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Fast Sequence Rejection for Multi-Goal Planning with Dubins Vehicle | https://ieeexplore.ieee.org/document/9340644/ | [
"Jan Faigl",
"Petr Váňa",
"Jan Drchal",
"Jan Faigl",
"Petr Váňa",
"Jan Drchal"
] | Multi-goal curvature-constrained planning such as the Dubins Traveling Salesman Problem (DTSP) combines NP-hard combinatorial routing with continuous optimization to determine the optimal vehicle heading angle for each target location. The problem can be addressed as combinatorial routing using a finite set of heading samples at target locations. In such a case, optimal heading samples can be dete... |
Experience-Based Prediction of Unknown Environments for Enhanced Belief Space Planning | https://ieeexplore.ieee.org/document/9340867/ | [
"Omri Asraf",
"Vadim Indelman",
"Omri Asraf",
"Vadim Indelman"
] | Autonomous navigation missions require online decision making abilities, in order to choose from a given set of candidate actions an action that will lead to the best outcome. In a partially observable setting, decision making under uncertainty, also known as belief space planning (BSP), involves reasoning about belief evolution considering realizations of future observations. Yet, when candidate ... |
Anytime Kinodynamic Motion Planning using Region-Guided Search | https://ieeexplore.ieee.org/document/9341349/ | [
"Matthew G. Westbrook",
"Wheeler Ruml",
"Matthew G. Westbrook",
"Wheeler Ruml"
] | Many kinodynamic motion planners have been developed that guarantee probabilistic completeness and asymptotic optimality for systems for which steering functions are available. Recently, some planners have been developed that achieve these properties of completeness and optimality without requiring a steering function. However, these planners have not taken strong advantage of heuristic guidance t... |
MPC-Graph: Feedback Motion Planning Using Sparse Sampling Based Neighborhood Graph | https://ieeexplore.ieee.org/document/9341225/ | [
"O. Kaan Karagoz",
"Simay Atasoy",
"M. Mert Ankarali",
"O. Kaan Karagoz",
"Simay Atasoy",
"M. Mert Ankarali"
] | Robust and safe feedback motion planning and navigation is a critical task for autonomous mobile robotic systems considering the highly dynamic and uncertain nature scenarios of modern applications. For these reasons motion planning and navigation algorithms that have deep roots in feedback control theory has been at the center stage of this domain recently. However, the vast majority of such poli... |
Adaptive Reliable Shortest Path in Gaussian Process Regulated Environments | https://ieeexplore.ieee.org/document/9341736/ | [
"Xuejie HOU",
"Hongliang GUO",
"Yucheng ZHANG",
"Xuejie HOU",
"Hongliang GUO",
"Yucheng ZHANG"
] | This paper studies the adaptive reliable shortest path (RSP) planning problem in a Gaussian process (GP) regulated environment. With the reasonable assumption that the travel times of the underlying transportation network follow a multi-variate Gaussian distribution, we propose two algorithms namely, Gaussian process reactive path planning (GPRPP), and Gaussian process proactive path planning (GP4... |
Exploration of unknown environments with a tethered mobile robot | https://ieeexplore.ieee.org/document/9340993/ | [
"Danylo Shapovalov",
"Guilherme A. S. Pereira",
"Danylo Shapovalov",
"Guilherme A. S. Pereira"
] | This paper presents a tangle-free frontier based exploration algorithm for planar mobile robots equipped with limited length and anchored tethers. After planning a path to the closest point in the frontier between free and unknown space, the robot computes an estimate of the future length of its tether and decides, by comparing the anticipated length with the minimum possible tether length, whethe... |
Completeness Seeking Probabilistic Coverage Estimation using Uncertain State Estimates | https://ieeexplore.ieee.org/document/9340786/ | [
"Aditya Mahajan",
"Stephen Rock",
"Aditya Mahajan",
"Stephen Rock"
] | This paper develops a coverage-centric adaptive path planner to visually survey a planar environment. This is achieved by modifying an existing path planning architecture to use a novel coverage estimation approach called convolved coverage estimation (CCE). The planner maximizes the probability of terrain coverage and exploits terrain features for loop closure to keep path uncertainty in check. T... |
Max orientation coverage: efficient path planning to avoid collisions in the CNC milling of 3D objects | https://ieeexplore.ieee.org/document/9340853/ | [
"Xin Chen",
"Thomas M. Tucker",
"Thomas R. Kurfess",
"Richard Vuduc",
"Liting Hu",
"Xin Chen",
"Thomas M. Tucker",
"Thomas R. Kurfess",
"Richard Vuduc",
"Liting Hu"
] | Most path planning algorithms for covering a complex 3D object ignore physical limitations or constraints on a robot's motion. Adhering to such constraints for a given path can slow down the time to cover the path because the motion may need to be adjusted. This work considers a scenario in computer numerical control (CNC) milling applications, where the robot is a cutting tool that needs to cover... |
Task Planning with Belief Behavior Trees | https://ieeexplore.ieee.org/document/9341562/ | [
"Evgenii Safronov",
"Michele Colledanchise",
"Lorenzo Natale",
"Evgenii Safronov",
"Michele Colledanchise",
"Lorenzo Natale"
] | In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account for the uncertainty that affects both the conditions and action nodes of the BT. The tree gets synthesized following a planning strategy for BTs proposed recentl... |
Cleaning Robot Operation Decision Based on Causal Reasoning and Attribute Learning | https://ieeexplore.ieee.org/document/9340930/ | [
"Yapeng Li",
"Dongbo Zhang",
"Feng Yin",
"Ying Zhang",
"Yapeng Li",
"Dongbo Zhang",
"Feng Yin",
"Ying Zhang"
] | In order to improve the operation ability of cleaning robots, this paper proposes a decision method for cleaning robot’s operation mode. Firstly, we use the hierarchical expression ability of deep network to obtain the attributes of garbage such as state, shape, distribution, size and so on. Then the causal relationship between the attributes and the operation modes can be built by using joint lea... |
Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning | https://ieeexplore.ieee.org/document/9341502/ | [
"Valentin N. Hartmann",
"Ozgur S. Oguz",
"Danny Driess",
"Marc Toussaint",
"Achim Menges",
"Valentin N. Hartmann",
"Ozgur S. Oguz",
"Danny Driess",
"Marc Toussaint",
"Achim Menges"
] | Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design iteration cycles for designers and engineers. However, generic task-and-motion planning (TAMP) for long-horizon construction processes is beyond the capabiliti... |
DeComplex: Task planning from complex natural instructions by a collocating robot | https://ieeexplore.ieee.org/document/9341289/ | [
"Pradip Pramanick",
"Hrishav Bakul Barua",
"Chayan Sarkar",
"Pradip Pramanick",
"Hrishav Bakul Barua",
"Chayan Sarkar"
] | As the number of robots in our daily surroundings like home, office, restaurants, factory floors, etc. are increasing rapidly, the development of natural human-robot interaction mechanism becomes more vital as it dictates the usability and acceptability of the robots. One of the valued features of such a cohabitant robot is that it performs tasks that are instructed in natural language. However, i... |
Leveraging Multiple Environments for Learning and Decision Making: a Dismantling Use Case | https://ieeexplore.ieee.org/document/9341182/ | [
"Alejandro Suárez-Hernández",
"Thierry Gaugry",
"Javier Segovia-Aguas",
"Antonin Bernardin",
"Carme Torras",
"Maud Marchal",
"Guillem Alenyà",
"Alejandro Suárez-Hernández",
"Thierry Gaugry",
"Javier Segovia-Aguas",
"Antonin Bernardin",
"Carme Torras",
"Maud Marchal",
"Guillem Alenyà"
] | Learning is usually performed by observing real robot executions. Physics-based simulators are a good alternative for providing highly valuable information while avoiding costly and potentially destructive robot executions. We present a novel approach for learning the probabilities of symbolic robot action outcomes. This is done leveraging different environments, such as physics-based simulators, ... |
Multi-Robot Task Allocation with Time Window and Ordering Constraints | https://ieeexplore.ieee.org/document/9341247/ | [
"Elina Suslova",
"Pooyan Fazli",
"Elina Suslova",
"Pooyan Fazli"
] | The multi-robot task allocation problem comprises task assignment, coalition formation, task scheduling, and routing. We extend the distributed constraint optimization problem (DCOP) formalism to allocate tasks to a team of robots. The tasks have time window and ordering constraints. Each robot creates a simple temporal network to maintain the tasks in its schedule. The proposed layered framework,... |
Optimal Robot Motion Planning in Constrained Workspaces Using Reinforcement Learning | https://ieeexplore.ieee.org/document/9341148/ | [
"Panagiotis Rousseas",
"Charalampos P. Bechlioulis",
"Kostas J. Kyriakopoulos",
"Panagiotis Rousseas",
"Charalampos P. Bechlioulis",
"Kostas J. Kyriakopoulos"
] | In this work, a novel solution to the optimal motion planning problem is proposed, through a continuous, deterministic and provably correct approach, with guaranteed safety and which is based on a parametrized Artificial Potential Field (APF). In particular, Reinforcement Learning (RL) is applied to adjust appropriately the parameters of the underlying potential field towards minimizing the Hamilt... |
Learning to Use Adaptive Motion Primitives in Search-Based Planning for Navigation | https://ieeexplore.ieee.org/document/9341055/ | [
"Raghav Sood",
"Shivam Vats",
"Maxim Likhachev",
"Raghav Sood",
"Shivam Vats",
"Maxim Likhachev"
] | Heuristic-based graph search algorithms like A* are frequently used to solve motion planning problems in many domains. For most practical applications, it is infeasible and unnecessary to pre-compute the graph representing the whole search space. Instead, these algorithms generate the graph incrementally by applying a fixed set of actions (frequently called motion primitives) to find the successor... |
Adaptive Dynamic Window Approach for Local Navigation | https://ieeexplore.ieee.org/document/9340927/ | [
"Matej Dobrevski",
"Danijel Skočaj",
"Matej Dobrevski",
"Danijel Skočaj"
] | Local navigation is an essential ability of any mobile robot working in a real-world environment. One of the most commonly used methods for local navigation is the Dynamic Window Approach (DWA), which heavily depends on the settings of the parameters in its cost function. Since the optimal choice of the parameters depends on the environment that may significantly vary and change at any time, the p... |
Dynamically Constrained Motion Planning Networks for Non-Holonomic Robots | https://ieeexplore.ieee.org/document/9341283/ | [
"Jacob J. Johnson",
"Linjun Li",
"Fei Liu",
"Ahmed H. Qureshi",
"Michael C. Yip",
"Jacob J. Johnson",
"Linjun Li",
"Fei Liu",
"Ahmed H. Qureshi",
"Michael C. Yip"
] | Reliable real-time planning for robots is essential in today's rapidly expanding automated ecosystem. In such environments, traditional methods that plan by relaxing constraints become unreliable or slow-down for kinematically constrained robots. This paper describes the algorithm Dynamic Motion Planning Networks (Dynamic MPNet), an extension to Motion Planning Networks, for non-holonomic robots t... |
DeepMNavigate: Deep Reinforced Multi-Robot Navigation Unifying Local & Global Collision Avoidance | https://ieeexplore.ieee.org/document/9341805/ | [
"Qingyang Tan",
"Tingxiang Fan",
"Jia Pan",
"Dinesh Manocha",
"Qingyang Tan",
"Tingxiang Fan",
"Jia Pan",
"Dinesh Manocha"
] | We present a novel algorithm (DeepMNavigate) for global multi-agent navigation in dense scenarios using deep reinforcement learning (DRL). Our approach uses local and global information for each robot from motion information maps. We use a three-layer CNN that takes these maps as input to generate a suitable action to drive each robot to its goal position. Our approach is general, learns an optima... |
Collision-Free Distributed Multi-Target Tracking Using Teams of Mobile Robots with Localization Uncertainty | https://ieeexplore.ieee.org/document/9341126/ | [
"Jun Chen",
"Philip Dames",
"Jun Chen",
"Philip Dames"
] | Accurately tracking dynamic targets relies on robots accounting for uncertainties in their own states to share information and maintain safety. The problem becomes even more challenging when there is an unknown and time-varying number of targets in the environment. In this paper we address this problem by introducing four new distributed algorithms that allow large teams of robots to: i) run the p... |
Augmenting Control Policies with Motion Planning for Robust and Safe Multi-robot Navigation | https://ieeexplore.ieee.org/document/9341153/ | [
"Tianyang Pan",
"Christos K. Verginis",
"Andrew M. Wells",
"Lydia E. Kavraki",
"Dimos V. Dimarogonas",
"Tianyang Pan",
"Christos K. Verginis",
"Andrew M. Wells",
"Lydia E. Kavraki",
"Dimos V. Dimarogonas"
] | This work proposes a novel method of incorporating calls to a motion planner inside a potential field control policy for safe multi-robot navigation with uncertain dynamics. The proposed framework can handle more general scenes than the control policy and has low computational costs. Our work is robust to uncertain dynamics and quickly finds high-quality paths in scenarios generated from real-worl... |
Lloyd-based Approach for Robots Navigation in Human-shared environments | https://ieeexplore.ieee.org/document/9341272/ | [
"Manuel Boldrer",
"Luigi Palopoli",
"Daniele Fontanelli",
"Manuel Boldrer",
"Luigi Palopoli",
"Daniele Fontanelli"
] | We present a Lloyd-based navigation solution for robots that are required to move in a dynamic environment, where static obstacles (e.g, furnitures, parked cars) and unpredicted moving obstacles (e.g., humans, other robots) have to be detected and avoided on the fly. The algorithm can be computed in real-time and falls in the category of the reactive methods. Moreover, we propose an extension to t... |
Multi-Agent Path Planning Under Observation Schedule Constraints | https://ieeexplore.ieee.org/document/9340747/ | [
"Ziqi Yang",
"Roberto Tron",
"Ziqi Yang",
"Roberto Tron"
] | We consider the problem of enhanced security of multi-robot systems to prevent cyber-attackers from taking control of one or more robots in the group. We build upon a recently proposed solution that utilizes the physical measurement capabilities of the robots to perform introspection, i.e., detect the malicious actions of compromised agents using other members of the group. In particular, the prop... |
Game-Theoretic Planning for Risk-Aware Interactive Agents | https://ieeexplore.ieee.org/document/9341137/ | [
"Mingyu Wang",
"Negar Mehr",
"Adrien Gaidon",
"Mac Schwager",
"Mingyu Wang",
"Negar Mehr",
"Adrien Gaidon",
"Mac Schwager"
] | Modeling the stochastic behavior of interacting agents is key for safe motion planning. In this paper, we study the interaction of risk-aware agents in a game-theoretical framework. Under the entropic risk measure, we derive an iterative algorithm for approximating the intractable feedback Nash equilibria of a risk-sensitive dynamic game. We use an iteratively linearized approximation of the syste... |
Energy Autonomy for Resource-Constrained Multi Robot Missions | https://ieeexplore.ieee.org/document/9341455/ | [
"Hassan Fouad",
"Giovanni Beltrame",
"Hassan Fouad",
"Giovanni Beltrame"
] | One of the key factors for extended autonomy and resilience of multi-robot systems, especially when robots operate on batteries, is their ability to maintain energy sufficiency by recharging when needed. In situations with limited access to charging facilities, robots need to be able to share and coordinate recharging activities, with guarantees that no robot will run out of energy. In this work, ... |
Improving Autonomous Rover Guidance in Round-Trip Missions Using a Dynamic Cost Map | https://ieeexplore.ieee.org/document/9340912/ | [
"G.J. Paz-Delgado",
"M. Azkarate",
"J. R. Sánchez-Ibáñez",
"C.J. Pérez-del-Pulgar",
"L. Gerdes",
"A.J. García-Cerezo",
"G.J. Paz-Delgado",
"M. Azkarate",
"J. R. Sánchez-Ibáñez",
"C.J. Pérez-del-Pulgar",
"L. Gerdes",
"A.J. García-Cerezo"
] | Autonomous round trip missions arise as an interesting topic since ESA and NASA agreed to bring soil samples from Mars. This work proposes a new method to improve autonomous rover guidance for this kind of missions. It is focused on the use of dynamically updated cost maps that are used to plan the rover path for a round-trip. The main advantage of the proposed method is the use of gathered inform... |
A Comprehensive Trajectory Planner for a Person-Following ATV | https://ieeexplore.ieee.org/document/9341717/ | [
"Huckleberry Febbo",
"Jiawei Huang",
"David Isele",
"Huckleberry Febbo",
"Jiawei Huang",
"David Isele"
] | This paper presents a trajectory planning algorithm for person following that is more comprehensive than existing algorithms. This algorithm is tailored for a front-wheel-steered vehicle, is designed to follow a person while avoiding collisions with both static and moving obstacles, simultaneously optimizing speed and steering, and minimizing control effort. This algorithm uses nonlinear model pre... |
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion | https://ieeexplore.ieee.org/document/9340761/ | [
"H. J. Terry Suh",
"Xiaobin Xiong",
"Andrew Singletary",
"Aaron D. Ames",
"Joel W. Burdick",
"H. J. Terry Suh",
"Xiaobin Xiong",
"Andrew Singletary",
"Aaron D. Ames",
"Joel W. Burdick"
] | Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion trajectories using approximate dynamic programming. We formulate this problem as a shortest-path search through a state-space graph, where the edge cost is assigned as opt... |
Navigation on the Line: Traversability Analysis and Path Planning for Extreme-Terrain Rappelling Rovers | https://ieeexplore.ieee.org/document/9341409/ | [
"Michael Paton",
"Marlin P. Strub",
"Travis Brown",
"Rebecca J. Greene",
"Jacob Lizewski",
"Vandan Patel",
"Jonathan D. Gammell",
"Issa A. D. Nesnas",
"Michael Paton",
"Marlin P. Strub",
"Travis Brown",
"Rebecca J. Greene",
"Jacob Lizewski",
"Vandan Patel",
"Jonathan D. Gammell",
"Issa A. D. Nesnas"
] | Many areas of scientific interest in planetary exploration, such as lunar pits, icy-moon crevasses, and Martian craters, are inaccessible to current wheeled rovers. Rappelling rovers can safely traverse these steep surfaces, but require techniques to navigate their complex terrain. This dynamic navigation is inherently time-critical and communication constraints (e.g. delays and small communicatio... |
PC-NBV: A Point Cloud Based Deep Network for Efficient Next Best View Planning | https://ieeexplore.ieee.org/document/9340916/ | [
"Rui Zeng",
"Wang Zhao",
"Yong-Jin Liu",
"Rui Zeng",
"Wang Zhao",
"Yong-Jin Liu"
] | The Next Best View (NBV) problem is important in the active robotic reconstruction. It enables the robot system to perform scanning actions in a reasonable view sequence, and fulfil the reconstruction task in an effective way. Previous works mainly follow the volumetric methods, which convert the point cloud information collected by sensors into a voxel representation space and evaluate candidate ... |
Reactive Receding Horizon Planning and Control for Quadrotors with Limited On-Board Sensing | https://ieeexplore.ieee.org/document/9341306/ | [
"Indrajeet Yadav",
"Herbert G. Tanner",
"Indrajeet Yadav",
"Herbert G. Tanner"
] | The paper presents a receding horizon planning strategy for a quadrotor-type mav to navigate through an unknown cluttered environment at high speed. Utilizing a lightweight on-board short-range sensor that generates point-clouds within a narrow Field of View (FOV), the reported approach generates safe and dynamically feasible trajectories within the fov of the sensor, which the mav uses to navigat... |
Motion Planning for Collision-resilient Mobile Robots in Obstacle-cluttered Unknown Environments with Risk Reward Trade-offs | https://ieeexplore.ieee.org/document/9341449/ | [
"Zhouyu Lu",
"Zhichao Liu",
"Gustavo J. Correa",
"Konstantinos Karydis",
"Zhouyu Lu",
"Zhichao Liu",
"Gustavo J. Correa",
"Konstantinos Karydis"
] | Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided altogether. To this end, we introduce a new sampling-based online planning algorithm that can explicitly handle the risk of colliding with the environment and can swit... |
Localization Uncertainty-driven Adaptive Framework for Controlling Ground Vehicle Robots | https://ieeexplore.ieee.org/document/9341427/ | [
"Daniel Kent",
"Philip K. McKinley",
"Hayder Radha",
"Daniel Kent",
"Philip K. McKinley",
"Hayder Radha"
] | Modern localization techniques allow ground vehicle robots to determine their position with centimeter-level accuracy under nominal conditions, enabling them to utilize fixed maps to navigate their environments. However, when localization measurements become unavailable, the position accuracy will drop and uncertainty will increase. While research and development on localization estimation seeks t... |
Skill-based Programming Framework for Composable Reactive Robot Behaviors | https://ieeexplore.ieee.org/document/9340985/ | [
"Yudha Pane",
"Erwin Aertbeliën",
"Joris De Schutter",
"Wilm Decré",
"Yudha Pane",
"Erwin Aertbeliën",
"Joris De Schutter",
"Wilm Decré"
] | This paper introduces a constraint-based skill framework for programming robot applications. Existing skill frameworks allow application developers to reuse skills and compose them sequentially or in parallel. However, they typically assume that the skills are running independently and in a nominal condition. This limitation hinders their applications for more involved and realistic scenarios e.g.... |
Expedited Multi-Target Search with Guaranteed Performance via Multi-fidelity Gaussian Processes | https://ieeexplore.ieee.org/document/9341395/ | [
"Lai Wei",
"Xiaobo Tan",
"Vaibhav Srivastava",
"Lai Wei",
"Xiaobo Tan",
"Vaibhav Srivastava"
] | We consider a scenario in which an autonomous vehicle equipped with a downward facing camera operates in a 3D environment and is tasked with searching for an unknown number of stationary targets on the 2D floor of the environment. The key challenge is to minimize the search time while ensuring a high detection accuracy. We model the sensing field using a multi-fidelity Gaussian process that system... |
Adversarial Generation of Informative Trajectories for Dynamics System Identification | https://ieeexplore.ieee.org/document/9340801/ | [
"Marija Jegorova",
"Joshua Smith",
"Michael Mistry",
"Timothy Hospedales",
"Marija Jegorova",
"Joshua Smith",
"Michael Mistry",
"Timothy Hospedales"
] | Dnamic System Identification approaches usually heavily rely on evolutionary and gradient-based optimisation techniques to produce optimal excitation trajectories for determining the physical parameters of robot platforms. Current optimisation techniques tend to generate single trajectories. This is expensive, and intractable for longer trajectories, thus limiting their efficacy for system identif... |
Target Tracking Control of a Wheel-less Snake Robot Based on a Supervised Multi-layered SNN | https://ieeexplore.ieee.org/document/9341520/ | [
"Zhuangyi Jiang",
"Richard Otto",
"Zhenshan Bing",
"Kai Huang",
"Alois Knoll",
"Zhuangyi Jiang",
"Richard Otto",
"Zhenshan Bing",
"Kai Huang",
"Alois Knoll"
] | The snake-like robot without wheels is a bio-inspired robot whose high degree of freedom results in a challenge in autonomous locomotion control. The use of a Spiking Neural Network (SNN) which is a biologically plausible artificial neural network can help to achieve the autonomous locomotion behavior of snake robots in an energy-efficient manner. Approaches that use an SNN without hidden layers h... |
CAZSL: Zero-Shot Regression for Pushing Models by Generalizing Through Context | https://ieeexplore.ieee.org/document/9340858/ | [
"Wenyu Zhang",
"Skyler Seto",
"Devesh K. Jha",
"Wenyu Zhang",
"Skyler Seto",
"Devesh K. Jha"
] | Learning accurate models of the physical world is required for a lot of robotic manipulation tasks. However, during manipulation, robots are expected to interact with un-known workpieces so that building predictive models which can generalize over a number of these objects is highly desirable. In this paper, we study the problem of designing deep learning agents which can generalize their models o... |
Synthesis of Control Barrier Functions Using a Supervised Machine Learning Approach | https://ieeexplore.ieee.org/document/9341190/ | [
"Mohit Srinivasan",
"Amogh Dabholkar",
"Samuel Coogan",
"Patricio A. Vela",
"Mohit Srinivasan",
"Amogh Dabholkar",
"Samuel Coogan",
"Patricio A. Vela"
] | Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance demands can be achieved for robotics applications. Prevailing use has assumed full knowledge of the safety barrier functions, however there are cases where the s... |
Variable Stiffness Control with Strict Frequency Domain Constraints for Physical Human-Robot Interaction | https://ieeexplore.ieee.org/document/9340895/ | [
"Wulin Zou",
"Pu Duan",
"Yawen Chen",
"Ningbo Yu",
"Ling Shi",
"Wulin Zou",
"Pu Duan",
"Yawen Chen",
"Ningbo Yu",
"Ling Shi"
] | Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain constraints. Firstly, to reduce conservativeness, we characterize and constrain the impedance rendering, actuator saturation, disturbance/noise rejection and pas... |
An Energy-based Approach for the Integration of Collaborative Redundant Robots in Restricted Work Environments | https://ieeexplore.ieee.org/document/9341561/ | [
"Sebastian Hjorth",
"Johannes Lachner",
"Stefano Stramigioli",
"Ole Madsen",
"Dimitrios Chrysostomou",
"Sebastian Hjorth",
"Johannes Lachner",
"Stefano Stramigioli",
"Ole Madsen",
"Dimitrios Chrysostomou"
] | To this day, most robots are installed behind safety fences, separated from the human. New use-case scenarios demand for collaborative robots, e.g. to assist the human with physically challenging tasks. These robots are mainly installed in work-environments with limited space, e.g. existing production lines. This brings certain challenges for the control of such robots. The presented work addresse... |
Passivity Filter for Variable Impedance Control | https://ieeexplore.ieee.org/document/9340758/ | [
"Maciej Bednarczyk",
"Hassan Omran",
"Bernard Bayle",
"Maciej Bednarczyk",
"Hassan Omran",
"Bernard Bayle"
] | While impedance control is one of the most commonly used strategies for robot interaction control, variable impedance control is a more recent preoccupation. If designing impedance control with varying parameters allows increasing the system flexibility and dexterity, it is still a challenging issue, as it may result in a loss of passivity of the control system. This has an important impact on the... |
A frequency-dependent impedance controller for an active-macro/passive-mini robotic system | https://ieeexplore.ieee.org/document/9341693/ | [
"Nicolas Badeau",
"Clément Gosselin",
"Nicolas Badeau",
"Clément Gosselin"
] | This paper presents an alternative impedance controller for a macro-mini robotic system in which the mini robot is unactuated. The approach is verified experimentally on a simple two-degree-of-freedom macro-mini robot. The dynamic analysis of the robot is first presented. Then, a standard impedance controller is derived and analysed. Such a controller is shown to be experimentally unstable when us... |
Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework | https://ieeexplore.ieee.org/document/9340703/ | [
"Chiara Gabellieri",
"Yuri S Sarkisov",
"Andre Coelho",
"Lucia Pallottino",
"Konstantin Kondak",
"Min Jun Kim",
"Chiara Gabellieri",
"Yuri S Sarkisov",
"Andre Coelho",
"Lucia Pallottino",
"Konstantin Kondak",
"Min Jun Kim"
] | Aerial robotic manipulation is an emergent trend that poses several challenges. To overcome some of these, the DLR cable-Suspended Aerial Manipulator (SAM) has been envisioned. SAM is composed of a fully actuated multi-rotor anchored to a main carrier through a cable and a KUKA LWR attached below the multi-rotor. This work presents a control method to allow SAM, which is a holonomically constraine... |
Dual-Arm Control for Enhanced Magnetic Manipulation | https://ieeexplore.ieee.org/document/9341250/ | [
"Giovanni Pittiglio",
"James H. Chandler",
"Michiel Richter",
"Venkatasubramanian K. Venkiteswaran",
"Sarthak Misra",
"Pietro Valdastri",
"Giovanni Pittiglio",
"James H. Chandler",
"Michiel Richter",
"Venkatasubramanian K. Venkiteswaran",
"Sarthak Misra",
"Pietro Valdastri"
] | Magnetically actuated soft robots have recently been identified for application in medicine, due to their potential to perform minimally invasive exploration of human cavities. Magnetic solutions permit further miniaturization when compared to other actuation techniques, without loss in functionalities. Our long-term goal is to propose a novel actuation method for magnetically actuated soft robots... |
Formalization of Robot Skills with Descriptive and Operational Models | https://ieeexplore.ieee.org/document/9340698/ | [
"Charles Lesire",
"David Doose",
"Christophe Grand",
"Charles Lesire",
"David Doose",
"Christophe Grand"
] | In this paper, we propose a formal language to specify robot skills, i.e. the elementary behaviours or functions provided by the robot platform in order to perform an autonomous mission. The advantage of the language we propose is that it integrates a wide range of elements that allows to define and provide automatic translation both to operational models, used online to control the skill executio... |
STORM: Screw Theory Toolbox For Robot Manipulator and Mechanisms | https://ieeexplore.ieee.org/document/9340991/ | [
"Keerthi Sagar",
"Vishal Ramadoss",
"Dimiter Zlatanov",
"Matteo Zoppi",
"Keerthi Sagar",
"Vishal Ramadoss",
"Dimiter Zlatanov",
"Matteo Zoppi"
] | Screw theory is a powerful mathematical tool for the kinematic analysis of mechanisms and has become a cornerstone of modern kinematics. Although screw theory has rooted itself as a core concept, there is a lack of generic software tools for visualization of the geometric pattern of the screw elements. This paper presents STORM, an educational and research oriented framework for analysis and visua... |
Model-Based Specification of Control Architectures for Compliant Interaction with the Environment | https://ieeexplore.ieee.org/document/9340718/ | [
"Dennis Leroy Wigand",
"Niels Dehio",
"Sebastian Wrede",
"Dennis Leroy Wigand",
"Niels Dehio",
"Sebastian Wrede"
] | In recent years the need for manipulation tasks in the industrial as well as in the service robotics domain that require compliant interaction with the environment rose. Since then, an increased number of publications use a model-driven approach to describe these tasks. High-level tasks and sequences of skills are coordinated to achieve a desired motion for e.g., screwing, polishing, or snap mount... |
Verification of system-wide safety properties of ROS applications | https://ieeexplore.ieee.org/document/9341085/ | [
"Renato Carvalho",
"Alcino Cunha",
"Nuno Macedo",
"André Santos",
"Renato Carvalho",
"Alcino Cunha",
"Nuno Macedo",
"André Santos"
] | Robots are currently deployed in safety-critical domains but proper techniques to assess the functional safety of their software are yet to be adopted. This is particularly critical in ROS, where highly configurable robots are built by composing third-party modules. To promote adoption, we advocate the use of lightweight formal methods, automatic techniques with minimal user input and intuitive fe... |
Basic Implementation of FPGA-GPU Dual SoC Hybrid Architecture for Low-Latency Multi-DOF Robot Motion Control | https://ieeexplore.ieee.org/document/9341602/ | [
"Yuya Nagamatsu",
"Fumihito Sugai",
"Kei Okada",
"Masayuki Inaba",
"Yuya Nagamatsu",
"Fumihito Sugai",
"Kei Okada",
"Masayuki Inaba"
] | This paper describes basic implementation of an embedded controller board based on a hybrid architecture equipped with an Intel FPGA SoC and an NVIDIA GPU SoC. Embedded distributed network involving motor-drivers or other embedded boards is constructed with low-latency optical transmission link. The central controller for high-level motion planning is connected via Gigabit Ethernet. The controller... |
Identification of Dynamic Parameters for Rigid Robots based on Polynomial Approximation | https://ieeexplore.ieee.org/document/9341195/ | [
"Alexander Lomakin",
"Joachim Deutscher",
"Alexander Lomakin",
"Joachim Deutscher"
] | In this paper an approach for the identification of the dynamic parameters, i.e. base parameters, of rigid robots is presented. By using the polynomial approximation operator, an equation is obtained for the identification of the parameters which solely depends on measurable signals and thereby contains no equation error. The resulting expressions can be evaluated online or offline by filtering th... |
Nonlinear Balance Control of an Unmanned Bicycle: Design and Experiments | https://ieeexplore.ieee.org/document/9341150/ | [
"Leilei Cui",
"Shuai Wang",
"Jie Lai",
"Xiangyu Chen",
"Sicheng Yang",
"Zhengyou Zhang",
"Zhong-Ping Jiang",
"Leilei Cui",
"Shuai Wang",
"Jie Lai",
"Xiangyu Chen",
"Sicheng Yang",
"Zhengyou Zhang",
"Zhong-Ping Jiang"
] | In this paper, nonlinear control techniques are exploited to balance an unmanned bicycle with enlarged stability domain. We consider two cases. For the first case when the autonomous bicycle is balanced by the flywheel, the steering angle is set to zero, and the torque of the flywheel is used as the control input. The controller is designed based on the Interconnection and Damping Assignment Passi... |
Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Graph Approach | https://ieeexplore.ieee.org/document/9341763/ | [
"Daniele Ludovico",
"Paolo Guardiani",
"Alessandro Pistone",
"Jinoh Lee",
"Ferdinando Cannella",
"Darwin G. Caldwell",
"Carlo Canali",
"Daniele Ludovico",
"Paolo Guardiani",
"Alessandro Pistone",
"Jinoh Lee",
"Ferdinando Cannella",
"Darwin G. Caldwell",
"Carlo Canali"
] | Cable-driven joints proved to be an effective solution in a wide variety of applications ranging from medical to industrial fields where light structures, interaction with unstructured and constrained environments and precise motion are required. These requirements are achieved by moving the actuators from joints to the robot chassis. Despite these positive properties a cable-driven robotic arm re... |
Cross Scene Prediction via Modeling Dynamic Correlation using Latent Space Shared Auto-Encoders | https://ieeexplore.ieee.org/document/9341015/ | [
"Shaochi Hu",
"Donghao Xu",
"Huijing Zhao",
"Shaochi Hu",
"Donghao Xu",
"Huijing Zhao"
] | This work addresses on the following problem: given a set of unsynchronized history observations of two scenes that are correlative on their dynamic changes, the purpose is to learn a cross-scene predictor, so that with the observation of one scene, a robot can onlinely predict the dynamic state of the other. A method is proposed to solve the problem via modeling dynamic correlation using latent s... |
Dynamic Parameter Estimation Utilizing Optimized Trajectories | https://ieeexplore.ieee.org/document/9341518/ | [
"Argtim Tika",
"Jonas Ulmen",
"Naim Bajcinca",
"Argtim Tika",
"Jonas Ulmen",
"Naim Bajcinca"
] | We suggest a procedure for dynamic parameter estimation of serial robot manipulators. Its basic idea relies on the synthesis of an optimal manipulation trajectory, which is based on properly introduced parameter aggregates to ensure a collection of numerically well-conditioned data-sets, yielding an accurate computation of parameter estimates. The optimal trajectory itself is computed by using a m... |
Assessment of Soil Strength using a Robotically Deployed and Retrieved Penetrometer | https://ieeexplore.ieee.org/document/9341424/ | [
"Victor M. Baez",
"Ami Shah",
"Samuel Akinwande",
"Navid H. Jafari",
"Aaron T. Becker",
"Victor M. Baez",
"Ami Shah",
"Samuel Akinwande",
"Navid H. Jafari",
"Aaron T. Becker"
] | This paper presents a method for performing free-fall penetrometer tests for soft soils using an instrumented dart deployed by a quadcopter. Tests were performed with three soil types and used to examine the effect of drop height on the penetration depth and the deceleration profile. Further tests analyzed the force required to remove a dart from the soil and the effect of pulling at different spe... |
Guaranteed Parameter Estimation of Hunt-Crossley Model with Chebyshev Polynomial Approximation for Teleoperation | https://ieeexplore.ieee.org/document/9341115/ | [
"Daniel Budolak",
"Alexander Leonessa",
"Daniel Budolak",
"Alexander Leonessa"
] | In haptic time delayed teleoperation as the time delay from the communication channel increases, teleoperation system stability and performance degrade. To increase performance and provide better stability margins, various estimation methods and observers have been implemented in literature to more accurately capture the force exerted by the remote system. Previously, solutions focused on environm... |
Practical Verification of Neural Network Enabled State Estimation System for Robotics | https://ieeexplore.ieee.org/document/9340720/ | [
"Wei Huang",
"Yifan Zhou",
"Youcheng Sun",
"James Sharp",
"Simon Maskell",
"Xiaowei Huang",
"Wei Huang",
"Yifan Zhou",
"Youcheng Sun",
"James Sharp",
"Simon Maskell",
"Xiaowei Huang"
] | We study for the first time the verification problem on learning-enabled state estimation systems for robotics, which use Bayes filter for localisation, and use deep neural network to process sensory input into observations for the Bayes filter. Specifically, we are interested in a robustness property of the systems: given a certain ability to an adversary for it to attack the neural network witho... |
Markov Decision Processes with Unknown State Feature Values for Safe Exploration using Gaussian Processes | https://ieeexplore.ieee.org/document/9341589/ | [
"Matthew Budd",
"Bruno Lacerda",
"Paul Duckworth",
"Andrew West",
"Barry Lennox",
"Nick Hawes",
"Matthew Budd",
"Bruno Lacerda",
"Paul Duckworth",
"Andrew West",
"Barry Lennox",
"Nick Hawes"
] | When exploring an unknown environment, a mobile robot must decide where to observe next. It must do this whilst minimising the risk of failure, by only exploring areas that it expects to be safe. In this context, safety refers to the robot remaining in regions where critical environment features (e.g. terrain steepness, radiation levels) are within ranges the robot is able to tolerate. More specif... |
Contact Localization using Velocity Constraints | https://ieeexplore.ieee.org/document/9341751/ | [
"Sean Wang",
"Ankit Bhatia",
"Matthew T. Mason",
"Aaron M. Johnson",
"Sean Wang",
"Ankit Bhatia",
"Matthew T. Mason",
"Aaron M. Johnson"
] | Localizing contacts and collisions is an important aspect of failure detection and recovery for robots and can aid perception and exploration of the environment. Contrary to state-of-the-art methods that rely on forces and torques measured on the robot, this paper proposes a kinematic method for proprioceptive contact localization on compliant robots using velocity measurements. The method is vali... |
A Flexible Dual-Core Optical Waveguide Sensor for Simultaneous and Continuous Measurement of Contact Force and Position | https://ieeexplore.ieee.org/document/9341573/ | [
"Zhong Zhang",
"Yu Zheng",
"Jia Pan",
"Xiong Li",
"Kaiwei Li",
"Zhengyou Zhang",
"Zhong Zhang",
"Yu Zheng",
"Jia Pan",
"Xiong Li",
"Kaiwei Li",
"Zhengyou Zhang"
] | Having the merits of chemical inertness and immunity to electromagnetic interference, light weight, small size, and softness, optical waveguides have attracted much attention in making tactile sensors recently. This paper presents a new design of waveguide using two layers of cores, one of which has an uniform width and the other has an incremental width. It is deduced and verified that the contac... |
Bi-Modal Hemispherical Sensors for Dynamic Locomotion and Manipulation | https://ieeexplore.ieee.org/document/9341543/ | [
"Lindsay Epstein",
"Andrew SaLoutos",
"Donghyun Kim",
"Sangbae Kim",
"Lindsay Epstein",
"Andrew SaLoutos",
"Donghyun Kim",
"Sangbae Kim"
] | The ability to measure multi-axis contact forces and contact surface normals in real time is critical to allow robots to improve their dexterous manipulation and locomotion abilities. This paper presents a new fingertip sensor for 3-axis contact force and contact location detection, as well as improvements on an existing footpad sensor through use of a new artificial neural network estimator. The ... |
Model Predictive Position and Force Trajectory Tracking Control for Robot-Environment Interaction | https://ieeexplore.ieee.org/document/9341168/ | [
"Tobias Gold",
"Andreas Völz",
"Knut Graichen",
"Tobias Gold",
"Andreas Völz",
"Knut Graichen"
] | The development of modern sensitive lightweight robots allows the use of robot arms in numerous new scenarios. Especially in applications where interaction between the robot and an object is desired, e.g. in assembly, conventional purely position-controlled robots fail. Former research has focused, among others, on control methods that center on robot-environment interaction. However, these method... |
Learning-based Optimization Algorithms Combining Force Control Strategies for Peg-in-Hole Assembly | https://ieeexplore.ieee.org/document/9341678/ | [
"Peng Zou",
"Qiuguo Zhu",
"Jun Wu",
"Rong Xiong",
"Peng Zou",
"Qiuguo Zhu",
"Jun Wu",
"Rong Xiong"
] | In this paper, an approach for automatic peg-in-hole assembly is proposed. The task is divided into two main steps: searching phase and inserting phase. First, a multilayer perceptron network is designed to address the hole search problem and a hybrid force position controller is introduced to ensure a safe and stable interaction with the external environment. Then, for the inserting phase, a vari... |
A Variable Impedance Control Strategy for Object Manipulation Considering Non–Rigid Grasp | https://ieeexplore.ieee.org/document/9341725/ | [
"Michalis Logothetis",
"George C. Karras",
"Konstantinos Alevizos",
"Kostas J. Kyriakopoulos",
"Michalis Logothetis",
"George C. Karras",
"Konstantinos Alevizos",
"Kostas J. Kyriakopoulos"
] | This paper presents a novel control strategy for the compensation of the slippage effect during non-rigidly grasped object manipulation. A detailed dynamic model of the interconnected system composed of the robotic manipulator, the object and the internal forces and torques induced by the slippage effect is provided. Next, we design a model-based variable impedance control scheme, in order to achi... |
Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton | https://ieeexplore.ieee.org/document/9341054/ | [
"Yves Zimmermann",
"Emek Barış Küçüktabak",
"Farbod Farshidian",
"Robert Riener",
"Marco Hutter",
"Yves Zimmermann",
"Emek Barış Küçüktabak",
"Farbod Farshidian",
"Robert Riener",
"Marco Hutter"
] | A high-quality free-motion rendering is one of the most vital traits to achieve an immersive human-robot interaction. Rendering free-motion is notably challenging for rehabilitation exoskeletons due to their relatively high weight and powerful actuators required for strength training and support. In the presence of dynamic human movements, accurate feedback linearization of the robot's dynamics is... |
Redundancy resolution under hard joint constraints: a generalized approach to rank updates | https://ieeexplore.ieee.org/document/9341581/ | [
"Anton Ziese",
"Mario D. Fiore",
"Jan Peters",
"Uwe E. Zimmermann",
"Jürgen Adamy",
"Anton Ziese",
"Mario D. Fiore",
"Jan Peters",
"Uwe E. Zimmermann",
"Jürgen Adamy"
] | The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics have also increased the demand for efficient control algorithms. The unstructured environment these robots operate in often impose constraints on the joint motion, an important type being the joint limits of the robot itself. These circumstances demand control algo... |
Feedback Whole-Body Control of Wheeled Inverted Pendulum Humanoids Using Operational Space | https://ieeexplore.ieee.org/document/9341197/ | [
"Muhammad Ali Murtaza",
"Vahid Azimi",
"Seth Hutchinson",
"Muhammad Ali Murtaza",
"Vahid Azimi",
"Seth Hutchinson"
] | We present a hierarchical framework for trajectory optimization and optimal feedback whole-body control of wheeled inverted pendulum (WIP) humanoid robot. The framework extends rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) to operational space for controlling WIP humanoid robots while utilizing a hierarchical framework to compute an optimal policy. The upper level of the h... |
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections | https://ieeexplore.ieee.org/document/9341788/ | [
"Henrique Ferrolho",
"Wolfgang Merkt",
"Vladimir Ivan",
"Wouter Wolfslag",
"Sethu Vijayakumar",
"Henrique Ferrolho",
"Wolfgang Merkt",
"Vladimir Ivan",
"Wouter Wolfslag",
"Sethu Vijayakumar"
] | This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics... |
Learning an Optimal Sampling Distribution for Efficient Motion Planning | https://ieeexplore.ieee.org/document/9341245/ | [
"Richard Cheng",
"Krishna Shankar",
"Joel W. Burdick",
"Richard Cheng",
"Krishna Shankar",
"Joel W. Burdick"
] | Sampling-based motion planners (SBMP) are commonly used to generate motion plans by incrementally constructing a search tree through a robot's configuration space. For high degree-of-freedom systems, sampling is often done in a lower-dimensional space, with a steering function responsible for local planning in the higher-dimensional configuration space. However, for highly-redundant systems with c... |
A Topological Approach to Path Planning for a Magnetic Millirobot | https://ieeexplore.ieee.org/document/9341740/ | [
"Ariella Mansfield",
"Dhanushka Kularatne",
"Edward Steager",
"M. Ani Hsieh",
"Ariella Mansfield",
"Dhanushka Kularatne",
"Edward Steager",
"M. Ani Hsieh"
] | We present a path planning strategy for a magnetic millirobot where the nonlinearities in the external magnetic force field (MFF) are encoded in the graph used for planning. The strategy creates a library of candidate MFFs and characterizes their topologies by identifying the unstable manifolds in the workspace. The path planning problem is then posed as a graph search problem where the computed p... |
Optimizing coordinate choice for locomotion systems with toroidal shape spaces | https://ieeexplore.ieee.org/document/9341476/ | [
"Bo Lin",
"Baxi Chong",
"Yasemin Ozkan-Aydin",
"Enes Aydin",
"Howie Choset",
"Daniel I. Goldman",
"Greg Blekherman",
"Bo Lin",
"Baxi Chong",
"Yasemin Ozkan-Aydin",
"Enes Aydin",
"Howie Choset",
"Daniel I. Goldman",
"Greg Blekherman"
] | In a geometric mechanics framework, the configuration space is decomposed into a shape space and a position space. The internal motion of the system is prescribed by a closed loop in the shape space, which causes net motion in the position space. If the shape space is a simply connected domain in an Euclidean space, then with an optimal choice of the body frame, the displacement in the position sp... |
Autonomous Navigation and Obstacle Avoidance of a Snake Robot with Combined Velocity-Heading Control | https://ieeexplore.ieee.org/document/9341256/ | [
"Mahdi Haghshenas-Jaryani",
"Hakki Erhan Sevil",
"Mahdi Haghshenas-Jaryani",
"Hakki Erhan Sevil"
] | This paper presents combined velocity-heading control of a planar snake robot for the autonomous navigation and obstacle avoidance in a simulation environment. The kinematics and dynamics of the snake robot were derived using the articulated-body algorithm without considering the non-holonomic constraints. A double-layer controller was designed to control both heading direction and average velocit... |
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization | https://ieeexplore.ieee.org/document/9341218/ | [
"Chenyu Yang",
"Bike Zhang",
"Jun Zeng",
"Ayush Agrawal",
"Koushil Sreenath",
"Chenyu Yang",
"Bike Zhang",
"Jun Zeng",
"Ayush Agrawal",
"Koushil Sreenath"
] | The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation tasks. In this paper, we propose a model predictive control (MPC) framework for a quadrupedal robot to dynamically balance on a ball and simultaneously manipulate it to follow various trajectories such as straight lines, sin... |
Explore Bravely: Wheeled-Legged Robots Traverse in Unknown Rough Environment | https://ieeexplore.ieee.org/document/9341610/ | [
"Garen Haddeler",
"Jianle Chan",
"Yangwei You",
"Saurab Verma",
"Albertus H. Adiwahono",
"Chee Meng Chew",
"Garen Haddeler",
"Jianle Chan",
"Yangwei You",
"Saurab Verma",
"Albertus H. Adiwahono",
"Chee Meng Chew"
] | This paper addressed a challenging problem of wheeled-legged robots with high degrees of freedom exploring in unknown rough environments. The proposed method works as a pipeline to achieve prioritized exploration comprising three primary modules: traversability analysis, frontier-based exploration and hybrid locomotion planning. Traversability analysis provides robots an evaluation about surroundi... |
KOVIS: Keypoint-based Visual Servoing with Zero-Shot Sim-to-Real Transfer for Robotics Manipulation | https://ieeexplore.ieee.org/document/9341370/ | [
"En Yen Puang",
"Keng Peng Tee",
"Wei Jing",
"En Yen Puang",
"Keng Peng Tee",
"Wei Jing"
] | We present KOVIS, a novel learning-based, calibration-free visual servoing method for fine robotic manipulation tasks with eye-in-hand stereo camera system. We train the deep neural network only in the simulated environment; and the trained model could be directly used for real-world visual servoing tasks. KOVIS consists of two networks. The first keypoint network learns the keypoint representatio... |
FlowControl: Optical Flow Based Visual Servoing | https://ieeexplore.ieee.org/document/9340942/ | [
"Max Argus",
"Lukas Hermann",
"Jon Long",
"Thomas Brox",
"Max Argus",
"Lukas Hermann",
"Jon Long",
"Thomas Brox"
] | One-shot imitation is the vision of robot programming from a single demonstration, rather than by tedious construction of computer code. We present a practical method for realizing one-shot imitation for manipulation tasks, exploiting modern learning-based optical flow to perform real-time visual servoing. Our approach, which we call FlowControl, continuously tracks a demonstration video, using a ... |
Monocular Visual Shape Tracking and Servoing for Isometrically Deforming Objects | https://ieeexplore.ieee.org/document/9341646/ | [
"Miguel Aranda",
"Juan Antonio Corrales Ramon",
"Youcef Mezouar",
"Adrien Bartoli",
"Erol Özgür",
"Miguel Aranda",
"Juan Antonio Corrales Ramon",
"Youcef Mezouar",
"Adrien Bartoli",
"Erol Özgür"
] | We address the monocular visual shape servoing problem. This pushes the challenging visual servoing problem one step further from rigid object manipulation towards deformable object manipulation. Explicitly, it implies deforming the object towards a desired shape in 3D space by robots using monocular 2D vision. We specifically concentrate on a scheme capable of controlling large isometric deformat... |
Fast Model Predictive Image-Based Visual Servoing for Quadrotors | https://ieeexplore.ieee.org/document/9340759/ | [
"Pedro Roque",
"Elisa Bin",
"Pedro Miraldo",
"Dimos V. Dimarogonas",
"Pedro Roque",
"Elisa Bin",
"Pedro Miraldo",
"Dimos V. Dimarogonas"
] | This paper studies the problem of Image-Based Visual Servo Control (IBVS) for quadrotors. Although the control of quadrotors has been extensively studied in the last decades, combining the IBVS module with the quadrotor's dynamics is still hard, mainly due to the under-actuation issues related to the quadrotor control as opposed to the 6 DoF control outputs generated by the IBVS modules. We propos... |
Robust Internal Model Control for Motor Systems Based on Sliding Mode Technique and Extended State Observer | https://ieeexplore.ieee.org/document/9341220/ | [
"Ping Li",
"Kaiqi Guo",
"Chenyang Sun",
"Mingming Zhang",
"Ping Li",
"Kaiqi Guo",
"Chenyang Sun",
"Mingming Zhang"
] | Electric motors have been widely used as the actuators of robot and automation systems. This paper aims at achieving the high-precision position control of motor drive systems. For this purpose, a robust control scheme is presented by combining the internal model principle, the sliding mode technique and the extended state observer (ESO). The PID-type controller is firstly designed by using the in... |
Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control | https://ieeexplore.ieee.org/document/9341215/ | [
"Michele Pierallini",
"Franco Angelini",
"Riccardo Mengacci",
"Alessandro Palleschi",
"Antonio Bicchi",
"Manolo Garabini",
"Michele Pierallini",
"Franco Angelini",
"Riccardo Mengacci",
"Alessandro Palleschi",
"Antonio Bicchi",
"Manolo Garabini"
] | Trajectory tracking of flexible link robots is a classical control problem. Historically, the link elasticity was considered as something to be removed. Hence, the control performance was guaranteed by adopting high-gain feedback loops and, possibly, a dynamic compensation with the result to stiffen up the dynamic behavior of the robot. Nowadays, robots are pushed more and more towards a safe phys... |
H∞-Optimal Tracking Controller for Three-Wheeled Omnidirectional Mobile Robots with Uncertain Dynamics | https://ieeexplore.ieee.org/document/9341752/ | [
"Amir Salimi Lafmejani",
"Hamed Farivarnejad",
"Spring Berman",
"Amir Salimi Lafmejani",
"Hamed Farivarnejad",
"Spring Berman"
] | In this paper, we present an optimal control approach using Linear Matrix Inequalities (LMIs) for trajectory tracking control of a three-wheeled omnidirectional mobile robot in the presence of external disturbances on the robot's actuators and noise in the robot's sensor measurements. First, a state-space representation of the omnidirectional robot dynamics is derived using a point-mass dynamic mo... |
Gain Scheduled Controller Design for Balancing an Autonomous Bicycle | https://ieeexplore.ieee.org/document/9340949/ | [
"Shuai Wang",
"Leilei Cui",
"Jie Lai",
"Sicheng Yang",
"Xiangyu Chen",
"Yu Zheng",
"Zhengyou Zhang",
"Zhong-Ping Jiang",
"Shuai Wang",
"Leilei Cui",
"Jie Lai",
"Sicheng Yang",
"Xiangyu Chen",
"Yu Zheng",
"Zhengyou Zhang",
"Zhong-Ping Jiang"
] | In this paper, the gain scheduling technique is applied to design a balance controller for an autonomous bicycle with an inertia wheel. Previously, two different balance controllers are needed depending on whether the bicycle is stationary or dynamic. The switch between the two different controllers may cause the instability of the autonomous bicycle. Our proposed gain scheduled controller can bal... |
Online System for Dynamic Multi-contact Motion with Impact Force Based on Contact Wrench Estimation and Current-Based Torque Control | https://ieeexplore.ieee.org/document/9341472/ | [
"Kazuki Fukazawa",
"Naoki Hiraoka",
"Kunio Kojima",
"Shintaro Noda",
"Masahiro Bando",
"Kei Okada",
"Masayuki Inaba",
"Kazuki Fukazawa",
"Naoki Hiraoka",
"Kunio Kojima",
"Shintaro Noda",
"Masahiro Bando",
"Kei Okada",
"Masayuki Inaba"
] | Humanoid robots are expected to play a big role at distress sites and disaster sites. There is a variety of multi-contact locomotion forms other than bipedal walking such as crawling through tightly, getting on the rubble by using its knees and elbows, or jumping in and rolling over the obstacles. If such multi-contact locomotion forms can be achieved, robots can reach environments that are curren... |
Learning-Based Controller Optimization for Repetitive Robotic Tasks | https://ieeexplore.ieee.org/document/9340880/ | [
"Xiaocong Li",
"Haiyue Zhu",
"Jun Ma",
"Tat Joo Teo",
"Chek Sing Teo",
"Masayoshi Tomizuka",
"Tong Heng Lee",
"Xiaocong Li",
"Haiyue Zhu",
"Jun Ma",
"Tat Joo Teo",
"Chek Sing Teo",
"Masayoshi Tomizuka",
"Tong Heng Lee"
] | Dynamic control for robotic automation tasks is traditionally designed and optimized with a model-based approach, and the performance relies heavily upon accurate system modeling. However, modeling the true dynamics of increasingly complex robotic systems is an extremely challenging task and it often renders the automation system to operate in a non-optimal condition. Notably, many industrial robo... |
Unilateral Constraints for Torque-based Whole-Body Control | https://ieeexplore.ieee.org/document/9341241/ | [
"Juan D. Muñoz Osorio",
"Abdelrahman Abdelazim",
"Felix Allmendinger",
"Uwe E. Zimmermann",
"Juan D. Muñoz Osorio",
"Abdelrahman Abdelazim",
"Felix Allmendinger",
"Uwe E. Zimmermann"
] | This work uses quadratic programming to perform torque control on an industrial collaborative robot, while keeping defined constraints. Limits for rotational and translational coordinates are considered at position, velocity and acceleration level. Although the problem of having hardware and safe limitations has been considered before. Solutions usually rely on functions that need a proper tuning.... |
Learning High-Level Policies for Model Predictive Control | https://ieeexplore.ieee.org/document/9340823/ | [
"Yunlong Song",
"Davide Scaramuzza",
"Yunlong Song",
"Davide Scaramuzza"
] | The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model of the system and solving an optimization problem online over a short planning horizon. In this work, we leverage probabilistic decision-making approaches and ... |
Squash-Box Feasibility Driven Differential Dynamic Programming | https://ieeexplore.ieee.org/document/9340883/ | [
"Josep Marti-Saumell",
"Joan Solà",
"Carlos Mastalli",
"Angel Santamaria-Navarro",
"Josep Marti-Saumell",
"Joan Solà",
"Carlos Mastalli",
"Angel Santamaria-Navarro"
] | Recently, Differential Dynamic Programming (DDP) and other similar algorithms have become the solvers of choice when performing non-linear Model Predictive Control (nMPC) with modern robotic devices. The reason is that they have a lower computational cost per iteration when compared with off-the-shelf Non-Linear Programming (NLP) solvers, which enables its online operation. However, they cannot ha... |
Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics | https://ieeexplore.ieee.org/document/9341334/ | [
"Francesco Cursi",
"Valerio Modugno",
"Petar Kormushev",
"Francesco Cursi",
"Valerio Modugno",
"Petar Kormushev"
] | In fields such as minimally invasive surgery, effective control strategies are needed to guarantee safety and accuracy of the surgical task. Mechanical designs and actuation schemes have inevitable limitations such as backlash and joint limits. Moreover, surgical robots need to operate in narrow pathways, which may give rise to additional environmental constraints. Therefore, the control strategie... |
ℒ1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors | https://ieeexplore.ieee.org/document/9341154/ | [
"Jintasit Pravitra",
"Kasey A. Ackerman",
"Chengyu Cao",
"Naira Hovakimyan",
"Evangelos A. Theodorou",
"Jintasit Pravitra",
"Kasey A. Ackerman",
"Chengyu Cao",
"Naira Hovakimyan",
"Evangelos A. Theodorou"
] | This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and ℒ1 adaptive control are combined to achieve both fast model predictive trajectory planning and robust trajectory tracking. MPPI provides a framework to solve nonlinear MPC with complex cost functions in real-time. However, it often lacks robustness, especially when the simulated dynamics ... |
Learning-Based Distributionally Robust Motion Control with Gaussian Processes | https://ieeexplore.ieee.org/document/9341415/ | [
"Astghik Hakobyan",
"Insoon Yang",
"Astghik Hakobyan",
"Insoon Yang"
] | Safety is a critical issue in learning-based robotic and autonomous systems as learned information about their environments is often unreliable and inaccurate. In this paper, we propose a risk-aware motion control tool that is robust against errors in learned distributional information about obstacles moving with unknown dynamics. The salient feature of our model predictive control (MPC) method is... |
Synchronous Minimum-Time Cooperative Manipulation using Distributed Model Predictive Control | https://ieeexplore.ieee.org/document/9340740/ | [
"Argtim Tika",
"Naim Bajcinca",
"Argtim Tika",
"Naim Bajcinca"
] | A hierarchical algorithm involving two-layer optimization-based control policies with varying degrees of abstraction is proposed, including upper layer task scheduling and lower layer local path planning. A scenario with two robot arms performing cooperative pick-and-place tasks for moving objects is specifically addressed. The main focus of the paper lies on the bottom layer of the hierarchical c... |
Online gain setting method for path tracking using CMA-ES: Application to off-road mobile robot control | https://ieeexplore.ieee.org/document/9340830/ | [
"Ashley Hill",
"Jean Laneurit",
"Roland Lenain",
"Eric Lucet",
"Ashley Hill",
"Jean Laneurit",
"Roland Lenain",
"Eric Lucet"
] | This paper proposes a new approach for online control law gains adaptation, through the use of neural networks and the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm, in order to optimize the behavior of the robot with respect to an objective function. The neural network considered takes as input the current observed state as well as its uncertainty, and provides as output the ... |
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller | https://ieeexplore.ieee.org/document/9341569/ | [
"Guillermo A. Castillo",
"Bowen Weng",
"Terrence C. Stewart",
"Wei Zhang",
"Ayonga Hereid",
"Guillermo A. Castillo",
"Bowen Weng",
"Terrence C. Stewart",
"Wei Zhang",
"Ayonga Hereid"
] | This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the implementation of heuristic regulators that do not consider model and environmental uncertainties, which may significantly affect the tracking performance of the... |
Aerial Transportation of Unknown Payloads: Adaptive Path Tracking for Quadrotors | https://ieeexplore.ieee.org/document/9341402/ | [
"Viswa N. Sankaranarayanan",
"Spandan Roy",
"Simone Baldi",
"Viswa N. Sankaranarayanan",
"Spandan Roy",
"Simone Baldi"
] | With the advent of intelligent transport, quadrotors are becoming an attractive aerial transport solution during emergency evacuations, construction works etc. During such operations, dynamic variations in (possibly unknown) payload and unknown external disturbances cause considerable control challenges for path tracking algorithms. In fact, the state-dependent nature of the resulting uncertaintie... |
Robust Force Tracking Impedance Control of an Ultrasonic Motor-actuated End-effector in a Soft Environment | https://ieeexplore.ieee.org/document/9340717/ | [
"Wenyu Liang",
"Zhao Feng",
"Yan Wu",
"Junli Gao",
"Qinyuan Ren",
"Tong Heng Lee",
"Wenyu Liang",
"Zhao Feng",
"Yan Wu",
"Junli Gao",
"Qinyuan Ren",
"Tong Heng Lee"
] | Robotic systems are increasingly required not only to generate precise motions to complete their tasks but also to handle the interactions with the environment or human. Significantly, soft interaction brings great challenges on the force control due to the nonlinear, viscoelastic and inhomogeneous properties of the soft environment. In this paper, a robust impedance control scheme utilizing integ... |
A Horse Inspired Eight-wheel Unmanned Ground Vehicle with Four-swing Arms | https://ieeexplore.ieee.org/document/9341528/ | [
"Miaolei HE",
"Jilin He",
"Changji Ren",
"Qinghua He",
"Miaolei HE",
"Jilin He",
"Changji Ren",
"Qinghua He"
] | Rigid-terrain unmanned ground vehicles(UGV) can run under the field environment by the advanced adaptive ability. This paper presents a novel horse inspired rigid-terrain eight-wheel vehicle with four-swing arms. This unmanned ground vehicle is drived by distributed hydraulic motors. By cooperating with four-swing arms and eight wheels, the vehicle has the ability to work like a horse climbs an ob... |
Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer | https://ieeexplore.ieee.org/document/9341712/ | [
"Joris Tillet",
"Luc Jaulin",
"Fabrice Le Bars",
"Joris Tillet",
"Luc Jaulin",
"Fabrice Le Bars"
] | In this paper, we propose a set-inversion approach to validate the controller of a nonlinear system that should satisfy some state constraints. We introduce the notion of follow set which corresponds to the set of all output vectors such that the desired dynamics can be followed without violating the state-constraints. This follow set can then be used to choose feasible trajectories that a mobile ... |
Robust, Perception Based Control with Quadrotors | https://ieeexplore.ieee.org/document/9341507/ | [
"Laura Jarin-Lipschitz",
"Rebecca Li",
"Ty Nguyen",
"Vijay Kumar",
"Nikolai Matni",
"Laura Jarin-Lipschitz",
"Rebecca Li",
"Ty Nguyen",
"Vijay Kumar",
"Nikolai Matni"
] | Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift over time and can cause the system to misbehave. While state estimation error can be corrected with the aid of GPS or motion capture, these complementary sensor... |
Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization | https://ieeexplore.ieee.org/document/9341348/ | [
"Siavash Farzan",
"Ai-Ping Hu",
"Michael Bick",
"Jonathan Rogers",
"Siavash Farzan",
"Ai-Ping Hu",
"Michael Bick",
"Jonathan Rogers"
] | Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for brachiating on flexible cables, building on previous work on optimal trajectory generation and time-varying LQR controller design. We propose a novel simplifie... |
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