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Model-Based Trajectory Prediction and Hitting Velocity Control for a New Table Tennis Robot | https://ieeexplore.ieee.org/document/9636000/ | [
"Yunfeng Ji",
"Xiaoyi Hu",
"Yutao Chen",
"Yue Mao",
"Gang Wang",
"Qingdu Li",
"Jianwei Zhang",
"Yunfeng Ji",
"Xiaoyi Hu",
"Yutao Chen",
"Yue Mao",
"Gang Wang",
"Qingdu Li",
"Jianwei Zhang"
] | Currently, most table tennis robots concentrate on the canonical position control problem while ignoring the actual velocity control requirements. In this paper, we consider these requirements and propose a new table tennis robot framework. First, a tailor-made mechanical structure is designed such that the robot can reach large workspaces. Thereafter, in the table tennis trajectory prediction pro... |
Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories | https://ieeexplore.ieee.org/document/9636486/ | [
"Shumon Koga",
"Arash Asgharivaskasi",
"Nikolay Atanasov",
"Shumon Koga",
"Arash Asgharivaskasi",
"Nikolay Atanasov"
] | This paper develops iterative Covariance Regulation (iCR), a novel method for active exploration and mapping for a mobile robot equipped with on-board sensors. The problem is posed as optimal control over the SE(3) pose kinematics of the robot to minimize the differential entropy of the map conditioned the potential sensor observations. We introduce a differentiable field of view formulation, and ... |
Modeling and Control of PANTHERA Self-Reconfigurable Pavement Sweeping Robot under Actuator Constraints | https://ieeexplore.ieee.org/document/9635841/ | [
"Madan Mohan Rayguru",
"M. R. Elara",
"A. A. Hayat",
"B. Ramalingam",
"Spandan Roy",
"Madan Mohan Rayguru",
"M. R. Elara",
"A. A. Hayat",
"B. Ramalingam",
"Spandan Roy"
] | The focus of this paper is (i) to derive a suitable dynamic model for a self-reconfigurable pavement sweeping robot PANTHERA and (ii) to design a robust controller for the same to tackle uncertainties stemming from the reconfiguration process, external disturbances and from actuator saturation. To meet the first objective, an Euler-Lagrangian dynamic model is proposed to incorporate the effects of... |
Coloured Petri Nets for Monitoring Human Actions in Flexible Human-Robot Teams | https://ieeexplore.ieee.org/document/9636428/ | [
"Nico Höllerich",
"Dominik Henrich",
"Nico Höllerich",
"Dominik Henrich"
] | Human-robot collaboration in shared workspaces enables companies to improve efficiency and the quality of work for human workers. A novel research direction in this field is that human and robot dynamically negotiate which actions to perform. This requires the robot to permanently monitor the current task state and actions the human has performed. We envision a system that tracks the task progress... |
Amplification of Clamping Mechanism Using Internally-Balanced Magnetic Unit | https://ieeexplore.ieee.org/document/9636470/ | [
"Tori Shimizu",
"Kenjiro Tadakuma",
"Masahiro Watanabe",
"Eri Takane",
"Masashi Konyo",
"Satoshi Tadokoro",
"Tori Shimizu",
"Kenjiro Tadakuma",
"Masahiro Watanabe",
"Eri Takane",
"Masashi Konyo",
"Satoshi Tadokoro"
] | Machines tend to use powerful actuators and large gearboxes to bear large loads, which are inconvenient in terms of responsiveness as they affect the duration of operations. Thus, to compensate the force to grasp an object, we propose a clamping mechanism implementing the internally-balanced magnetic unit (IB Magnet) as a force amplifier, which is a mechanism able to switch attached and detached s... |
Manipulating a Whip in 3D via Dynamic Primitives | https://ieeexplore.ieee.org/document/9636257/ | [
"Moses C. Nah",
"Aleksei Krotov",
"Marta Russo",
"Dagmar Sternad",
"Neville Hogan",
"Moses C. Nah",
"Aleksei Krotov",
"Marta Russo",
"Dagmar Sternad",
"Neville Hogan"
] | A prominent challenge in the field of robotics is manipulation of flexible objects. One major factor that makes this task difficult is the complex dynamics emerging from its high-dimensional structure. This argues against the use of popular optimization-based approaches, which scale poorly with system dimension (the "curse of dimensionality"). Nevertheless, almost indifferent to this complexity, h... |
A Hybrid Dual Jacobian Approach for Autonomous Control of Concentric Tube Robots in Unknown Constrained Environments | https://ieeexplore.ieee.org/document/9636085/ | [
"Balint Thamo",
"Farshid Alambeigi",
"Kev Dhaliwal",
"Mohsen Khadem",
"Balint Thamo",
"Farshid Alambeigi",
"Kev Dhaliwal",
"Mohsen Khadem"
] | Concentric Tube Robots (CTR) have been gaining ground in minimally-invasive robotic surgeries due to their small footprint, compliance, and high dexterity. CTRs can assure safe interaction with soft tissue, provided that precise and effective motion control is achieved. Controlling the motion of CTRs is still challenging. Commonly used model-based control approaches often employ simplified geometr... |
Dynamics Computation of a Hybrid Multi-link Humanoid Robot Integrating Rigid and Soft Bodies | https://ieeexplore.ieee.org/document/9636733/ | [
"Taiki Ishigaki",
"Ko Yamamoto",
"Taiki Ishigaki",
"Ko Yamamoto"
] | This study presents dynamics computation and control of a hybrid multi-link system that integrates rigid- and soft-bodies. It is a challenging problem to install a softness in a robot system, which is an important factor in human body. Softness achieved by human muscles and ligaments contributes to dynamic motion. Flexibility of a sports prosthetic leg allows a handicapped person to run. However, ... |
A Control and Drive System for Pneumatic Soft Robots: PneuSoRD | https://ieeexplore.ieee.org/document/9635874/ | [
"Taylor R. Young",
"Matheus S. Xavier",
"Yuen K. Yong",
"Andrew J. Fleming",
"Taylor R. Young",
"Matheus S. Xavier",
"Yuen K. Yong",
"Andrew J. Fleming"
] | This article describes an open-source hardware platform for controlling pneumatic soft robotic systems and presents the comparison of control schemes with on-off and proportional valves. The Pneumatic Soft Robotics Driver (PneuSoRD) can be used with up to one pump and pressure accumulator, 26 on-off valves, and 5 proportional valves, any of which can be operated in open or closed-loop control usin... |
Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace | https://ieeexplore.ieee.org/document/9636877/ | [
"Prajval Kumar Murali",
"Michael Gentner",
"Mohsen Kaboli",
"Prajval Kumar Murali",
"Michael Gentner",
"Mohsen Kaboli"
] | This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the gripper is guided by a vision estimate to actively explore and localize the objects in the unknown workspace. The robot is capable of reasoning over multiple p... |
A Force Recognition System for Distinguishing Click Responses of Various Objects | https://ieeexplore.ieee.org/document/9636174/ | [
"Koyo Sato",
"Sho Sakaino",
"Toshiaki Tsuji",
"Koyo Sato",
"Sho Sakaino",
"Toshiaki Tsuji"
] | This study proposes a technique for determining completion of robotic tasks considering a characteristics that some features on force responses are common among various objects. In particular, this paper focuses on the click response because its pattern is common to many objects, although the magnitude of the response differs depending on the object. A discriminator for detecting the click respons... |
Dynamic Modeling of Hand-Object Interactions via Tactile Sensing | https://ieeexplore.ieee.org/document/9636361/ | [
"Qiang Zhang",
"Yunzhu Li",
"Yiyue Luo",
"Wan Shou",
"Michael Foshey",
"Junchi Yan",
"Joshua B. Tenenbaum",
"Wojciech Matusik",
"Antonio Torralba",
"Qiang Zhang",
"Yunzhu Li",
"Yiyue Luo",
"Wan Shou",
"Michael Foshey",
"Junchi Yan",
"Joshua B. Tenenbaum",
"Wojciech Matusik",
"Antonio Torralba"
] | Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the dynamics of hand-object interactions. In this work, we employ a high-resolution tactile glove to perform four different interactive activities on a diversified set of ... |
A Dual Doctor-Patient Twin Paradigm for Transparent Remote Examination, Diagnosis, and Rehabilitation | https://ieeexplore.ieee.org/document/9636626/ | [
"Mario Tröbinger",
"Andrei Costinescu",
"Hao Xing",
"Jean Elsner",
"Tingli Hu",
"Abdeldjallil Naceri",
"Luis Figueredo",
"Elisabeth Jensen",
"Darius Burschka",
"Sami Haddadin",
"Mario Tröbinger",
"Andrei Costinescu",
"Hao Xing",
"Jean Elsner",
"Tingli Hu",
"Abdeldjallil Naceri",
"Luis Figueredo",
"Elisabeth Jensen",
"Darius Burschka",
"Sami Haddadin"
] | The need for comprehensive telemedicine solutions is becoming increasingly relevant due to challenges associated with the ageing population, the increasing shortage of health-care providers, and, more recently, the global pandemic. Existing solutions primarily focus on, e.g., electronic medical records, audiovisual connections, and, in some cases, robotic systems with very basic capabilities. Here... |
Robust Event Detection based on Spatio-Temporal Latent Action Unit using Skeletal Information | https://ieeexplore.ieee.org/document/9636553/ | [
"Hao Xing",
"Yuxuan Xue",
"Mingchuan Zhou",
"Darius Burschka",
"Hao Xing",
"Yuxuan Xue",
"Mingchuan Zhou",
"Darius Burschka"
] | This paper proposes a novel dictionary learning approach to detect event anomalities using skeletal information extracted from RGBD video. The event action is represented as several latent action atoms and composed of latent spatial and temporal attributes. We aim to construct a network able to learn from few examples and also rules defined by the user. The skeleton frames are clustered by an init... |
Towards a Manipulator System for Disposal of Waste from Patients Undergoing Chemotherapy | https://ieeexplore.ieee.org/document/9636865/ | [
"Hsieh-Yu Li",
"Lay Siong Ho",
"Achala Athukorala",
"Wan Yun Lu",
"Audelia Dharmawan",
"Jane Li Feng Guo",
"Mabel May Leng Tan",
"Kok Cheong Wong",
"Nuri Syahida Ng",
"Maxim Mei Xin Tan",
"Hong Choon Oh",
"Daniel Tiang",
"Wei Wei Hong",
"Franklin Tan",
"Gek Kheng Png",
"Ivan Khoo",
"Chau Yuen",
"Pon Poh Hsu",
"Chen Ee Lee",
"U-Xuan Tan",
"Hsieh-Yu Li",
"Lay Siong Ho",
"Achala Athukorala",
"Wan Yun Lu",
"Audelia Dharmawan",
"Jane Li Feng Guo",
"Mabel May Leng Tan",
"Kok Cheong Wong",
"Nuri Syahida Ng",
"Maxim Mei Xin Tan",
"Hong Choon Oh",
"Daniel Tiang",
"Wei Wei Hong",
"Franklin Tan",
"Gek Kheng Png",
"Ivan Khoo",
"Chau Yuen",
"Pon Poh Hsu",
"Chen Ee Lee",
"U-Xuan Tan"
] | There has been an increasing demand to automate the non-patient care matters so that the clinical staff can focus on delivering patient care. For example, out-patients undergoing chemotherapy increases their toilet usage frequency due to the treatment. As they are undergoing chemotherapy, their output waste contains a level of chemical. This task is compulsory yet troublesome and time-consuming so... |
A Static Model for a Stiffness-Adjustable Snake-Like Robot | https://ieeexplore.ieee.org/document/9636734/ | [
"Di Shun Huang",
"Jian Hu",
"Liuchunzi Guo",
"Yi Sun",
"Liao Wu",
"Di Shun Huang",
"Jian Hu",
"Liuchunzi Guo",
"Yi Sun",
"Liao Wu"
] | In minimally invasive surgery, miniaturisation and in situ adjustable stiffness of robotic manipulators are desired features. Previous research proposed a simple and effective tendon-driven curve-joint manipulator design using a variable neutral-line mechanism, which highly satisfies both criteria. A kinematic model was developed for such a manipulator based on the geometry of the structure. Howev... |
Human-Robot Collaboration for Heavy Object Manipulation: Kinesthetic Teaching of the Role of Wheeled Mobile Manipulator | https://ieeexplore.ieee.org/document/9635910/ | [
"Hongjun Xing",
"Ali Torabi",
"Liang Ding",
"Haibo Gao",
"Weihua Li",
"Vivian K. Mushahwar",
"Mahdi Tavakoli",
"Hongjun Xing",
"Ali Torabi",
"Liang Ding",
"Haibo Gao",
"Weihua Li",
"Vivian K. Mushahwar",
"Mahdi Tavakoli"
] | Human-robot collaboration (HRC) significantly extends robotic systems’ applications when working in spaces like houses, hospitals, or laboratories. However, new challenges appear during a close collaboration between humans and robots and imitating the movement of humans by robots. Learning from demonstration (LfD), or kinesthetic teaching, is a popular approach to help teach a robot human behavior... |
Non-local Graph Convolutional Network for joint Activity Recognition and Motion Prediction | https://ieeexplore.ieee.org/document/9636107/ | [
"Dianhao Zhang",
"Ngo Anh Vien",
"Mien Van",
"Seán McLoone",
"Dianhao Zhang",
"Ngo Anh Vien",
"Mien Van",
"Seán McLoone"
] | 3D skeleton-based motion prediction and activity recognition are two interwoven tasks in human behaviour analysis. In this work, we propose a motion context modeling methodology that provides a new way to combine the advantages of both graph convolutional neural networks and recurrent neural networks for joint human motion prediction and activity recognition. Our approach is based on using an LSTM... |
PiPo-Net: A Semi-automatic and Polygon-based Annotation Method for Pathological Images | https://ieeexplore.ieee.org/document/9636146/ | [
"Yuqi Fang",
"Delong Zhu",
"Niyun Zhou",
"Li Liu",
"Jianhua Yao",
"Yuqi Fang",
"Delong Zhu",
"Niyun Zhou",
"Li Liu",
"Jianhua Yao"
] | Metastatic involvement of lymph nodes is one of the most important prognostic variables for many cancers. Several deep learning based algorithms have been developed to segment metastatic regions in pathological images to help predict prognosis. However, the training of these methods requires a large amount of annotated data, and the labeling task is an extremely time-consuming process for human an... |
Multi-Scenario Contacts Handling for Collaborative Robots Applications | https://ieeexplore.ieee.org/document/9636113/ | [
"Dmitry Popov",
"Stanislav Mikhel",
"Rauf Yagfarov",
"Alexandr Klimchik",
"Anatol Pashkevich",
"Dmitry Popov",
"Stanislav Mikhel",
"Rauf Yagfarov",
"Alexandr Klimchik",
"Anatol Pashkevich"
] | The goal of this work is to propose a way of dealing with physical interactions for collaborative robots that will ensure the safety of a human operator and improve the performance of a common task by implementing multiple robot behavior scenarios. In this scope, all collisions of a robotic arm are detected and analyzed to chooses an appropriate reaction strategy. The points of contact on the robo... |
Generating Active Explicable Plans in Human-Robot Teaming | https://ieeexplore.ieee.org/document/9636643/ | [
"Akkamahadevi Hanni",
"Yu Zhang",
"Akkamahadevi Hanni",
"Yu Zhang"
] | Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and respect an understanding of the others’ expectations of itself. Lack of which may lead to serious issues such as loose coordination between teammates, reduced situati... |
Telemanipulation via Virtual Reality Interfaces with Enhanced Environment Models | https://ieeexplore.ieee.org/document/9636005/ | [
"Murphy Wonsick",
"Tarık Keleștemur",
"Stephen Alt",
"Tașkın Padır",
"Murphy Wonsick",
"Tarık Keleștemur",
"Stephen Alt",
"Tașkın Padır"
] | Extreme environments, such as search and rescue missions, defusing bombs, or exploring extraterrestrial planets, are unsafe environments for humans to be in. Robots enable humans to explore and interact in these environments through remote presence and teleoperation and virtual reality provides a medium to create immersive and easy-to-use teleoperation interfaces. However, current virtual reality ... |
A transformable human-carrying wheel–leg mobility for daily use | https://ieeexplore.ieee.org/document/9636058/ | [
"Noriaki Imaoka",
"Kohei Kimura",
"Shintaro Noda",
"Yohei Kakiuchi",
"Masayuki Inaba",
"Takeshi Ando",
"Noriaki Imaoka",
"Kohei Kimura",
"Shintaro Noda",
"Yohei Kakiuchi",
"Masayuki Inaba",
"Takeshi Ando"
] | There is increasing demand for robots that provide a mode of transportation in environments in which people coexist. However, conventional mobile robots, especially those carrying people, are limited in terms of their environments and tasks. For example, wheeled robots are limited to moving on flat ground. Walking robots are limited to entertainment and so on. The originality of the present paper ... |
ROS for Human-Robot Interaction | https://ieeexplore.ieee.org/document/9636816/ | [
"Youssef Mohamed",
"Séverin Lemaignan",
"Youssef Mohamed",
"Séverin Lemaignan"
] | Integrating real-time, complex social signal processing into robotic systems – especially in real-world, multi-party interaction situations – is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is compounded by the lack of any standard model for human representation that would facilitate the development and interoperability of social perception components an... |
Mobile Robot Yielding Cues for Human-Robot Spatial Interaction | https://ieeexplore.ieee.org/document/9636367/ | [
"Nicholas J. Hetherington",
"Ryan Lee",
"Marlene Haase",
"Elizabeth A. Croft",
"H. F. Machiel Van der Loos",
"Nicholas J. Hetherington",
"Ryan Lee",
"Marlene Haase",
"Elizabeth A. Croft",
"H. F. Machiel Van der Loos"
] | Mobile robots are increasingly being deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with pedestrians. Pedestrians encounter these robots without prior understanding of the robots’ behaviour, which can cause discomfort, confusion, and delayed social a... |
Semantic-Based Explainable AI: Leveraging Semantic Scene Graphs and Pairwise Ranking to Explain Robot Failures | https://ieeexplore.ieee.org/document/9635890/ | [
"Devleena Das",
"Sonia Chernova",
"Devleena Das",
"Sonia Chernova"
] | When interacting in unstructured human environments, occasional robot failures are inevitable. When such failures occur, everyday people, rather than trained technicians, will be the first to respond. Existing natural language explanations hand-annotate contextual information from an environment to help everyday people understand robot failures. However, this methodology lacks generalizability and... |
Effects of Conversational Contexts and Forms of Non-lexical Backchannel on User Perception of Robots | https://ieeexplore.ieee.org/document/9636589/ | [
"Sangmin Kim",
"Sukyung Seok",
"Jongsuk Choi",
"Yoonseob Lim",
"Sonya S. Kwak",
"Sangmin Kim",
"Sukyung Seok",
"Jongsuk Choi",
"Yoonseob Lim",
"Sonya S. Kwak"
] | A non-lexical backchannel is known to be dependent on the conversational context, and its form can be distinguished by the social relation between the speaker and the listener in the Korean language. Thus, to investigate the effect of a non-lexical backchannel, we conducted a 2 (context: information-centric versus emotion-centric) × 3 (forms of backchannel: "ne" versus "eo" versus "eum") mixed-par... |
Exploring Consequential Robot Sound: Should We Make Robots Quiet and Kawaii-et? | https://ieeexplore.ieee.org/document/9636365/ | [
"Brian J. Zhang",
"Knut Peterson",
"Christopher A. Sanchez",
"Naomi T. Fitter",
"Brian J. Zhang",
"Knut Peterson",
"Christopher A. Sanchez",
"Naomi T. Fitter"
] | All robots create consequential sound—sound produced as a result of the robot’s mechanisms—yet little work has explored how sound impacts human-robot interaction. Recent work shows that the sound of different robot mechanisms affects perceived competence, trust, human-likeness, and discomfort. However, the physical sound characteristics responsible for these perceptions have not been clearly ident... |
FAST-Dynamic-Vision: Detection and Tracking Dynamic Objects with Event and Depth Sensing | https://ieeexplore.ieee.org/document/9636448/ | [
"Botao He",
"Haojia Li",
"Siyuan Wu",
"Dong Wang",
"Zhiwei Zhang",
"Qianli Dong",
"Chao Xu",
"Fei Gao",
"Botao He",
"Haojia Li",
"Siyuan Wu",
"Dong Wang",
"Zhiwei Zhang",
"Qianli Dong",
"Chao Xu",
"Fei Gao"
] | The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs). The bottleneck of solving this problem is the accurate perception of rapid dynamic objects. Recently, event cameras have shown great potential in solving this pro... |
DarkLighter: Light Up the Darkness for UAV Tracking | https://ieeexplore.ieee.org/document/9636680/ | [
"Junjie Ye",
"Changhong Fu",
"Guangze Zheng",
"Ziang Cao",
"Bowen Li",
"Junjie Ye",
"Changhong Fu",
"Guangze Zheng",
"Ziang Cao",
"Bowen Li"
] | Recent years have witnessed the fast evolution and promising performance of the convolutional neural network (CNN)-based trackers, which aim at imitating biological visual systems. However, current CNN-based trackers can hardly generalize well to low-light scenes that are commonly lacked in the existing training set. In indistinguishable night scenarios frequently encountered in unmanned aerial ve... |
SiamAPN++: Siamese Attentional Aggregation Network for Real-Time UAV Tracking | https://ieeexplore.ieee.org/document/9636309/ | [
"Ziang Cao",
"Changhong Fu",
"Junjie Ye",
"Bowen Li",
"Yiming Li",
"Ziang Cao",
"Changhong Fu",
"Junjie Ye",
"Bowen Li",
"Yiming Li"
] | Recently, the Siamese-based method has stood out from multitudinous tracking methods owing to its state-of-the-art (SOTA) performance. Nevertheless, due to various special challenges in UAV tracking, e.g., severe occlusion and fast motion, most existing Siamese-based trackers hardly combine superior performance with high efficiency. To this concern, in this paper, a novel attentional Siamese track... |
An Optical Spatial Localization System for Tracking Unmanned Aerial Vehicles Using a Single Dynamic Vision Sensor | https://ieeexplore.ieee.org/document/9636665/ | [
"Hunter Stuckey",
"Amer Al-Radaideh",
"Leonardo Escamilla",
"Liang Sun",
"Luis Garcia Carrillo",
"Wei Tang",
"Hunter Stuckey",
"Amer Al-Radaideh",
"Leonardo Escamilla",
"Liang Sun",
"Luis Garcia Carrillo",
"Wei Tang"
] | This paper reports a novel optical localization method, including both the hardware design and algorithm design, to track mobile Unmanned Aerial Vehicles (UAVs). The method relies on a circle-shaped blinking LED marker installed on the UAV and uses a single Dynamic Vision Sensing (DVS) camera to sense the temporal difference of the video streams. A temporal-filtering algorithm processes the video ... |
Semantic-aware Active Perception for UAVs using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9635893/ | [
"Luca Bartolomei",
"Lucas Teixeira",
"Margarita Chli",
"Luca Bartolomei",
"Lucas Teixeira",
"Margarita Chli"
] | This work presents a semantic-aware path-planning pipeline for Unmanned Aerial Vehicles (UAVs) using deep reinforcement learning for vision-based navigation in challenging environments. Driven by the maturity of works in semantic segmentation, the proposed path-planning architecture uses reinforcement learning to distinguish the parts of the scene that are perceptually more informative using seman... |
Topology-Guided Path Planning for Reliable Visual Navigation of MAVs | https://ieeexplore.ieee.org/document/9636469/ | [
"Dabin Kim",
"Gyeong Chan Kim",
"Youngseok Jang",
"H. Jin Kim",
"Dabin Kim",
"Gyeong Chan Kim",
"Youngseok Jang",
"H. Jin Kim"
] | Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on perception-aware path planning focused on sampling-based planners. However, they may suffer from sample inefficiency, which leads to computational burden for finding a ... |
Semantically Informed Next Best View Planning for Autonomous Aerial 3D Reconstruction | https://ieeexplore.ieee.org/document/9636352/ | [
"Sebastian A. Kay",
"Simon Julier",
"Vijay M. Pawar",
"Sebastian A. Kay",
"Simon Julier",
"Vijay M. Pawar"
] | To capture the geometry of an object by an autonomous system, next best view (NBV) planning can be used to determine the path a robot will take. However, current NBV planning algorithms do not distinguish between objects that need to be mapped and everything else in the environment; leading to inefficient search strategies. In this paper we present a novel approach for NBV planning that accounts f... |
Prioritized Indoor Exploration with a Dynamic Deadline | https://ieeexplore.ieee.org/document/9636199/ | [
"Sayantan Datta",
"Srinivas Akella",
"Sayantan Datta",
"Srinivas Akella"
] | Indoor exploration using mobile robots has typically focused on exploring the entire environment without considering deadlines. This paper introduces a priority-based exploration algorithm for situations with an initially unknown and dynamically assigned deadline. The goal of our exploration strategy is to determine the geometric structure of an unknown environment as rapidly as possible and retur... |
Assembly Planning by Recognizing a Graphical Instruction Manual | https://ieeexplore.ieee.org/document/9636041/ | [
"Issei Sera",
"Natsuki Yamanobe",
"Ixchel G. Ramirez-Alpizar",
"Zhenting Wang",
"Weiwei Wan",
"Kensuke Harada",
"Issei Sera",
"Natsuki Yamanobe",
"Ixchel G. Ramirez-Alpizar",
"Zhenting Wang",
"Weiwei Wan",
"Kensuke Harada"
] | This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals designed for humans. Essentially, the method generates an Assembly Task Sequence Graph (ATSG) by recognizing a graphical instruction manual. An ATSG is a graph describing the assembly task procedure by detecting types of parts included in the instruction images, completing the missing in... |
Probabilistic Inference in Planning for Partially Observable Long Horizon Problems | https://ieeexplore.ieee.org/document/9636685/ | [
"Alphonsus Adu-Bredu",
"Nikhil Devraj",
"Pin-Han Lin",
"Zhen Zeng",
"Odest Chadwicke Jenkins",
"Alphonsus Adu-Bredu",
"Nikhil Devraj",
"Pin-Han Lin",
"Zhen Zeng",
"Odest Chadwicke Jenkins"
] | For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion Planning approaches assume full observability of their state space, making them ineffective in stochastic and partially observable domains that reflect the uncertainties in the real world. We propose an online planning an... |
Intelligent Execution through Plan Analysis | https://ieeexplore.ieee.org/document/9635833/ | [
"Daniel Borrajo",
"Manuela Veloso",
"Daniel Borrajo",
"Manuela Veloso"
] | Intelligent robots need to generate and execute plans. In order to deal with the complexity of real environments, planning makes some assumptions about the world. When executing plans, the assumptions are usually not met. Most works have focused on the negative impact of this fact and the use of replanning after execution failures. Instead, we focus on the positive impact, or opportunities to find... |
A General Task and Motion Planning Framework For Multiple Manipulators | https://ieeexplore.ieee.org/document/9636119/ | [
"Tianyang Pan",
"Andrew M. Wells",
"Rahul Shome",
"Lydia E. Kavraki",
"Tianyang Pan",
"Andrew M. Wells",
"Rahul Shome",
"Lydia E. Kavraki"
] | Many manipulation tasks combine high-level discrete planning over actions with low-level motion planning over continuous robot motions. Task and motion planning (TMP) provides a powerful general framework to combine discrete and geometric reasoning, and solvers have been previously proposed for single-robot problems. Multi-robot TMP expands the range of TMP problems that can be solved but poses si... |
Spatial Action Maps Augmented with Visit Frequency Maps for Exploration Tasks | https://ieeexplore.ieee.org/document/9636813/ | [
"Zixing Wang",
"Nikolaos Papanikolopoulos",
"Zixing Wang",
"Nikolaos Papanikolopoulos"
] | Reinforcement learning has been widely applied in exploration, navigation, manipulation, and other fields. Most of the relevant techniques generate kinematic commands (e.g., move, stop, turn) for agents based on the current state information. However, recent dense action representations based research, such as spatial action maps, pointing way-points to the agent in the same domain as its observat... |
Learning Symbolic Operators for Task and Motion Planning | https://ieeexplore.ieee.org/document/9635941/ | [
"Tom Silver",
"Rohan Chitnis",
"Joshua Tenenbaum",
"Leslie Pack Kaelbling",
"Tomás Lozano-Pérez",
"Tom Silver",
"Rohan Chitnis",
"Joshua Tenenbaum",
"Leslie Pack Kaelbling",
"Tomás Lozano-Pérez"
] | Robotic planning problems in hybrid state and action spaces can be solved by integrated task and motion planners (TAMP) that handle the complex interaction between motion-level decisions and task-level plan feasibility. TAMP approaches rely on domain-specific symbolic operators to guide the task-level search, making planning efficient. In this work, we formalize and study the problem of operator l... |
RRT-Based Path Planning for Follow-the-Leader Motion of Hyper-Redundant Manipulators | https://ieeexplore.ieee.org/document/9635876/ | [
"Hanghang Wei",
"Yang Zheng",
"Guoying Gu",
"Hanghang Wei",
"Yang Zheng",
"Guoying Gu"
] | Hyper-redundant manipulators with slender body and high dexterity are widely applied for operations in confined spaces. Among the motion planning methods for these operations, the follow-the-leader motion controller is generally developed to avoid the obstacles, while the path trajectories are usually given. In this paper, we present an autonomous motion planner with a specialized rapidly explorin... |
Momentum based Whole-Body Optimal Planning for a Single-Spherical-Wheeled Balancing Mobile Manipulator | https://ieeexplore.ieee.org/document/9636752/ | [
"Roberto Shu",
"Ralph Hollis",
"Roberto Shu",
"Ralph Hollis"
] | In this paper, we present a planning and control framework for dynamic, whole-body motions for dynamically stable shape-accelerating mobile manipulators. This class of robots are inherently unstable and require careful coordination between the upper and lower body to maintain balance while performing arm motion tasks. Solutions to this problem either use a complex, full-body nonlinear dynamic mode... |
Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture | https://ieeexplore.ieee.org/document/9636845/ | [
"Kento Kawaharazuka",
"Yasunori Toshimitsu",
"Manabu Nishiura",
"Yuya Koga",
"Yusuke Omura",
"Yuki Asano",
"Kei Okada",
"Koji Kawasaki",
"Masayuki Inaba",
"Kento Kawaharazuka",
"Yasunori Toshimitsu",
"Manabu Nishiura",
"Yuya Koga",
"Yusuke Omura",
"Yuki Asano",
"Kei Okada",
"Koji Kawasaki",
"Masayuki Inaba"
] | Musculoskeletal humanoids have various biomimetic advantages, and the redundant muscle arrangement allowing for variable stiffness control is one of the most important. In this study, we focus on one feature of the redundancy, which enables the humanoid to keep moving even if one of its muscles breaks, an advantage that has not been dealt with in many studies. In order to make the most of this adv... |
Supervised Autonomy for Remote Teleoperation of Hybrid Wheel-Legged Mobile Manipulator Robots | https://ieeexplore.ieee.org/document/9635997/ | [
"Samuel Cheong",
"Tai Pang Chen",
"Cihan Acar",
"Yangwei You",
"Yuda Chen",
"Wan Leong Sim",
"Keng Peng Tee",
"Samuel Cheong",
"Tai Pang Chen",
"Cihan Acar",
"Yangwei You",
"Yuda Chen",
"Wan Leong Sim",
"Keng Peng Tee"
] | This paper proposes an improved supervised autonomy framework for remote teleoperation of a quadrupedal bimanual mobile manipulator in an unknown environment, with the usage of advanced perception technology and allowing the operator to easily assist the robot with decision making for executing tasks on the fly. First, the perception system uses lightweight deep neural network-based Single Shot De... |
Fuzzy PID Controller Based on Yaw Angle Prediction of a Spherical Robot | https://ieeexplore.ieee.org/document/9636425/ | [
"Yixu Wang",
"Xiaoqing Guan",
"Tao Hu",
"Ziang Zhang",
"You Wang",
"Zhan Wang",
"Yifan Liu",
"Guang Li",
"Yixu Wang",
"Xiaoqing Guan",
"Tao Hu",
"Ziang Zhang",
"You Wang",
"Zhan Wang",
"Yifan Liu",
"Guang Li"
] | In this paper, a fuzzy PID controller based on yaw angle prediction is applied to design an attitude controller for a spherical rolling robot. The robot consists of a 2-DOF pendulum located inside a spherical shell with freedom to rotate about the transversal and longitudinal axis. The proposed controller allows the robot to autonomously change its parameters to adapt to different environments bas... |
Few-leaf Learning: Weed Segmentation in Grasslands | https://ieeexplore.ieee.org/document/9636770/ | [
"Ronja Güldenring",
"Evangelos Boukas",
"Ole Ravn",
"Lazaros Nalpantidis",
"Ronja Güldenring",
"Evangelos Boukas",
"Ole Ravn",
"Lazaros Nalpantidis"
] | Autonomous robotic weeding in grasslands requires robust weed segmentation. Deep learning models can provide solutions to this problem, but they need to be trained on large amounts of images, which in the case of grasslands are notoriously difficult to obtain and manually annotate. In this work we introduce Few-leaf Learning, a concept that facilitates the training of accurate weed segmentation mo... |
A Low-cost Robot with Autonomous Recharge and Navigation for Weed Control in Fields with Narrow Row Spacing | https://ieeexplore.ieee.org/document/9636267/ | [
"Yayun Du",
"Bhrugu Mallajosyula",
"Deming Sun",
"Jingyi Chen",
"Zihang Zhao",
"Mukhlesur Rahman",
"Mohiuddin Quadir",
"Mohammad Khalid Jawed",
"Yayun Du",
"Bhrugu Mallajosyula",
"Deming Sun",
"Jingyi Chen",
"Zihang Zhao",
"Mukhlesur Rahman",
"Mohiuddin Quadir",
"Mohammad Khalid Jawed"
] | Modern herbicide application in agricultural set-tings typically relies on either large scale sprayers that dispense herbicide over crops and weeds alike or portable sprayers that require labor intensive manual operation. The former method results in overuse of herbicide and reduction in crop yield while the latter is often untenable in large scale operations. This paper presents the first fully a... |
Viewpoint Planning for Fruit Size and Position Estimation | https://ieeexplore.ieee.org/document/9636701/ | [
"Tobias Zaenker",
"Claus Smitt",
"Chris McCool",
"Maren Bennewitz",
"Tobias Zaenker",
"Claus Smitt",
"Chris McCool",
"Maren Bennewitz"
] | Modern agricultural applications require knowledge about the position and size of fruits on plants. However, occlusions from leaves typically make obtaining this information difficult. We present a novel viewpoint planning approach that builds up an octree of plants with labeled regions of interest (ROIs), i.e., fruits. Our method uses this octree to sample viewpoint candidates that increase the i... |
Robotic Lime Picking by Considering Leaves as Permeable Obstacles | https://ieeexplore.ieee.org/document/9636396/ | [
"Heramb Nemlekar",
"Ziang Liu",
"Suraj Kothawade",
"Sherdil Niyaz",
"Barath Raghavan",
"Stefanos Nikolaidis",
"Heramb Nemlekar",
"Ziang Liu",
"Suraj Kothawade",
"Sherdil Niyaz",
"Barath Raghavan",
"Stefanos Nikolaidis"
] | The problem of robotic lime picking is challenging; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat them as obstacles and completely avoid them, often resulting in undesirable or infeasible plans. We focus on reaching a lime in the presence of dense foliage b... |
Towards Intelligent Fruit Picking with In-hand Sensing | https://ieeexplore.ieee.org/document/9636341/ | [
"Lisa M. Dischinger",
"Miranda Cravetz",
"Jacob Dawes",
"Callen Votzke",
"Chelse VanAtter",
"Matthew L. Johnston",
"Cindy M. Grimm",
"Joseph R. Davidson",
"Lisa M. Dischinger",
"Miranda Cravetz",
"Jacob Dawes",
"Callen Votzke",
"Chelse VanAtter",
"Matthew L. Johnston",
"Cindy M. Grimm",
"Joseph R. Davidson"
] | Studies have shown that picking techniques play an important role in determining fruit quality at harvest (e.g. bruising, stem retention, etc). When picking fruit such as apples and pears, professional pickers use active perception, incorporating both visual and tactile input about fruit orientation, stem location, and the fruit’s immediate surroundings. This combination of tactile, visual, and fo... |
A Robust Illumination-Invariant Camera System for Agricultural Applications | https://ieeexplore.ieee.org/document/9636542/ | [
"Abhisesh Silwal",
"Tanvir Parhar",
"Francisco Yandun",
"Harjatin Baweja",
"George Kantor",
"Abhisesh Silwal",
"Tanvir Parhar",
"Francisco Yandun",
"Harjatin Baweja",
"George Kantor"
] | Object detection and semantic segmentation are two of the most widely adopted deep learning algorithms in agricultural applications. One of the major sources of variability in image quality acquired outdoors for such tasks is changing lighting conditions that can alter the appearance of the objects or the contents of the entire image. While transfer learning and data augmentation reduce the need f... |
Depth Ranging Performance Evaluation and Improvement for RGB-D Cameras on Field-Based High-Throughput Phenotyping Robots | https://ieeexplore.ieee.org/document/9636211/ | [
"Zhengqiang Fan",
"Na Sun",
"Quan Qiu",
"Tao Li",
"Chunjiang Zhao",
"Zhengqiang Fan",
"Na Sun",
"Quan Qiu",
"Tao Li",
"Chunjiang Zhao"
] | RGB-D cameras have been successfully used for indoor High-ThroughPut Phenotyping (HTPP). However, their capability and feasibility for in-field HTPP applications still need to be evaluated. To solve the problem, we evaluate the depth-ranging performances of a consumer-level RGB-D camera (RealSense D435i) under in-field scenarios. First, we focus on determining their optimal ranging areas for diffe... |
A General Framework for Lifelong Localization and Mapping in Changing Environment | https://ieeexplore.ieee.org/document/9635985/ | [
"Min Zhao",
"Xin Guo",
"Le Song",
"Baoxing Qin",
"Xuesong Shi",
"Gim Hee Lee",
"Guanghui Sun",
"Min Zhao",
"Xin Guo",
"Le Song",
"Baoxing Qin",
"Xuesong Shi",
"Gim Hee Lee",
"Guanghui Sun"
] | The environment of most real-world scenarios such as malls and supermarkets changes at all times. A pre-built map that does not account for these changes becomes out-of-date easily. Therefore, it is necessary to have an up-to-date model of the environment to facilitate long-term operation of a robot. To this end, this paper presents a general lifelong simultaneous localization and mapping (SLAM) f... |
Geometry-based Graph Pruning for Lifelong SLAM | https://ieeexplore.ieee.org/document/9636530/ | [
"Gerhard Kurz",
"Matthias Holoch",
"Peter Biber",
"Gerhard Kurz",
"Matthias Holoch",
"Peter Biber"
] | Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the continuous growth of the graph and the loss of sparsity. Both problems can be addressed by a graph pruning algorithm. It carefully removes vertices and edges to keep ... |
Consistent SLAM using Local Optimization with Virtual Prior Topologies | https://ieeexplore.ieee.org/document/9636787/ | [
"Gastón Castro",
"Facundo Pessacg",
"Pablo De Cristóforis",
"Gastón Castro",
"Facundo Pessacg",
"Pablo De Cristóforis"
] | In the present work we address the problem of achieving a consistent estimator for SLAM. We propose a novel method capable of computing approximately consistent global uncertainties without scaling in complexity with the total size of the explored area. The method allows arbitrary selection of local areas for optimization, introducing a methodology for building a virtual prior in bounded time. The... |
Efficient Multimodal Belief Propagation for Robust SLAM Using Clustering Based Reparameterization | https://ieeexplore.ieee.org/document/9636040/ | [
"Seungwon Choi",
"Tae-Wan Kim",
"Seungwon Choi",
"Tae-Wan Kim"
] | Due to the presence of ambiguities caused by sensor noise and structural similarity, simultaneous localization and mapping (SLAM) observation models are typically multimodal. The multimodal inference process can be directly dealt with by belief propagation (BP) using weighted Gaussian mixture messages, but for efficiency, a combinatorial explosion of the complexity must be suitably relaxed. In thi... |
Robust Initialization of Multi-camera SLAM with Limited View Overlaps and Inaccurate Extrinsic Calibration | https://ieeexplore.ieee.org/document/9636045/ | [
"Ang Li",
"Danping Zou",
"Wenxian Yu",
"Ang Li",
"Danping Zou",
"Wenxian Yu"
] | This paper proposes a robust initialization method for a multi-camera visual SLAM system where cameras have only a limited common field of views and inaccurate extrinsic calibration. The limited common field of views leads to only a few common features that can be matched between cameras. Inaccurate extrinsic poses, caused by vibrations or misplacement of cameras after offline calibration, make it... |
Camera Parameters Aware Motion Segmentation Network with Compensated Optical Flow | https://ieeexplore.ieee.org/document/9636806/ | [
"Xianshun Wang",
"Dongchen Zhu",
"Shaojie Xu",
"Wenjun Shi",
"Yanqing Liu",
"Jiamao Li",
"Xiaolin Zhang",
"Xianshun Wang",
"Dongchen Zhu",
"Shaojie Xu",
"Wenjun Shi",
"Yanqing Liu",
"Jiamao Li",
"Xiaolin Zhang"
] | Learning to distinguish independent moving objects from the observed optical flow with a moving camera remains challenging. In this work, we first present a novel camera pose compensation (CPC) scheme. With the help of ingenious geometric analysis, it breaks the observed optical flow into patterns that are easier to interpret for the motion segmentation network. Secondly, we further refine such co... |
APEX: Unsupervised, Object-Centric Scene Segmentation and Tracking for Robot Manipulation | https://ieeexplore.ieee.org/document/9636711/ | [
"Yizhe Wu",
"Oiwi Parker Jones",
"Martin Engelcke",
"Ingmar Posner",
"Yizhe Wu",
"Oiwi Parker Jones",
"Martin Engelcke",
"Ingmar Posner"
] | Recent advances in unsupervised learning for object detection, segmentation, and tracking hold significant promise for applications in robotics. A common approach is to frame these tasks as inference in probabilistic latent-variable models. In this paper, however, we show that the current state-of-the-art struggles with visually complex scenes such as typically encountered in robot manipulation ta... |
PLUMENet: Efficient 3D Object Detection from Stereo Images | https://ieeexplore.ieee.org/document/9635875/ | [
"Yan Wang",
"Bin Yang",
"Rui Hu",
"Ming Liang",
"Raquel Urtasun",
"Yan Wang",
"Bin Yang",
"Rui Hu",
"Ming Liang",
"Raquel Urtasun"
] | 3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have recently shown promising results at a lower cost. Existing approaches tackle this problem in two steps: first depth estimation from stereo images is performed to... |
Part-Aware Data Augmentation for 3D Object Detection in Point Cloud | https://ieeexplore.ieee.org/document/9635887/ | [
"Jaeseok Choi",
"Yeji Song",
"Nojun Kwak",
"Jaeseok Choi",
"Yeji Song",
"Nojun Kwak"
] | Data augmentation has greatly contributed to improving the performance in image recognition tasks, and a lot of related studies have been conducted. However, data augmentation on 3D point cloud data has not been much explored. 3D label has more sophisticated and rich structural information than the 2D label, so it enables more diverse and effective data augmentation. In this paper, we propose part... |
MapFusion: A General Framework for 3D Object Detection with HDMaps | https://ieeexplore.ieee.org/document/9636724/ | [
"Jin Fang",
"Dingfu Zhou",
"Xibin Song",
"Liangjun Zhang",
"Jin Fang",
"Dingfu Zhou",
"Xibin Song",
"Liangjun Zhang"
] | 3D object detection is a key perception component in autonomous driving. Most recent approaches are based on LiDAR sensors only or fused with cameras. Maps (e.g., High Definition Maps), a basic infrastructure for intelligent vehicles, however, have not been well exploited for boosting object detection tasks. In this paper, we propose a simple but effective framework - MapFusion to integrate the ma... |
SpikeMS: Deep Spiking Neural Network for Motion Segmentation | https://ieeexplore.ieee.org/document/9636506/ | [
"Chethan M. Parameshwara",
"Simin Li",
"Cornelia Fermüller",
"Nitin J. Sanket",
"Matthew S. Evanusa",
"Yiannis Aloimonos",
"Chethan M. Parameshwara",
"Simin Li",
"Cornelia Fermüller",
"Nitin J. Sanket",
"Matthew S. Evanusa",
"Yiannis Aloimonos"
] | Spiking Neural Networks (SNN) are the so-called third generation of neural networks which attempt to more closely match the functioning of the biological brain. They inherently encode temporal data, allowing for training with less energy usage and can be extremely energy efficient when coded on neuromorphic hardware. In addition, they are well suited for tasks involving event-based sensors, which ... |
Deep Semantic Segmentation at the Edge for Autonomous Navigation in Vineyard Rows | https://ieeexplore.ieee.org/document/9635969/ | [
"Diego Aghi",
"Simone Cerrato",
"Vittorio Mazzia",
"Marcello Chiaberge",
"Diego Aghi",
"Simone Cerrato",
"Vittorio Mazzia",
"Marcello Chiaberge"
] | Precision agriculture is a fast-growing field that aims at introducing affordable and effective automation into agricultural processes. Nowadays, algorithmic solutions for navigation in vineyards require expensive sensors and high computational workloads that preclude large-scale applicability of autonomous robotic platforms in real business case scenarios. From this perspective, our novel propose... |
Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments | https://ieeexplore.ieee.org/document/9636243/ | [
"Björn Lindqvist",
"Ali-Akbar Agha-Mohammadi",
"George Nikolakopoulos",
"Björn Lindqvist",
"Ali-Akbar Agha-Mohammadi",
"George Nikolakopoulos"
] | This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and path planning algorithm, based on a multi-goal Rapidly-Exploring Random Trees (RRT) framework. Exploration-RRT (ERRT) has been specifically designed for utilization in 3D exploration missions, with partially or completely unknown and unstructured environments. The novel proposed ERRT is based o... |
Pallet detection and docking strategy for autonomous pallet truck AGV operation | https://ieeexplore.ieee.org/document/9636270/ | [
"Efthimios Tsiogas",
"Ioannis Kleitsiotis",
"Ioannis Kostavelis",
"Andreas Kargakos",
"Dimitris Giakoumis",
"Marc Bosch-Jorge",
"Raquel Julia Ros",
"Rafa López Tarazón",
"Spyridon Likothanassis",
"Dimitrios Tzovaras",
"Efthimios Tsiogas",
"Ioannis Kleitsiotis",
"Ioannis Kostavelis",
"Andreas Kargakos",
"Dimitris Giakoumis",
"Marc Bosch-Jorge",
"Raquel Julia Ros",
"Rafa López Tarazón",
"Spyridon Likothanassis",
"Dimitrios Tzovaras"
] | Automated guided vehicles operation in human populated factory environments is a challenging task, especially when there is a demand to operate without following fixed paths defined by guide wires, magnetic tape, magnets, or transponders embedded in the floor. The paper at hand introduces a vision-based method enabling safe and autonomous operation of pallet moving vehicles that accommodate pallet... |
Vulnerability of Connected Autonomous Vehicles Networks to Periodic Time-Varying Communication Delays of Certain Frequency | https://ieeexplore.ieee.org/document/9636739/ | [
"Isam Al-Darabsah",
"Kuei-Fang Hsueh",
"Mohammad Al Janaideh",
"Sue Ann Campbell",
"Deepa Kundur",
"Isam Al-Darabsah",
"Kuei-Fang Hsueh",
"Mohammad Al Janaideh",
"Sue Ann Campbell",
"Deepa Kundur"
] | In this paper, we consider periodic communication delays within the connected autonomous vehicles platoon. Periodic signals are fundamentally simple to create, and in this study we analyze whether certain amplitude or frequencies can cause instability. This is important as we discover in this study, the classical method of replacing time-varying delays with constant delays does not capture the com... |
LiDAR Degradation Quantification for Autonomous Driving in Rain | https://ieeexplore.ieee.org/document/9636694/ | [
"Chen Zhang",
"Zefan Huang",
"Marcelo H. Ang",
"Daniela Rus",
"Chen Zhang",
"Zefan Huang",
"Marcelo H. Ang",
"Daniela Rus"
] | Autonomous driving in rainy conditions remains a big challenge. One of the issues is sensor degradation. LiDAR is commonly used in autonomous driving systems to perceive and understand surrounding environments. However, LiDAR performance can be degraded by rain, thereby influencing other system performance (e.g., perception or localization). Therefore, knowing how much degradation exists in curren... |
Map-Aided Train Navigation with IMU Measurements | https://ieeexplore.ieee.org/document/9636461/ | [
"Marc-Antoine Lavoie",
"James Richard Forbes",
"Marc-Antoine Lavoie",
"James Richard Forbes"
] | Autonomous train navigation using only a low-cost MEMS IMU and a track map is considered in this paper. The approach is designed for urban rail or subway environments where GNSS measurements are unreliable or unavailable, and is intended as a baseline against which more complex sensor fusion approaches can be compared to ensure the consistency of the estimates. The estimator exploits the track mot... |
Sample-efficient Reinforcement Learning Representation Learning with Curiosity Contrastive Forward Dynamics Model | https://ieeexplore.ieee.org/document/9636536/ | [
"Thanh Nguyen",
"Tung M. Luu",
"Thang Vu",
"Chang D. Yoo",
"Thanh Nguyen",
"Tung M. Luu",
"Thang Vu",
"Chang D. Yoo"
] | Developing an agent in reinforcement learning (RL) that is capable of performing complex control tasks directly from high-dimensional observation such as raw pixels is a challenge as efforts still need to be made towards improving sample efficiency and generalization of RL algorithm. This paper considers a learning framework for a Curiosity Contrastive Forward Dynamics Model (CCFDM) to achieve a m... |
An Efficient Image-to-Image Translation HourGlass-based Architecture for Object Pushing Policy Learning | https://ieeexplore.ieee.org/document/9636601/ | [
"Marco Ewerton",
"Angel Martínez-González",
"Jean-Marc Odobez",
"Marco Ewerton",
"Angel Martínez-González",
"Jean-Marc Odobez"
] | Humans effortlessly solve pushing tasks in everyday life but unlocking these capabilities remains a challenge in robotics because physics models of these tasks are often inaccurate or unattainable. State-of-the-art data-driven approaches learn to compensate for these inaccuracies or replace the approximated physics models altogether. Nevertheless, approaches like Deep Q-Networks (DQNs) suffer from... |
A Joint Imitation-Reinforcement Learning Framework for Reduced Baseline Regret | https://ieeexplore.ieee.org/document/9636294/ | [
"Sheelabhadra Dey",
"Sumedh Pendurkar",
"Guni Sharon",
"Josiah P. Hanna",
"Sheelabhadra Dey",
"Sumedh Pendurkar",
"Guni Sharon",
"Josiah P. Hanna"
] | In various control task domains, existing controllers provide a baseline level of performance that—though possibly suboptimal—should be maintained. Reinforcement learning (RL) algorithms that rely on extensive exploration of the state and action space can be used to optimize a control policy. However, fully exploratory RL algorithms may decrease performance below a baseline level during training. ... |
Passing Through Narrow Gaps with Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9636773/ | [
"Brendan Tidd",
"Akansel Cosgun",
"Jürgen Leitner",
"Nicolas Hudson",
"Brendan Tidd",
"Akansel Cosgun",
"Jürgen Leitner",
"Nicolas Hudson"
] | The DARPA subterranean challenge requires teams of robots to traverse difficult and diverse underground environments. Traversing small gaps is one of the challenging scenarios that robots encounter. Imperfect sensor information makes it difficult for classical navigation methods, where behaviours require significant manual fine tuning. In this paper we present a deep reinforcement learning method ... |
HARL-A: Hardware Agnostic Reinforcement Learning Through Adversarial Selection | https://ieeexplore.ieee.org/document/9636167/ | [
"Lucy Jackson",
"Steve Eckersley",
"Pete Senior",
"Simon Hadfield",
"Lucy Jackson",
"Steve Eckersley",
"Pete Senior",
"Simon Hadfield"
] | The use of reinforcement learning (RL) has led to huge advancements in the field of robotics. However data scarcity, brittle convergence and the gap between simulation & real world environments, mean that most common RL approaches are subject to over fitting and fail to generalise to unseen environments. Hardware agnostic policies would mitigate this by allowing a single network to operate in a va... |
Motion Planning for Autonomous Vehicles in the Presence of Uncertainty Using Reinforcement Learning | https://ieeexplore.ieee.org/document/9636480/ | [
"Kasra Rezaee",
"Peyman Yadmellat",
"Simon Chamorro",
"Kasra Rezaee",
"Peyman Yadmellat",
"Simon Chamorro"
] | Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing range. This problem is often tackled by considering hypothetical hidden objects in occluded areas or beyond the sensing range to guarantee passive safety. Howeve... |
Safe Continuous Control with Constrained Model-Based Policy Optimization | https://ieeexplore.ieee.org/document/9635984/ | [
"Moritz A. Zanger",
"Karam Daaboul",
"J. Marius Zöllner",
"Moritz A. Zanger",
"Karam Daaboul",
"J. Marius Zöllner"
] | The applicability of reinforcement learning (RL) algorithms in real-world domains often requires adherence to safety constraints, a need difficult to address given the asymptotic nature of the classic RL optimization objective. In contrast to the traditional RL objective, safe exploration considers the maximization of expected returns under safety constraints expressed in expected cost returns. We... |
ViNet: Pushing the limits of Visual Modality for Audio-Visual Saliency Prediction | https://ieeexplore.ieee.org/document/9635989/ | [
"Samyak Jain",
"Pradeep Yarlagadda",
"Shreyank Jyoti",
"Shyamgopal Karthik",
"Ramanathan Subramanian",
"Vineet Gandhi",
"Samyak Jain",
"Pradeep Yarlagadda",
"Shreyank Jyoti",
"Shyamgopal Karthik",
"Ramanathan Subramanian",
"Vineet Gandhi"
] | We propose the ViNet architecture for audio-visual saliency prediction. ViNet is a fully convolutional encoder-decoder architecture. The encoder uses visual features from a network trained for action recognition, and the decoder infers a saliency map via trilinear interpolation and 3D convolutions, combining features from multiple hierarchies. The overall architecture of ViNet is conceptually simp... |
MDN-VO: Estimating Visual Odometry with Confidence | https://ieeexplore.ieee.org/document/9636827/ | [
"Nimet Kaygusuz",
"Oscar Mendez",
"Richard Bowden",
"Nimet Kaygusuz",
"Oscar Mendez",
"Richard Bowden"
] | Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying on heuristic methods to detect failure. In this work, we propose a deep learning-based VO model to efficiently estimate 6-DoF poses, as well as a confidence mod... |
Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments | https://ieeexplore.ieee.org/document/9636555/ | [
"Yasin Almalioglu",
"Angel Santamaria-Navarro",
"Benjamin Morrell",
"Ali-Akbar Agha-Mohammadi",
"Yasin Almalioglu",
"Angel Santamaria-Navarro",
"Benjamin Morrell",
"Ali-Akbar Agha-Mohammadi"
] | In recent years, unsupervised deep learning approaches have received significant attention to estimating the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging environments due to perceptual degradation, occlusions, and rapid motions. Moreover, the existing unsupervised methods suffer from the lack of scale-consistency con... |
Correlate-and-Excite: Real-Time Stereo Matching via Guided Cost Volume Excitation | https://ieeexplore.ieee.org/document/9635909/ | [
"Antyanta Bangunharcana",
"Jae Won Cho",
"Seokju Lee",
"In So Kweon",
"Kyung-Soo Kim",
"Soohyun Kim",
"Antyanta Bangunharcana",
"Jae Won Cho",
"Seokju Lee",
"In So Kweon",
"Kyung-Soo Kim",
"Soohyun Kim"
] | Volumetric deep learning approach towards stereo matching aggregates a cost volume computed from input left and right images using 3D convolutions. Recent works showed that utilization of extracted image features and a spatially varying cost volume aggregation complements 3D convolutions. However, existing methods with spatially varying operations are complex, cost considerable computation time, a... |
Improving Robot Localisation by Ignoring Visual Distraction | https://ieeexplore.ieee.org/document/9636595/ | [
"Oscar Mendez",
"Matthew Vowels",
"Richard Bowden",
"Oscar Mendez",
"Matthew Vowels",
"Richard Bowden"
] | Attention is an important component of modern deep learning. However, less emphasis has been put on its inverse: ignoring distraction. Our daily lives require us to explicitly avoid giving attention to salient visual features that confound the task we are trying to accomplish. This visual prioritisation allows us to concentrate on important tasks while ignoring visual distractors.In this work, we ... |
Semantic Segmentation-assisted Scene Completion for LiDAR Point Clouds | https://ieeexplore.ieee.org/document/9636662/ | [
"Xuemeng Yang",
"Hao Zou",
"Xin Kong",
"Tianxin Huang",
"Yong Liu",
"Wanlong Li",
"Feng Wen",
"Hongbo Zhang",
"Xuemeng Yang",
"Hao Zou",
"Xin Kong",
"Tianxin Huang",
"Yong Liu",
"Wanlong Li",
"Feng Wen",
"Hongbo Zhang"
] | Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene completion and semantic segmentation. Since semantic features can provide constraints and semantic priors for completion tasks, the relationship between them is worth ex... |
Dynamic Domain Adaptation for Single-view 3D Reconstruction | https://ieeexplore.ieee.org/document/9636343/ | [
"Cong Yang",
"Housen Xie",
"Haihong Tian",
"Yuanlong Yu",
"Cong Yang",
"Housen Xie",
"Haihong Tian",
"Yuanlong Yu"
] | Learning 3D object reconstruction from a single RGB image is a fundamental and extremely challenging problem for robots. As acquiring labeled 3D shape representations for real-world data is time-consuming and expensive, synthetic image-shape pairs are widely used for 3D reconstruction. However, the models trained on synthetic data set did not perform equally well on real-world images. The existing... |
Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation | https://ieeexplore.ieee.org/document/9636012/ | [
"Yiming Li",
"Tao Kong",
"Ruihang Chu",
"Yifeng Li",
"Peng Wang",
"Lei Li",
"Yiming Li",
"Tao Kong",
"Ruihang Chu",
"Yifeng Li",
"Peng Wang",
"Lei Li"
] | Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects is available, or utilize a step-wise, multi-stage strategy to predict the feasible 6-DoF grasp poses. In this work, we propose to formalize the 6-DoF grasp pos... |
Iterative Coarse-to-Fine 6D-Pose Estimation Using Back-propagation | https://ieeexplore.ieee.org/document/9636098/ | [
"Ryosuke Araki",
"Kohsuke Mano",
"Tadanori Hirano",
"Tsubasa Hirakawa",
"Takayoshi Yamashita",
"Hironobu Fujiyoshi",
"Ryosuke Araki",
"Kohsuke Mano",
"Tadanori Hirano",
"Tsubasa Hirakawa",
"Takayoshi Yamashita",
"Hironobu Fujiyoshi"
] | We propose a 6D pose estimation method for an object from a single RGB image for a robotic grasping task. Many approaches estimate pose parameters from images taken from other viewpoints and use deep learning to achieve high accuracy. However, most of these methods are not robust to changes in object texture, and there is a possibility that the correct pose cannot be estimated by only one-time inf... |
Fast-Learning Grasping and Pre-Grasping via Clutter Quantization and Q-map Masking | https://ieeexplore.ieee.org/document/9636165/ | [
"Dafa Ren",
"Xiaoqiang Ren",
"Xiaofan Wang",
"S. Tejaswi Digumarti",
"Guodong Shi",
"Dafa Ren",
"Xiaoqiang Ren",
"Xiaofan Wang",
"S. Tejaswi Digumarti",
"Guodong Shi"
] | Grasping objects in cluttered scenarios is a challenging task in robotics. Performing pre-grasp actions such as pushing and shifting to scatter objects is a way to reduce clutter. Based on deep reinforcement learning, we propose a Fast-Learning Grasping (FLG) framework, that can integrate pre-grasping actions along with grasping to pick up objects from cluttered scenarios with reduced real-world t... |
Joint Space Control via Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/9636477/ | [
"Visak Kumar",
"David Hoeller",
"Balakumar Sundaralingam",
"Jonathan Tremblay",
"Stan Birchfield",
"Visak Kumar",
"David Hoeller",
"Balakumar Sundaralingam",
"Jonathan Tremblay",
"Stan Birchfield"
] | The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint-level controller that dispenses with differential equations entirely. A deep neural network, trained via model-free reinforcement learning, is used to map from task space to joint space. Experiments show the method capa... |
DT*: Temporal Logic Path Planning in a Dynamic Environment | https://ieeexplore.ieee.org/document/9636399/ | [
"Priya Purohit",
"Indranil Saha",
"Priya Purohit",
"Indranil Saha"
] | Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the robot to follow the shortest cyclic path so that the number of times the robot completes the mission within a given duration gets maximized. In this paper, we addr... |
Mobile Recharger Path Planning and Recharge Scheduling in a Multi-Robot Environment | https://ieeexplore.ieee.org/document/9636078/ | [
"Tanmoy Kundu",
"Indranil Saha",
"Tanmoy Kundu",
"Indranil Saha"
] | In many multi-robot applications, mobile worker robots are often engaged in performing some tasks repetitively by following pre-computed trajectories. As these robots are battery-powered, they need to get recharged at regular intervals. We envision that, in the future, a few mobile recharger robots will be employed to supply charge to the energy-deficient worker robots recurrently to keep the over... |
Geometric Motion Planning for a System on the Cylindrical Surface | https://ieeexplore.ieee.org/document/9635861/ | [
"Shuoqi Chen",
"Ruijie Fu",
"Ross Hatton",
"Howie Choset",
"Shuoqi Chen",
"Ruijie Fu",
"Ross Hatton",
"Howie Choset"
] | Traditional geometric mechanics models used in locomotion analysis rely heavily on systems having symmetry in SE(2) (i.e., the dynamics and constraints are invariant with respect to a system’s position and orientation) to simplify motion planning. As a result, the symmetry assumption prevents locomotion analysis on non-flat surfaces because the system dynamics may vary as a function of position an... |
PG-RRT: A Gaussian Mixture Model Driven, Kinematically Constrained Bi-directional RRT for Robot Path Planning | https://ieeexplore.ieee.org/document/9636134/ | [
"Paras Sharma",
"Ankit Gupta",
"Dibyendu Ghosh",
"Vinayak Honkote",
"Ganeshram Nandakumar",
"Debasish Ghose",
"Paras Sharma",
"Ankit Gupta",
"Dibyendu Ghosh",
"Vinayak Honkote",
"Ganeshram Nandakumar",
"Debasish Ghose"
] | Path planning and smooth trajectory generation are critical capabilities for efficient navigation of mobile robots operating in challenging and cluttered environments. For real time and autonomous operations of mobile robots, intelligent algorithms, efficient and light-weight compute, and smooth trajectory are key components. In this work, we propose an intelligent, probabilistic Gaussian mixture ... |
Accelerating Kinodynamic RRT* Through Dimensionality Reduction | https://ieeexplore.ieee.org/document/9636754/ | [
"Dongliang Zheng",
"Panagiotis Tsiotras",
"Dongliang Zheng",
"Panagiotis Tsiotras"
] | Sampling-based motion planning algorithms such as RRT* are well-known for their ability to quickly find an initial solution and then converge to the optimal solution asymptotically as the number of samples tends to infinity. However, the convergence rate can be slow for high-dimensional planning problems, particularly for dynamical systems where the sampling space is not just the configuration spa... |
Risk-Averse RRT* Planning with Nonlinear Steering and Tracking Controllers for Nonlinear Robotic Systems Under Uncertainty | https://ieeexplore.ieee.org/document/9636834/ | [
"Sleiman Safaoui",
"Benjamin J. Gravell",
"Venkatraman Renganathan",
"Tyler H. Summers",
"Sleiman Safaoui",
"Benjamin J. Gravell",
"Venkatraman Renganathan",
"Tyler H. Summers"
] | We propose a two-phase risk-averse architecture for controlling stochastic nonlinear robotic systems. We present Risk-Averse Nonlinear Steering RRT* (RANS-RRT*) as an RRT* variant that incorporates nonlinear dynamics by solving a nonlinear program (NLP) and accounts for risk by approximating the state distribution and performing a distributionally robust (DR) collision check to promote safe planni... |
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments | https://ieeexplore.ieee.org/document/9636860/ | [
"Mark Nicholas Finean",
"Wolfgang Merkt",
"Ioannis Havoutis",
"Mark Nicholas Finean",
"Wolfgang Merkt",
"Ioannis Havoutis"
] | Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-free motion synthesis with good convergence properties. However, demonstration of a fully integrated system that can safely re-plan in unknown environments, in the presence of static and dynamic obstacles, has remained an ... |
Effect of Assembly Design on a Walking Multi-Arm Robotics for In-Space Assembly | https://ieeexplore.ieee.org/document/9636179/ | [
"Katherine McBryan",
"Katherine McBryan"
] | Robotic In-space assembly (ISA) is the next step to building larger and more permanent structures in orbit. Robotic ISA offers a unique opportunity for engineers to design the robotic system and the structure at the same time. ISA structures can be optimized to minimize weight or the number of pieces but these decisions have large impacts on the complexity of the robotic system. This impact goes b... |
A Multi-Target Trajectory Planning of a 6-DoF Free-Floating Space Robot via Reinforcement Learning | https://ieeexplore.ieee.org/document/9636681/ | [
"Shengjie Wang",
"Xiang Zheng",
"Yuxue Cao",
"Tao Zhang",
"Shengjie Wang",
"Xiang Zheng",
"Yuxue Cao",
"Tao Zhang"
] | Space robots have played an essential role in space junk removal. Compared with traditional model-based methods, model-free reinforcement learning methods are promising in tackling space capture missions, which is challenging due to the dynamic singular problem and measuring errors of dynamics parameters. Nevertheless, current research mostly focus on the single-target environment. In this paper, ... |
Disentangling Dense Multi-Cable Knots | https://ieeexplore.ieee.org/document/9636397/ | [
"Vainavi Viswanath",
"Jennifer Grannen",
"Priya Sundaresan",
"Brijen Thananjeyan",
"Ashwin Balakrishna",
"Ellen Novoseller",
"Jeffrey Ichnowski",
"Michael Laskey",
"Joseph E. Gonzalez",
"Ken Goldberg",
"Vainavi Viswanath",
"Jennifer Grannen",
"Priya Sundaresan",
"Brijen Thananjeyan",
"Ashwin Balakrishna",
"Ellen Novoseller",
"Jeffrey Ichnowski",
"Michael Laskey",
"Joseph E. Gonzalez",
"Ken Goldberg"
] | Disentangling two or more cables often requires many steps to remove crossings between and within cables. We formalize the problem of disentangling multiple cables and present an algorithm, Iterative Reduction Of Non-planar Multiple cAble kNots (IRON-MAN), that outputs robot actions to remove crossings from multi-cable knotted structures. IRON-MAN uses a learned perception system inspired by prior... |
Design and Evaluation of a Hair Combing System Using a General-Purpose Robotic Arm | https://ieeexplore.ieee.org/document/9636768/ | [
"Nathaniel Dennler",
"Eura Shin",
"Maja Matarić",
"Stefanos Nikolaidis",
"Nathaniel Dennler",
"Eura Shin",
"Maja Matarić",
"Stefanos Nikolaidis"
] | This work introduces an approach for automatic hair combing by a lightweight robot. For people living with limited mobility, dexterity, or chronic fatigue, combing hair is often a difficult task that negatively impacts personal routines. We propose a modular system for enabling general robot manipulators to assist with a hair-combing task. The system consists of three main components. The first co... |
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