe interaction with t... |
What to Do When You Can’t Do It All: Temporal Logic Planning with Soft Temporal Logic Constraints | https://ieeexplore.ieee.org/document/9341412/ | [
"Hazhar Rahmani",
"Jason M. O’Kane",
"Hazhar Rahmani",
"Jason M. O’Kane"
] | In this paper, we consider a temporal logic planning problem in which the objective is to find an infinite trajectory that satisfies an optimal selection from a set of soft specifications expressed in linear temporal logic (LTL) while nevertheless satisfying a hard specification expressed in LTL. Our previous work considered a similar problem in which linear dynamic logic for finite traces (LDLf),... |
ReachFlow: An Online Safety Assurance Framework for Waypoint-Following of Self-driving Cars | https://ieeexplore.ieee.org/document/9341122/ | [
"Qin Lin",
"Xin Chen",
"Aman Khurana",
"John M. Dolan",
"Qin Lin",
"Xin Chen",
"Aman Khurana",
"John M. Dolan"
] | Learning-enabled components have been widely deployed in autonomous systems. However, due to the weak interpretability and the prohibitively high complexity of large-scale machine learning models such as neural networks, reliability has been a crucial concern for safety-critical autonomous systems. This work proposes an online monitor called Reach-Flow for fault prevention of waypoint-following ta... |
Competitive Coverage: (Full) Information as a Game Changer | https://ieeexplore.ieee.org/document/9340903/ | [
"Moshe N. Samson",
"Noa Agmon",
"Moshe N. Samson",
"Noa Agmon"
] | This paper introduces the competitive coverage problem, a new variant of the robotic coverage problem in which a robot R competes with another robot O in order to be the first to cover an area. In the variant discussed in this paper, the asymmetric competitive coverage, O is unaware of the existence of R, which attempts to take that fact into consideration in order to succeed in being the first to... |
Planning for robust visibility-based pursuit-evasion | https://ieeexplore.ieee.org/document/9341031/ | [
"Nicholas M. Stiffler",
"Jason M. O’Kane",
"Nicholas M. Stiffler",
"Jason M. O’Kane"
] | This paper addresses the problem of planning for visibility-based pursuit evasion, in contexts where the pursuer robot may experience some positioning errors as it moves in search of the evader. Specifically, we consider the case in which a pursuer with an omnidirectional sensor searches a known environment to locate an evader that may move arbitrarily quickly. Known algorithms for this problem ar... |
Deep Prediction of Swept Volume Geometries: Robots and Resolutions | https://ieeexplore.ieee.org/document/9341396/ | [
"John Baxter",
"Mohammad R. Yousefi",
"Satomi Sugaya",
"Marco Morales",
"Lydia Tapia",
"John Baxter",
"Mohammad R. Yousefi",
"Satomi Sugaya",
"Marco Morales",
"Lydia Tapia"
] | Computation of the volume of space required for a robot to execute a sweeping motion from a start to a goal has long been identified as a critical primitive operation in both task and motion planning. However, swept volume computation is particularly challenging for multi-link robots with geometric complexity, e.g., manipulators, due to the non-linear geometry. While earlier work has shown that de... |
PLRC*: A piecewise linear regression complex for approximating optimal robot motion | https://ieeexplore.ieee.org/document/9341312/ | [
"Luyang Zhao",
"Josiah Putman",
"Weifu Wang",
"Devin Balkcom",
"Luyang Zhao",
"Josiah Putman",
"Weifu Wang",
"Devin Balkcom"
] | Discrete graphs are commonly used to approximately represent configuration spaces used in robot motion planning. This paper explores a representation in which the costs of crossing local regions of the configuration space are represented using piecewise linear regression (PLR). We explore a few simple motion planning problems, and show that for these problems, the memory required to store the repr... |
Relevant Region Exploration On General Cost-maps For Sampling-Based Motion Planning | https://ieeexplore.ieee.org/document/9340806/ | [
"Sagar Suhas Joshi",
"Panagiotis Tsiotras",
"Sagar Suhas Joshi",
"Panagiotis Tsiotras"
] | Asymptotically optimal sampling-based planners require an intelligent exploration strategy to accelerate convergence. After an initial solution is found, a necessary condition for improvement is to generate new samples in the so-called "Informed Set". However, Informed Sampling can be ineffective in focusing search if the chosen heuristic fails to provide a good estimate of the solution cost. This... |
Robot Calligraphy using Pseudospectral Optimal Control in Conjunction with a Novel Dynamic Brush Model | https://ieeexplore.ieee.org/document/9341787/ | [
"Sen Wang",
"Jiaqi Chen",
"Xuanliang Deng",
"Seth Hutchinson",
"Frank Dellaert",
"Sen Wang",
"Jiaqi Chen",
"Xuanliang Deng",
"Seth Hutchinson",
"Frank Dellaert"
] | Chinese calligraphy is a unique art form with great artistic value but difficult to master. In this paper, we formulate the calligraphy writing problem as a trajectory optimization problem, and propose an improved virtual brush model for simulating the real writing process. Our approach is inspired by pseudospectral optimal control in that we parameterize the actuator trajectory for each stroke as... |
Towards General Infeasibility Proofs in Motion Planning | https://ieeexplore.ieee.org/document/9340804/ | [
"Sihui Li",
"Neil T. Dantam",
"Sihui Li",
"Neil T. Dantam"
] | We present a general approach for constructing proofs of motion planning infeasibility. Effective high-dimensional motion planners, such as sampling-based methods, are limited to probabilistic completeness, so when no plan exists, these planners either do not terminate or can only run until a timeout. We address this completeness challenge by augmenting a sampling-based planner with a method to cr... |
Accelerating Bi-Directional Sampling-Based Search for Motion Planning of Non-Holonomic Mobile Manipulators | https://ieeexplore.ieee.org/document/9340782/ | [
"Shantanu Thakar",
"Pradeep Rajendran",
"Hyojeong Kim",
"Ariyan M. Kabir",
"Satyandra K. Gupta",
"Shantanu Thakar",
"Pradeep Rajendran",
"Hyojeong Kim",
"Ariyan M. Kabir",
"Satyandra K. Gupta"
] | Determining a feasible path for nonholonomic mobile manipulators operating in congested environments is challenging. Sampling-based methods, especially bi-directional tree search-based approaches, are amongst the most promising candidates for quickly finding feasible paths. However, sampling uniformly when using these methods may result in high computation time. This paper introduces two technique... |
Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning | https://ieeexplore.ieee.org/document/9341134/ | [
"Ke Dong",
"Karime Pereida",
"Florian Shkurti",
"Angela P. Schoellig",
"Ke Dong",
"Karime Pereida",
"Florian Shkurti",
"Angela P. Schoellig"
] | Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed in slow-motion collaborative robot scenarios. In this paper, we consider scenarios where accurate high-speed motions are required. We introduce a framework for t... |
Informative Path Planning for Gas Distribution Mapping in Cluttered Environments | https://ieeexplore.ieee.org/document/9341781/ | [
"Callum Rhodes",
"Cunjia Liu",
"Wen-Hua Chen",
"Callum Rhodes",
"Cunjia Liu",
"Wen-Hua Chen"
] | Mobile robotic gas distribution mapping (GDM) is a useful tool for hazardous scene assessment where a quick and accurate representation of gas concentration levels is required throughout a staging area. However, research in robotic path planning for GDM has primarily focused on mapping in open spaces or estimating the source term in dispersion models. Whilst this may be appropriate for environment... |
Intent-driven Strategic Tactical Planning for Autonomous Site Inspection using Cooperative Drones | https://ieeexplore.ieee.org/document/9341440/ | [
"Dorian Buksz",
"Anusha Mujumdar",
"Marin Orlić",
"Swarup Mohalik",
"Marios Daoutis",
"Ramamurthy Badrinath",
"Daniele Magazzeni",
"Michael Cashmore",
"Aneta Vulgarakis Feljan",
"Dorian Buksz",
"Anusha Mujumdar",
"Marin Orlić",
"Swarup Mohalik",
"Marios Daoutis",
"Ramamurthy Badrinath",
"Daniele Magazzeni",
"Michael Cashmore",
"Aneta Vulgarakis Feljan"
] | Realization of industry-scale, goal-driven, autonomous systems with AI planning technology faces several challenges: flexibly specifying planning goal states in varying situations, synthesizing plans in large state spaces, re-planning in dynamic situations, and facilitating humans to supervise, give feedback and intervene. In this paper, we present Intent-driven Strategic Tactical Planning (ISTP) ... |
Extended Performance Guarantees for Receding Horizon Search with Terminal Cost | https://ieeexplore.ieee.org/document/9341582/ | [
"Benjamin Biggs",
"Daniel J. Stilwell",
"James McMahon",
"Benjamin Biggs",
"Daniel J. Stilwell",
"James McMahon"
] | The computational difficulty of planning search paths that seek to maximize a general deterministic value function increases dramatically as desired path lengths increase. Mobile search agents with limited computational resources often utilize receding horizon methods to address the path planning problem. Unfortunately, receding horizon planners may perform poorly due to myopic planning horizons. ... |
Path planning for mobile manipulator robots under non-holonomic and task constraints | https://ieeexplore.ieee.org/document/9340760/ | [
"Tommaso Pardi",
"Vamsikrishna Maddali",
"Valerio Ortenzi",
"Rustam Stolkin",
"Naresh Marturi",
"Tommaso Pardi",
"Vamsikrishna Maddali",
"Valerio Ortenzi",
"Rustam Stolkin",
"Naresh Marturi"
] | This paper presents a path planner, which enables a nonholonomic mobile manipulator to move its end-effector on an observed surface with a constrained orientation, given start and destination points. A partial point cloud of the environment is captured using a vision-based sensor, but no prior knowledge of the surface shape is assumed. We consider the multi-objective optimisation problem of findin... |
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