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Online High-Level Model Estimation for Efficient Hierarchical Robot Navigation | https://ieeexplore.ieee.org/document/9636565/ | [
"Martina Stadler",
"Katherine Liu",
"Nicholas Roy",
"Martina Stadler",
"Katherine Liu",
"Nicholas Roy"
] | We would like to enable a robot to navigate efficiently and robustly in known, structured environments that are large enough to cause traditional planning approaches to incur considerable computational cost. Hierarchical planners are a promising way to increase planning efficiency in such environments because high-level abstract plans can be used to reduce the size of the search space over which d... |
Disentangling and Vectorization: A 3D Visual Perception Approach for Autonomous Driving Based on Surround-View Fisheye Cameras | https://ieeexplore.ieee.org/document/9636707/ | [
"Zizhang Wu",
"Wenkai Zhang",
"Jizheng Wang",
"Man Wang",
"Yuanzhu Gan",
"Xinchao Gou",
"Muqing Fang",
"Jing Song",
"Zizhang Wu",
"Wenkai Zhang",
"Jizheng Wang",
"Man Wang",
"Yuanzhu Gan",
"Xinchao Gou",
"Muqing Fang",
"Jing Song"
] | The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the fisheye images for mass production, partly due to the lack of 3D datasets of such images. In this paper, we manage to overcome and avoid the difficulty of acqu... |
Context and Orientation Aware Path Tracking | https://ieeexplore.ieee.org/document/9635922/ | [
"Nicholas Michael Bünger",
"Sahil Panjwani",
"Malika Meghjani",
"Zefan Huang",
"Marcelo H. Ang",
"Daniela Rus",
"Nicholas Michael Bünger",
"Sahil Panjwani",
"Malika Meghjani",
"Zefan Huang",
"Marcelo H. Ang",
"Daniela Rus"
] | Autonomous vehicles on city roads and especially in pedestrian environments require agility to navigate narrow passages and turn in tight spaces, leading to the need for a real-time, robust and adaptable controller. In this paper, we present orientation and context aware controllers for autonomous vehicles that can closely track the reference path wit alh respect to the current state of the vehicl... |
Benchmarking Safe Deep Reinforcement Learning in Aquatic Navigation | https://ieeexplore.ieee.org/document/9635925/ | [
"Enrico Marchesini",
"Davide Corsi",
"Alessandro Farinelli",
"Enrico Marchesini",
"Davide Corsi",
"Alessandro Farinelli"
] | We propose a novel benchmark environment for Safe Reinforcement Learning focusing on aquatic navigation. Aquatic navigation is an extremely challenging task due to the non-stationary environment and the uncertainties of the robotic platform, hence it is crucial to consider the safety aspect of the problem, by analyzing the behavior of the trained network to avoid dangerous situations (e.g., collis... |
Multi-agent Collaborative Learning with Relational Graph Reasoning in Adversarial Environments | https://ieeexplore.ieee.org/document/9636636/ | [
"Shiguang Wu",
"Tenghai Qiu",
"Zhiqiang Pu",
"Jianqiang Yi",
"Shiguang Wu",
"Tenghai Qiu",
"Zhiqiang Pu",
"Jianqiang Yi"
] | This paper proposes a collaborative policy framework via relational graph reasoning for multi-agent systems to accomplish adversarial tasks. A relational graph reasoning module consisting of an agent graph reasoning module and an opponent graph module, is designed to enable each agent to learn mixture state representation to enhance the effectiveness of the policy. In particular, for each agent, t... |
Semantic Tracklets: An Object-Centric Representation for Visual Multi-Agent Reinforcement Learning | https://ieeexplore.ieee.org/document/9636592/ | [
"Iou-Jen Liu",
"Zhongzheng Ren",
"Raymond A. Yeh",
"Alexander G. Schwing",
"Iou-Jen Liu",
"Zhongzheng Ren",
"Raymond A. Yeh",
"Alexander G. Schwing"
] | Solving complex real-world tasks, e.g., autonomous fleet control, often involves a coordinated team of multiple agents which learn strategies from visual inputs via reinforcement learning. Many existing multi-agent reinforcement learning (MARL) algorithms however don’t scale to environments where agents operate on visual inputs. To address this issue, algorithmically, recent works have focused on ... |
Bayesian Residual Policy Optimization: : Scalable Bayesian Reinforcement Learning with Clairvoyant Experts | https://ieeexplore.ieee.org/document/9636163/ | [
"Gilwoo Lee",
"Brian Hou",
"Sanjiban Choudhury",
"Siddhartha S. Srinivasa",
"Gilwoo Lee",
"Brian Hou",
"Sanjiban Choudhury",
"Siddhartha S. Srinivasa"
] | Informed and robust decision making in the face of uncertainty is critical for robots operating in unstructured environments. We formulate this as Bayesian Reinforcement Learning over latent Markov Decision Processes (MDPs). While Bayes-optimality is theoretically the gold standard, existing algorithms scale poorly to continuous state and action spaces. We build on the following insight: in the ab... |
Memory-based Deep Reinforcement Learning for POMDPs | https://ieeexplore.ieee.org/document/9636140/ | [
"Lingheng Meng",
"Rob Gorbet",
"Dana Kulić",
"Lingheng Meng",
"Rob Gorbet",
"Dana Kulić"
] | A promising characteristic of Deep Reinforcement Learning (DRL) is its capability to learn optimal policy in an end-to-end manner without relying on feature engineering. However, most approaches assume a fully observable state space, i.e. fully observable Markov Decision Processes (MDPs). In real-world robotics, this assumption is unpractical, because of issues such as sensor sensitivity limitatio... |
PNS: Population-Guided Novelty Search for Reinforcement Learning in Hard Exploration Environments | https://ieeexplore.ieee.org/document/9636234/ | [
"Qihao Liu",
"Yujia Wang",
"Xiaofeng Liu",
"Qihao Liu",
"Yujia Wang",
"Xiaofeng Liu"
] | Reinforcement Learning (RL) has made remarkable achievements, but it still suffers from inadequate exploration strategies, sparse reward signals, and deceptive reward functions. To alleviate these problems, a Population-guided Novelty Search (PNS) parallel learning method is proposed in this paper. In PNS, the population is divided into multiple sub-populations, each of which has one chief agent a... |
MAMBPO: Sample-efficient multi-robot reinforcement learning using learned world models | https://ieeexplore.ieee.org/document/9635836/ | [
"Daniël Willemsen",
"Mario Coppola",
"Guido C.H.E. de Croon",
"Daniël Willemsen",
"Mario Coppola",
"Guido C.H.E. de Croon"
] | Multi-robot systems can benefit from reinforcement learning (RL) algorithms that learn behaviours in a small number of trials, a property known as sample efficiency. This research thus investigates the use of learned world models to improve sample efficiency. We present a novel multi-agent model-based RL algorithm: Multi-Agent Model-Based Policy Optimization (MAMBPO), utilizing the Centralized Lea... |
Q-learning with Long-term Action-space Shaping to Model Complex Behavior for Autonomous Lane Changes | https://ieeexplore.ieee.org/document/9636668/ | [
"Gabriel Kalweit",
"Maria Huegle",
"Moritz Werling",
"Joschka Boedecker",
"Gabriel Kalweit",
"Maria Huegle",
"Moritz Werling",
"Joschka Boedecker"
] | In autonomous driving applications, reinforcement learning agents often have to perform complex behavior, which can translate into optimizing multiple objectives while following certain rules. Encoding traffic rules and desires such as safety and comfort via classical methods based on reward shaping (i.e. a weighted combination of different objectives in the reward signal) or Lagrangian methods (i... |
All Characteristics Preservation: Single Image Dehazing based on Hierarchical Detail Reconstruction Wavelet Decomposition Network | https://ieeexplore.ieee.org/document/9636373/ | [
"Wei-Ting Chen",
"Hao-Yu Fang",
"Cheng-Che Tsai",
"Jian-Jiun Ding",
"Sy-Yen Kuo",
"Wei-Ting Chen",
"Hao-Yu Fang",
"Cheng-Che Tsai",
"Jian-Jiun Ding",
"Sy-Yen Kuo"
] | Single image haze removal is crucial in computer vision. In open literatures, two kinds of dehazing strategies (prior-based and learning-based methods) have been developed. However, they have a trade-off between detail preservation and the image quality. Prior-based methods reconstruct the detail well but have lower image quality while learning-based methods achieve better recovered quality but lo... |
PCTMA-Net: Point Cloud Transformer with Morphing Atlas-based Point Generation Network for Dense Point Cloud Completion | https://ieeexplore.ieee.org/document/9636483/ | [
"Jianjie Lin",
"Markus Rickert",
"Alexander Perzylo",
"Alois Knoll",
"Jianjie Lin",
"Markus Rickert",
"Alexander Perzylo",
"Alois Knoll"
] | Inferring a complete 3D geometry given an in-complete point cloud is essential in many vision and robotics applications. Previous work mainly relies on a global feature extracted by a Multi-layer Perceptron (MLP) for predicting the shape geometry. This suffers from a loss of structural details, as its point generator fails to capture the detailed topology and structure of point clouds using only t... |
Superline: A Robust Line Segment Feature for Visual SLAM | https://ieeexplore.ieee.org/document/9636435/ | [
"Chengyu Qiao",
"Tingming Bai",
"Zhiyu Xiang",
"Qi Qian",
"Yunfeng Bi",
"Chengyu Qiao",
"Tingming Bai",
"Zhiyu Xiang",
"Qi Qian",
"Yunfeng Bi"
] | Along with point features, line features play an important role in achieving robust Simultaneous Localization and Mapping (SLAM) under complex environments. This paper proposes a fast and effective method, namely Superline, to simultaneously detect line segments and generate robust descriptors for matching. The entire model is composed of a convolutional backbone and two task heads, i.e., detectio... |
ORStereo: Occlusion-Aware Recurrent Stereo Matching for 4K-Resolution Images | https://ieeexplore.ieee.org/document/9635869/ | [
"Yaoyu Hu",
"Wenshan Wang",
"Huai Yu",
"Weikun Zhen",
"Sebastian Scherer",
"Yaoyu Hu",
"Wenshan Wang",
"Huai Yu",
"Weikun Zhen",
"Sebastian Scherer"
] | Stereo reconstruction models trained on small images do not generalize well to high-resolution data. Training a model on high-resolution image size faces difficulties of data availability and is often infeasible due to limited computing resources. In this work, we present the Occlusion-aware Recurrent binocular Stereo matching (ORStereo), which deals with these issues by only training on available... |
Model Adaptation through Hypothesis Transfer with Gradual Knowledge Distillation | https://ieeexplore.ieee.org/document/9636206/ | [
"Song Tang",
"Yuji Shi",
"Zhiyuan Ma",
"Jian Li",
"Jianzhi Lyu",
"Qingdu Li",
"Jianwei Zhang",
"Song Tang",
"Yuji Shi",
"Zhiyuan Ma",
"Jian Li",
"Jianzhi Lyu",
"Qingdu Li",
"Jianwei Zhang"
] | The ability to adapt their perception to changing environments is a core characterization of intelligent robots. At present, Unsupervised Domain Adaptation (UDA) methods are used to address this problem where the adaptation task is formulated as a transfer problem from a well-described scenario (source domain) to a new scenario (target domain). In order to implement the domain adaptation, these me... |
VoluMon: Weakly-Supervised Volumetric Monocular Estimation with Ellipsoid Representations | https://ieeexplore.ieee.org/document/9636725/ | [
"Katherine Liu",
"Kyel Ok",
"Nicholas Roy",
"Katherine Liu",
"Kyel Ok",
"Nicholas Roy"
] | Deep learning approaches to estimating 3D object pose and geometry present an attractive alternative to online estimation techniques, which can suffer from significant estimation latency. However, a practical hurdle to training state-of-the-art deep 3D bounding box estimators is collecting a sufficiently large dataset of 3D bounding box labels. In this work, we present a novel framework for weakly... |
Stereo Matching by Self-supervision of Multiscopic Vision | https://ieeexplore.ieee.org/document/9636616/ | [
"Weihao Yuan",
"Yazhan Zhang",
"Bingkun Wu",
"Siyu Zhu",
"Ping Tan",
"Michael Yu Wang",
"Qifeng Chen",
"Weihao Yuan",
"Yazhan Zhang",
"Bingkun Wu",
"Siyu Zhu",
"Ping Tan",
"Michael Yu Wang",
"Qifeng Chen"
] | Self-supervised learning for depth estimation possesses several advantages over supervised learning. The benefits of no need for ground-truth depth, online fine-tuning, and better generalization with unlimited data attract researchers to seek self-supervised solutions. In this work, we propose a new self-supervised framework for stereo matching utilizing multiple images captured at aligned camera ... |
DepthGrasp: Depth Completion of Transparent Objects Using Self-Attentive Adversarial Network with Spectral Residual for Grasping | https://ieeexplore.ieee.org/document/9636382/ | [
"Yingjie Tang",
"Junhong Chen",
"Zhenguo Yang",
"Zehang Lin",
"Qing Li",
"Wenyin Liu",
"Yingjie Tang",
"Junhong Chen",
"Zhenguo Yang",
"Zehang Lin",
"Qing Li",
"Wenyin Liu"
] | Transparent objects with unique visual properties often make depth cameras fail to scan their reflective and refractive surfaces. Recent studies on depth completion of transparent objects have leveraged a linear system based on the geometric constraints to predict the missing depth, which is hard to be employed in an end-to-end framework and achieve joint optimization. In this paper, we propose De... |
Reactive Long Horizon Task Execution via Visual Skill and Precondition Models | https://ieeexplore.ieee.org/document/9636037/ | [
"Shohin Mukherjee",
"Chris Paxton",
"Arsalan Mousavian",
"Adam Fishman",
"Maxim Likhachev",
"Dieter Fox",
"Shohin Mukherjee",
"Chris Paxton",
"Arsalan Mousavian",
"Adam Fishman",
"Maxim Likhachev",
"Dieter Fox"
] | Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary to train end-to-end policies in the real-world is often infeasible. We describe an approach for sim-to-real training that can accomplish unseen robotic tasks using models learned in simulation to ground components of a si... |
Efficient and Accurate Candidate Generation for Grasp Pose Detection in SE(3) | https://ieeexplore.ieee.org/document/9636215/ | [
"Andreas ten Pas",
"Colin Keil",
"Robert Platt",
"Andreas ten Pas",
"Colin Keil",
"Robert Platt"
] | Grasp detection of novel objects in unstructured environments is a key capability in robotic manipulation. For 2D grasp detection problems where grasps are assumed to lie in the plane, it is common to design a fully convolutional neural network that predicts grasps over an entire image in one step. However, this is not possible for grasp pose detection where grasp poses are assumed to exist in SE(... |
DemoGrasp: Few-Shot Learning for Robotic Grasping with Human Demonstration | https://ieeexplore.ieee.org/document/9636856/ | [
"Pengyuan Wang",
"Fabian Manhardt",
"Luca Minciullo",
"Lorenzo Garattoni",
"Sven Meier",
"Nassir Navab",
"Benjamin Busam",
"Pengyuan Wang",
"Fabian Manhardt",
"Luca Minciullo",
"Lorenzo Garattoni",
"Sven Meier",
"Nassir Navab",
"Benjamin Busam"
] | The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set of grasping points. While the former approaches do not scale well to multiple object instances or classes yet, the latter require large annotated datasets and ar... |
Graph-based Task-specific Prediction Models for Interactions between Deformable and Rigid Objects | https://ieeexplore.ieee.org/document/9636660/ | [
"Zehang Weng",
"Fabian Paus",
"Anastasiia Varava",
"Hang Yin",
"Tamim Asfour",
"Danica Kragic",
"Zehang Weng",
"Fabian Paus",
"Anastasiia Varava",
"Hang Yin",
"Tamim Asfour",
"Danica Kragic"
] | Capturing scene dynamics and predicting the future scene state is challenging but essential for robotic manipulation tasks, especially when the scene contains both rigid and deformable objects. In this work, we contribute a simulation environment and generate a novel dataset for task-specific manipulation, involving interactions between rigid objects and a deformable bag. The dataset incorporates ... |
GhostPose: Multi-view Pose Estimation of Transparent Objects for Robot Hand Grasping | https://ieeexplore.ieee.org/document/9636459/ | [
"Jaesik Chang",
"Minju Kim",
"Seongmin Kang",
"Heungwoo Han",
"Sunpyo Hong",
"Kyunghun Jang",
"Sungchul Kang",
"Jaesik Chang",
"Minju Kim",
"Seongmin Kang",
"Heungwoo Han",
"Sunpyo Hong",
"Kyunghun Jang",
"Sungchul Kang"
] | Pose estimation is a key challenge in robot manipulation and grasping task. Current object pose estimation approaches based on 3D models and depth sensor information have difficulties to handle transparent objects because of the limitation to capture the accurate depth information. To address these issues, we present a 6DoF pose estimation approach, called GhostPose, which utilizes a novel 3D boun... |
Reinforcement Learning for Vision-based Object Manipulation with Non-parametric Policy and Action Primitives | https://ieeexplore.ieee.org/document/9636563/ | [
"Dongwon Son",
"Myungsin Kim",
"Jaecheol Sim",
"Wonsik Shin",
"Dongwon Son",
"Myungsin Kim",
"Jaecheol Sim",
"Wonsik Shin"
] | The object manipulation is a crucial ability for a service robot, but it is hard to solve with reinforcement learning due to some reasons such as sample efficiency. In this paper, to tackle this object manipulation, we propose a novel framework, AP-NPQL (Non-Parametric Q Learning with Action Primitives), that can efficiently solve the object manipulation with visual input and sparse reward, by uti... |
Discrete Optimization of Adaptive State Lattices for Iterative Motion Planning on Unmanned Ground Vehicles | https://ieeexplore.ieee.org/document/9636181/ | [
"Benned Hedegaard",
"Ethan Fahnestock",
"Jacob Arkin",
"Ashwin Menon",
"Thomas M. Howard",
"Benned Hedegaard",
"Ethan Fahnestock",
"Jacob Arkin",
"Ashwin Menon",
"Thomas M. Howard"
] | Robust motion planners for unmanned ground vehicles must minimize risk while obeying vehicle mobility constraints. Algorithms such as the State Lattice (SL) utilize offline computation to generate expressive control sets which form recombinant search spaces, enabling the use of heuristic search to efficiently produce feasible motion plans online. The Adaptive State Lattice (ASL) demonstrated that ... |
Learning Continuous Cost-to-Go Functions for Non-holonomic Systems | https://ieeexplore.ieee.org/document/9636139/ | [
"Jinwook Huh",
"Daniel D. Lee",
"Volkan Isler",
"Jinwook Huh",
"Daniel D. Lee",
"Volkan Isler"
] | This paper presents a supervised learning method to generate continuous cost-to-go functions of non-holonomic systems directly from the workspace description. Supervision from informative examples reduces training time and improves network performance. The manifold representing the optimal trajectories of a non-holonomic system has high-curvature regions which can not be efficiently captured with ... |
Robust Sample-Based Output-Feedback Path Planning | https://ieeexplore.ieee.org/document/9636273/ | [
"Mahroo Bahreinian",
"Marc Mitjans",
"Roberto Tron",
"Mahroo Bahreinian",
"Marc Mitjans",
"Roberto Tron"
] | We propose a novel approach for sampling-based and control-based motion planning. We combine a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based output-feedback controllers obtained via Control Lyapunov Functions, Control Barrier Functions, and robust Linear Programming. Our solution inherits many benefits of RRT... |
Combined stochastic-deterministic predictive control using local-minima free navigation | https://ieeexplore.ieee.org/document/9636306/ | [
"Gregor Klančar",
"Marija Seder",
"Gregor Klančar",
"Marija Seder"
] | This work proposes a model predictive control approach of a wheeled mobile robot based on a local-minima free navigation function. The constructed navigation function includes information on a goal location and obstacles. Novel conservative navigation is introduced that is simple to compute and yields convergent control behavior. To solve the optimization problem the combined optimization is propo... |
Safe Navigation in Human Occupied Environments Using Sampling and Control Barrier Functions | https://ieeexplore.ieee.org/document/9636406/ | [
"Keyvan Majd",
"Shakiba Yaghoubi",
"Tomoya Yamaguchi",
"Bardh Hoxha",
"Danil Prokhorov",
"Georgios Fainekos",
"Keyvan Majd",
"Shakiba Yaghoubi",
"Tomoya Yamaguchi",
"Bardh Hoxha",
"Danil Prokhorov",
"Georgios Fainekos"
] | Sampling-based methods such as Rapidly-exploring Random Trees (RRTs) have been widely used for generating motion paths for autonomous mobile systems. In this work, we extend time-based RRTs with Control Barrier Functions (CBFs) to generate, safe motion plans in dynamic environments with many pedestrians. Our framework is based upon a human motion prediction model which is well suited for indoor na... |
Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian Belief Space Planning | https://ieeexplore.ieee.org/document/9636187/ | [
"Jianyu Chen",
"Yutaka Shimizu",
"Liting Sun",
"Masayoshi Tomizuka",
"Wei Zhan",
"Jianyu Chen",
"Yutaka Shimizu",
"Liting Sun",
"Masayoshi Tomizuka",
"Wei Zhan"
] | Motion planning under uncertainty is of significant importance for safety-critical systems such as autonomous vehicles. Such systems have to satisfy necessary constraints (e.g., collision avoidance) with potential uncertainties coming from either disturbed system dynamics or noisy sensor measurements. However, existing motion planning methods cannot efficiently find the robust optimal solutions un... |
Robotic Jigsaw: A Non-Holonomic Cutting Robot and Path Planning Algorithm | https://ieeexplore.ieee.org/document/9636066/ | [
"Haisen Zhao",
"Yash Talwekar",
"Wenqing Lan",
"Chetan Sharma",
"Daniela Rus",
"Adriana Schulz",
"Jeffrey I Lipton",
"Haisen Zhao",
"Yash Talwekar",
"Wenqing Lan",
"Chetan Sharma",
"Daniela Rus",
"Adriana Schulz",
"Jeffrey I Lipton"
] | Bladed tools such as jigsaws are common tools for wood workers on job-sites and in workshops, but do not currently have sufficient autonomous hardware or path planning algorithms to enable automation. Here we present a system of an autonomous robot and a path planning algorithm for automating jigsaw operations. The robot can drill holes, insert the jigsaw, and cut plywood. Our algorithm converts c... |
Human-Aware Navigation Planner for Diverse Human-Robot Interaction Contexts | https://ieeexplore.ieee.org/document/9636613/ | [
"Phani Teja Singamaneni",
"Anthony Favier",
"Rachid Alami",
"Phani Teja Singamaneni",
"Anthony Favier",
"Rachid Alami"
] | As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation planner that can handle a variety of human-robot contexts. We present the architecture of the system and discuss the features along with some implementation detai... |
Refuel Scheduling for Multirobot Charging-on-Demand | https://ieeexplore.ieee.org/document/9636815/ | [
"Tianshuang Gao",
"Yan Tian",
"Sourabh Bhattacharya",
"Tianshuang Gao",
"Yan Tian",
"Sourabh Bhattacharya"
] | In this paper, we consider the refuel scheduling problem for a team of ground robots deployed in "aislelike" environments wherein the robots are constrained to move along rows. In order to maintain a minimum service rate or throughput for the ground robots, we investigate the problem of scheduling a team of mobile charging stations deployed to replace the batteries on-board the ground robots witho... |
Event-Triggered Control for Weight-Unbalanced Directed Robot Networks | https://ieeexplore.ieee.org/document/9636574/ | [
"Juan D. Pabon",
"Gustavo A. Cardona",
"Nestor I. Ospina",
"Juan Calderon",
"Eduardo Mojica-Nava",
"Juan D. Pabon",
"Gustavo A. Cardona",
"Nestor I. Ospina",
"Juan Calderon",
"Eduardo Mojica-Nava"
] | We develop an event-triggered control strategy for a weighted-unbalanced directed homogeneous robot network to reach a dynamic consensus in this work. We present some guarantees for synchronizing a robot network when all robots have access to the reference and when a limited number of robots have access. The proposed event-triggered control can reduce and avoid the periodic updating of the signals... |
Impedance-Based Collision Reaction Strategy via Internal Stress Loading in Cooperative Manipulation | https://ieeexplore.ieee.org/document/9636135/ | [
"Victor Aladele",
"Seth Hutchinson",
"Victor Aladele",
"Seth Hutchinson"
] | Cooperative manipulation systems inherently cause internal stress on the common object. Many works have proposed methods to eliminate this internal stress. However, in this paper, we show that this property can be cautiously leveraged to compensate for external disturbance on the cooperative system, particularly disturbances that occur due to collision along the links of one of the cooperating rob... |
Detection and Inference of Randomness-based Behavior for Resilient Multi-vehicle Coordinated Operations | https://ieeexplore.ieee.org/document/9635899/ | [
"Paul J Bonczek",
"Nicola Bezzo",
"Paul J Bonczek",
"Nicola Bezzo"
] | A resilient multi-vehicle system cooperatively performs tasks by exchanging information, detecting, and removing cyber attacks that have the intent of hijacking or diminishing performance of the entire system. In this paper, we propose a framework to: i) detect and isolate misbehaving vehicles in the network, and ii) securely encrypt information among the network to alert and attract nearby vehicl... |
Meta Preference Learning for Fast User Adaptation in Human-Supervisory Multi-Robot Deployments | https://ieeexplore.ieee.org/document/9636515/ | [
"Chao Huang",
"Wenhao Luo",
"Rui Liu",
"Chao Huang",
"Wenhao Luo",
"Rui Liu"
] | As multi-robot systems (MRS) are widely used in various tasks such as natural disaster response and social security, people enthusiastically expect an MRS to be ubiquitous that a general user without heavy training can easily operate. However, humans have various preferences on balancing between task performance and safety, imposing different requirements onto MRS control. Failing to comply with p... |
Relative Localization of Mobile Robots with Multiple Ultra-WideBand Ranging Measurements | https://ieeexplore.ieee.org/document/9636017/ | [
"Zhiqiang Cao",
"Ran Liu",
"Chau Yuen",
"Achala Athukorala",
"Benny Kai Kiat Ng",
"Muraleetharan Mathanraj",
"U-Xuan Tan",
"Zhiqiang Cao",
"Ran Liu",
"Chau Yuen",
"Achala Athukorala",
"Benny Kai Kiat Ng",
"Muraleetharan Mathanraj",
"U-Xuan Tan"
] | Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the environment is not possible. The traditional Ultra-WideBand (UWB)-based approach provides a good estimation of the distance between the robots, but obtaining the relativ... |
Optimization-Based Robot Team Exploration Considering Attrition and Communication Constraints | https://ieeexplore.ieee.org/document/9636029/ | [
"Matthew A. Schack",
"John G. Rogers",
"Qi Han",
"Neil T. Dantam",
"Matthew A. Schack",
"John G. Rogers",
"Qi Han",
"Neil T. Dantam"
] | Exploring robots may fail due to environmental hazards. Thus, robots need to account for the possibility of failure to plan the best exploration paths. Optimizing expected utility enables robots to find plans that balance achievable reward with the inherent risks of exploration. Moreover, when robots rendezvous and communicate to exchange observations, they increase the probability that at least o... |
Distributed Sampling-based Planning for Non-Myopic Active Information Gathering | https://ieeexplore.ieee.org/document/9636101/ | [
"Mariliza Tzes",
"Yiannis Kantaros",
"George J. Pappas",
"Mariliza Tzes",
"Yiannis Kantaros",
"George J. Pappas"
] | This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The majority of existing information gathering approaches are centralized and, therefore, they cannot be applied to distributed robot teams where communication to ... |
OPEn: An Open-ended Physics Environment for Learning Without a Task | https://ieeexplore.ieee.org/document/9636830/ | [
"Chuang Gan",
"Abhishek Bhandwaldar",
"Antonio Torralba",
"Joshua B. Tenenbaum",
"Phillip Isola",
"Chuang Gan",
"Abhishek Bhandwaldar",
"Antonio Torralba",
"Joshua B. Tenenbaum",
"Phillip Isola"
] | Humans have mental models that allow them to plan, experiment, and reason in the physical world. How should an intelligent agent go about learning such models? In this paper, we will study if models of the world learned in an open-ended physics environment, without any specific tasks, can be reused for downstream physics reasoning tasks. To this end, we build a benchmark Open-ended Physics Environ... |
Fast and Unsupervised Non-Local Feature Learning for Direct Volume Rendering of 3D Medical Images | https://ieeexplore.ieee.org/document/9636042/ | [
"Xinmei Fu",
"Zhenzhou Shao",
"Ying Qu",
"Yong Guan",
"Yibo Zou",
"Zhiping Shi",
"Jindong Tan",
"Xinmei Fu",
"Zhenzhou Shao",
"Ying Qu",
"Yong Guan",
"Yibo Zou",
"Zhiping Shi",
"Jindong Tan"
] | To improve the efficiency of medical visualization for computer aided surgery, we propose a fast and unsupervised 3D-CNN based non-local feature learning network. The proposed network consists of an encoder structure and a decoder structure. The encoder of the network projects the cube into a high-dimensional feature space, and the decoder of the network reconstructs the cube from the feature spac... |
Self-Supervised Optical Flow with Spiking Neural Networks and Event Based Cameras | https://ieeexplore.ieee.org/document/9635975/ | [
"Kenneth Chaney",
"Artemis Panagopoulou",
"Chankyu Lee",
"Kaushik Roy",
"Kostas Daniilidis",
"Kenneth Chaney",
"Artemis Panagopoulou",
"Chankyu Lee",
"Kaushik Roy",
"Kostas Daniilidis"
] | Optical flow can be leveraged in robotic systems for obstacle detection where low latency solutions are critical in highly dynamic settings. While event-based cameras have changed the dominant paradigm of sending by encoding stimuli into spike trails, offering low bandwidth and latency, events are still processed with traditional convolutional networks in GPUs defeating, thus, the promise of effic... |
Accurate Grid Keypoint Learning for Efficient Video Prediction | https://ieeexplore.ieee.org/document/9636874/ | [
"Xiaojie Gao",
"Yueming Jin",
"Qi Dou",
"Chi-Wing Fu",
"Pheng-Ann Heng",
"Xiaojie Gao",
"Yueming Jin",
"Qi Dou",
"Chi-Wing Fu",
"Pheng-Ann Heng"
] | Video prediction methods generally consume substantial computing resources in training and deployment, among which keypoint-based approaches show promising improvement in efficiency by simplifying dense image prediction to light keypoint prediction. However, keypoint locations are often modeled only as continuous coordinates, so noise from semantically insignificant deviations in videos easily dis... |
Improving Monocular Depth Estimation by Semantic Pre-training | https://ieeexplore.ieee.org/document/9636546/ | [
"Peter Rottmann",
"Thorbjörn Posewsky",
"Andres Milioto",
"Cyrill Stachniss",
"Jens Behley",
"Peter Rottmann",
"Thorbjörn Posewsky",
"Andres Milioto",
"Cyrill Stachniss",
"Jens Behley"
] | Knowing the distance to nearby objects is crucial for autonomous cars to navigate safely in everyday traffic. In this paper, we investigate monocular depth estimation, which advanced substantially within the last years and is providing increasingly more accurate results while only requiring a single camera image as input. In line with recent work, we use an encoder-decoder structure with so-called... |
TemporalFusion: Temporal Motion Reasoning with Multi-Frame Fusion for 6D Object Pose Estimation | https://ieeexplore.ieee.org/document/9636583/ | [
"Fengjun Mu",
"Rui Huang",
"Ao Luo",
"Xin Li",
"Jing Qiu",
"Hong Cheng",
"Fengjun Mu",
"Rui Huang",
"Ao Luo",
"Xin Li",
"Jing Qiu",
"Hong Cheng"
] | 6D object pose estimation is an essential task in vision-based robotic grasping and manipulation. Prior works extract spatial features by fusing the RGB image and depth without considering the temporal motion information, limiting their performance in heavy occlusion robotic grasping scenarios. In this paper, we present an end-to-end model named TemporalFusion, which integrates the temporal motion... |
Decoder Fusion RNN: Context and Interaction Aware Decoders for Trajectory Prediction | https://ieeexplore.ieee.org/document/9636577/ | [
"Edoardo Mello Rella",
"Jan-Nico Zaech",
"Alexander Liniger",
"Luc Van Gool",
"Edoardo Mello Rella",
"Jan-Nico Zaech",
"Alexander Liniger",
"Luc Van Gool"
] | Forecasting the future behavior of all traffic agents in the vicinity is a key task to achieve safe and reliable autonomous driving systems. It is a challenging problem as agents adjust their behavior depending on their intentions, the others’ actions, and the road layout. In this paper, we propose Decoder Fusion RNN (DF-RNN), a recurrent, attention-based approach for motion forecasting. Our netwo... |
Finding Failures in High-Fidelity Simulation using Adaptive Stress Testing and the Backward Algorithm | https://ieeexplore.ieee.org/document/9636072/ | [
"Mark Koren",
"Ahmed Nassar",
"Mykel J. Kochenderfer",
"Mark Koren",
"Ahmed Nassar",
"Mykel J. Kochenderfer"
] | Validating the safety of autonomous systems generally requires the use of high-fidelity simulators that adequately capture the variability of real-world scenarios. However, it is generally not feasible to exhaustively search the space of simulation scenarios for failures. Adaptive stress testing (AST) is a method that uses reinforcement learning to find the most likely failure of a system. AST wit... |
Fine-Grained Off-Road Semantic Segmentation and Mapping via Contrastive Learning | https://ieeexplore.ieee.org/document/9636033/ | [
"Biao Gao",
"Shaochi Hu",
"Xijun Zhao",
"Huijing Zhao",
"Biao Gao",
"Shaochi Hu",
"Xijun Zhao",
"Huijing Zhao"
] | Road detection or traversability analysis has been a key technique for a mobile robot to traverse complex off-road scenes. The problem has been mainly formulated in early works as a binary classification one, e.g. associating pixels with road or non-road labels. Whereas understanding scenes with fine-grained labels are needed for off-road robots, as scenes are very diverse, and the various mechani... |
Vehicle Dispatch in On-Demand Ride-Sharing with Stochastic Travel Times | https://ieeexplore.ieee.org/document/9636499/ | [
"Cheng Li",
"David Parker",
"Qi Hao",
"Cheng Li",
"David Parker",
"Qi Hao"
] | On-demand ride-sharing is a promising way to improve mobility efficiency and reliability. The quality of passenger experience and the profit achieved by these platforms are strongly affected by the vehicle dispatch policy. However, existing ride-sharing research seldom considers travel time uncertainty, which leads to inaccurate dispatch allocations. This paper proposes a framework for dynamic veh... |
BEV-Net: A Bird’s Eye View Object Detection Network for LiDAR Point Cloud | https://ieeexplore.ieee.org/document/9636810/ | [
"Meng Liu",
"Jianwei Niu",
"Meng Liu",
"Jianwei Niu"
] | LiDAR-only object detection is essential for autonomous driving systems and is a challenging problem. For the representation of a bird’s eye view LiDAR point-cloud, this paper proposes a single-stage object detector. The detector can output classification information and accurate positioning information for multi-category objects. In this paper, the detector’s design methods are detailed from a bi... |
Cooperative Transportation Robot System Using Risk-Sensitive Stochastic Control | https://ieeexplore.ieee.org/document/9636238/ | [
"Shinya Yasuda",
"Taichi Kumagai",
"Hiroshi Yoshida",
"Shinya Yasuda",
"Taichi Kumagai",
"Hiroshi Yoshida"
] | We propose a method to determine control input on the basis of minimizing the risk-sensitive cost function and show the results of an experiment in which the method was applied to a cooperative transportation robot system that we have developed. In the robot system, two robots hold a work object to transport without an external fixing device. The mechanism yields the force interaction between the ... |
Coarse-to-Fine for Sim-to-Real: Sub-Millimetre Precision Across Wide Task Spaces | https://ieeexplore.ieee.org/document/9636388/ | [
"Eugene Valassakis",
"Norman Di Palo",
"Edward Johns",
"Eugene Valassakis",
"Norman Di Palo",
"Edward Johns"
] | In this paper, we study the problem of zero-shot sim-to-real when the task requires both highly precise control with sub-millimetre error tolerance, and wide task space generalisation. Our framework involves a coarse-to-fine controller, where trajectories begin with classical motion planning using ICP-based pose estimation, and transition to a learned end-to-end controller which maps images to act... |
Hannes Prosthesis Control Based on Regression Machine Learning Algorithms | https://ieeexplore.ieee.org/document/9636391/ | [
"D. Di Domenico",
"A. Marinelli",
"N. Boccardo",
"M. Semprini",
"L. Lombardi",
"M. Canepa",
"S. Stedman",
"A. Dellacasa Bellingegni",
"M. Chiappalone",
"E. Gruppioni",
"M. Laffranchi",
"L. De Michieli",
"D. Di Domenico",
"A. Marinelli",
"N. Boccardo",
"M. Semprini",
"L. Lombardi",
"M. Canepa",
"S. Stedman",
"A. Dellacasa Bellingegni",
"M. Chiappalone",
"E. Gruppioni",
"M. Laffranchi",
"L. De Michieli"
] | The quality of life for upper limb amputees can be greatly improved by the adoption of poly-articulated myoelectric prostheses. Typically, in these applications, a pattern recognition algorithm is used to control the system by converting the recorded electromyographic activity (EMG) into complex multi-degrees of freedom (DoFs) movements. However, there is currently a trade-off between the intuitiv... |
Learning-based Contact Status Recognition for Peg-in-Hole Assembly | https://ieeexplore.ieee.org/document/9636147/ | [
"Chaojie Yan",
"Jun Wu",
"Qiuguo Zhu",
"Chaojie Yan",
"Jun Wu",
"Qiuguo Zhu"
] | Opening a lock without vision sensors remains a challenge for robots. Inspired by the ability of a human to open a lock through touch and intuition, a peg-in-hole assembly method for recognizing the relative position and inclination angle of a hole is proposed. We use supervised learning to generate a contact-state model to judge the relative contact state and introduce force control strategies th... |
Binary Neural Network in Robotic Manipulation: Flexible Object Manipulation for Humanoid Robot Using Partially Binarized Auto-Encoder on FPGA | https://ieeexplore.ieee.org/document/9636825/ | [
"Satoshi Ohara",
"Tetsuya Ogata",
"Hiromitsu Awano",
"Satoshi Ohara",
"Tetsuya Ogata",
"Hiromitsu Awano"
] | A neural network based flexible object manipulation system for a humanoid robot on FPGA is proposed. Although the manipulations of flexible objects using robots attract ever increasing attention since these tasks are the basic and essential activities in our daily life, it has been put into practice only recently with the help of deep neural networks. However such systems have relied on GPU accele... |
STFP: Simultaneous Traffic Scene Forecasting and Planning for Autonomous Driving | https://ieeexplore.ieee.org/document/9636255/ | [
"Chan Kim",
"Hyung-Suk Yoon",
"Seung-Woo Seo",
"Seong-Woo Kim",
"Chan Kim",
"Hyung-Suk Yoon",
"Seung-Woo Seo",
"Seong-Woo Kim"
] | Autonomous vehicles must be able to understand the surrounding traffic flows and predict the future traffic conditions for planning a safe maneuver. During prediction, the action of autonomous vehicles should be considered, as it influences the interaction between vehicles sharing the same traffic scene and thus influences the future traffic flow. From this perspective, not only should the predict... |
Learning Contact-Rich Assembly Skills Using Residual Admittance Policy | https://ieeexplore.ieee.org/document/9636547/ | [
"Oren Spector",
"Miriam Zacksenhouse",
"Oren Spector",
"Miriam Zacksenhouse"
] | Contact-rich assembly tasks may result in large and unpredictable forces and torques when the locations of the contacting parts are uncertain. The ability to correct the trajectory in response to haptic feedback and accomplish the task despite location uncertainties is an important skill. We hypothesize that this skill would facilitate generalization and support direct transfer from simulations to... |
Development of a Permanent Magnet Elastomer (PME) Infused Soft Robot Skin for Tactile Sensing | https://ieeexplore.ieee.org/document/9636817/ | [
"Sahil Shembekar",
"Mitsuhiro Kamezaki",
"Peizhi Zhang",
"Zhuoyi He",
"Yuhiro Iwamoto",
"Yasushi Ido",
"Hiroyuki Sakamoto",
"Shigeki Sugano",
"Sahil Shembekar",
"Mitsuhiro Kamezaki",
"Peizhi Zhang",
"Zhuoyi He",
"Yuhiro Iwamoto",
"Yasushi Ido",
"Hiroyuki Sakamoto",
"Shigeki Sugano"
] | The skin is an important organ which enables humans to interact with the unstructured environment around. It is perfectly soft and covers the entire body providing immediate feedback even when that part is not directly in the field of vision. With the human skin as an inspiration, in this paper, we develop a novel completely soft robot skin for tactile sensing. The skin utilizes a new type of mate... |
Origami Logic Gates for Printable Robots | https://ieeexplore.ieee.org/document/9636420/ | [
"Wenzhong Yan",
"Chang Liu",
"Ankur Mehta",
"Wenzhong Yan",
"Chang Liu",
"Ankur Mehta"
] | Origami robots–often called "printable" robots– created using folding processes have gained extensive attention due to their potential for rapid and accessible design and fabrication through simple structures with complex functionalities. However, almost all origami robots require conventional rigid electronics for control, which may hinder the integration and restrict the potential of these origa... |
SPHR: A Soft Pneumatic Hybrid Robot with extreme shape changing and lifting abilities | https://ieeexplore.ieee.org/document/9636076/ | [
"Matthew R. Devlin",
"Myia M. Dickens",
"Charles Xiao",
"Elliot W. Hawkes",
"Matthew R. Devlin",
"Myia M. Dickens",
"Charles Xiao",
"Elliot W. Hawkes"
] | Many soft robots are capable of significantly changing their shape, an ability that can offer advantages in many applications. For instance, such a robot can flatten its body to fit under small gaps and expand to move over large obstacles. Further, because these shape changes are usually driven by a pressurized fluid, if they act over a large area, they have the potential to apply large forces to ... |
A Three-Fingered Adaptive Gripper with Multiple Grasping Modes | https://ieeexplore.ieee.org/document/9636758/ | [
"Long Kang",
"Yang Yang",
"Jian Yang",
"Byung-Ju Yi",
"Long Kang",
"Yang Yang",
"Jian Yang",
"Byung-Ju Yi"
] | This paper presents an underactuated robotic gripper that consists of three fingers. This gripper is driven by seven actuators and capable of grasping a wide range of objects in different working scenarios. A combination of a four-bar mechanism and parallelograms ensures that each finger can provide the basic pinch grasp and power grasp. Detailed fingertip grasping force analysis shows the large p... |
Dexterous textile manipulation using electroadhesive fingers | https://ieeexplore.ieee.org/document/9636095/ | [
"Krishna Manaswi Digumarti",
"Vito Cacucciolo",
"Herbert Shea",
"Krishna Manaswi Digumarti",
"Vito Cacucciolo",
"Herbert Shea"
] | Handling of fabric is a crucial step in the manufacturing of garments. This task is typically performed by trained workers who manipulate one sheet at a time, thus introducing a bottleneck in the automation of the textile industry. This paper seeks to address the challenge of picking fabric up by proposing a new method of achieving ply-separation. Our approach relies on a finger-tip sized (2 cm2) ... |
A Series Elastic, Compact Differential Mechanism: On the Development of Adaptive, Lightweight Robotic Grippers and Hands | https://ieeexplore.ieee.org/document/9636462/ | [
"Mojtaba Shahmohammadi",
"Minas Liarokapis",
"Mojtaba Shahmohammadi",
"Minas Liarokapis"
] | Differential mechanisms allow the designers of robotic and prosthetic grippers and hands to create devices that require a minimal number of motors in order to grasp a plethora of everyday life objects, leading to light-weight, compact, and low-cost implementations. The working principle of differential mechanisms is simple. They allow the distribution of the forces exerted by a single actuator to ... |
Computational Design of Reconfigurable Underactuated Linkages for Adaptive Grippers | https://ieeexplore.ieee.org/document/9636792/ | [
"Ivan I. Borisov",
"Evgenii E. Khomutov",
"Sergey A. Kolyubin",
"Stefano Stramigioli",
"Ivan I. Borisov",
"Evgenii E. Khomutov",
"Sergey A. Kolyubin",
"Stefano Stramigioli"
] | We present an optimization-based structural-parametric synthesis method for reconfigurable closed-chain underactuated linkages for robotic systems that physically interact with the environment with an emphasis on adaptive grasping. The key idea is to implement morphological computation concepts to keep both necessary trajectory-specific holonomic constraints and mechanism adaptivity using variable... |
A Multi-Modal Robotic Gripper with a Reconfigurable Base: Improving Dexterous Manipulation without Compromising Grasping Efficiency | https://ieeexplore.ieee.org/document/9636392/ | [
"Nathan Elangovan",
"Lucas Gerez",
"Geng Gao",
"Minas Liarokapis",
"Nathan Elangovan",
"Lucas Gerez",
"Geng Gao",
"Minas Liarokapis"
] | Design optimization can lead to the development of robotic end-effectors with optimal grasping and dexterous, in-hand manipulation capabilities. In particular, the finger link dimensions have been identified as one of the primary design parameters that affects the performance of a robotic gripper. The ability of a gripper to manipulate objects is mainly attributed to the interaction between a set ... |
Grasping with Embedded Synergies through a Reconfigurable Electric Actuation Topology | https://ieeexplore.ieee.org/document/9636074/ | [
"Éamon Barrett",
"Zeyu Ren",
"Nikos Tsagarakis",
"Éamon Barrett",
"Zeyu Ren",
"Nikos Tsagarakis"
] | Kinematic and force synergies can be used to reduce the complexity and dimensionality of the motion generation and control problem, as well as facilitate the mechanical implementation of robotic hands. In this paper we present a novel implementation of hardware synergies realized on the actuation level by leveraging a novel reconfigurable electric actuation topology principle. The proposed electri... |
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights | https://ieeexplore.ieee.org/document/9635872/ | [
"Yusuke Tanaka",
"Yuki Shirai",
"Zachary Lacey",
"Xuan Lin",
"Jane Liu",
"Dennis Hong",
"Yusuke Tanaka",
"Yuki Shirai",
"Zachary Lacey",
"Xuan Lin",
"Jane Liu",
"Dennis Hong"
] | Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can accommodate irregular and off-center objects through a whippletree mechanism, improving adaptability. We present a whippletree-based rigid under-actuated gripper and its parametric design multi-objective optimization for ... |
An Anthropomorphic Prosthetic Hand with an Active, Selectively Lockable Differential Mechanism: Towards Affordable Dexterity | https://ieeexplore.ieee.org/document/9636621/ | [
"Geng Gao",
"Anany Dwivedi",
"Minas Liarokapis",
"Geng Gao",
"Anany Dwivedi",
"Minas Liarokapis"
] | Over the last decade, adaptive tendon driven devices have gained an increased interest from the research community for their lightweight, compact, and affordable design features attributed to the utilisation of underactuation, differential mechanisms, and structural compliance. Although adaptive tendon driven devices are capable of efficiently executing stable grasps under significant object pose ... |
A Powered Prosthetic Ankle Designed for Task Variability – A Concept Validation | https://ieeexplore.ieee.org/document/9636324/ | [
"Sameer Upadhye",
"Chinmay Shah",
"Ming Liu",
"Gregory Buckner",
"He Helen Huang",
"Sameer Upadhye",
"Chinmay Shah",
"Ming Liu",
"Gregory Buckner",
"He Helen Huang"
] | Ankle joints play key roles in everyday locomotion, such as walking, stair climbing, and sit-to-stand. Despite the achievement in designing powered prosthetic ankles, engineers still face challenges to duplicate the full mechanics of ankle joints, including high torque, large range of motion (ROM), low profile, backdrivability, and efficiency, using electric motors and related transmissions. In th... |
Hybrid Volitional Control as a Framework for Lower-Limb Prosthetic Control: A Simulation Study | https://ieeexplore.ieee.org/document/9636450/ | [
"Ryan R. Posh",
"James P. Schmiedeler",
"Patrick M. Wensing",
"Ryan R. Posh",
"James P. Schmiedeler",
"Patrick M. Wensing"
] | Realizing the potential of active lower-limb pros-theses to increase user mobility and efficiency requires safe, reliable, stable, and intuitive control strategies. The two prevailing classes of lower-limb prosthesis control can be categorized as volitional and non-volitional. Volitional control strategies (VCs) directly sense the user’s intentions, but this generally intuitive approach can be qui... |
Sensorimotor-inspired Tactile Feedback and Control Improve Consistency of Prosthesis Manipulation in the Absence of Direct Vision | https://ieeexplore.ieee.org/document/9635885/ | [
"Neha Thomas",
"Farimah Fazlollahi",
"Jeremy D. Brown",
"Katherine J. Kuchenbecker",
"Neha Thomas",
"Farimah Fazlollahi",
"Jeremy D. Brown",
"Katherine J. Kuchenbecker"
] | The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, non-amputees inherently rely on conscious haptic perception and automatic tactile reflexes to govern volitional actions in situations that do not allow for constant visual attention. We therefore propose a myoelectric prosthesis system that reflects... |
Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines | https://ieeexplore.ieee.org/document/9636180/ | [
"T. Kevin Best",
"Kyle R. Embry",
"Elliott J. Rouse",
"Robert D. Gregg",
"T. Kevin Best",
"Kyle R. Embry",
"Elliott J. Rouse",
"Robert D. Gregg"
] | Most controllers for lower-limb robotic prostheses require individually tuned parameter sets for every combination of speed and incline that the device is designed for. Because ambulation occurs over a continuum of speeds and inclines, this design paradigm requires tuning of a potentially prohibitively large number of parameters. This limitation motivates an alternative control framework that enab... |
User Controlled Interface for Tuning Robotic Knee Prosthesis | https://ieeexplore.ieee.org/document/9636264/ | [
"Abbas Alili",
"Varun Nalam",
"Minhan Li",
"Ming Liu",
"Jennie Si",
"He Helen Huang",
"Abbas Alili",
"Varun Nalam",
"Minhan Li",
"Ming Liu",
"Jennie Si",
"He Helen Huang"
] | The tuning process for a robotic prosthesis is a challenging and time-consuming task both for users and clinicians. An automatic tuning approach using reinforcement learning (RL) has been developed for a knee prosthesis to address the challenges of manual tuning methods. The algorithm tunes the optimal control parameters based on the provided knee joint profile that the prosthesis is expected to r... |
Design and implementation of a stumble recovery controller for a knee exoskeleton | https://ieeexplore.ieee.org/document/9636879/ | [
"Maura Eveld",
"Shane King",
"Karl Zelik",
"Michael Goldfarb",
"Maura Eveld",
"Shane King",
"Karl Zelik",
"Michael Goldfarb"
] | This paper presents a stumble recovery controller for a knee exoskeleton that detects a stumble perturbation; selects an anticipated recovery strategy; and provides appropriate recovery assistance. In order to assess the efficacy of the controller in providing an assistive response to a stumble perturbation, the controller was implemented in a knee exoskeleton and evaluated in a single healthy adu... |
Effect of Display Response Time on Brain Activity in Human–Machine Interface Commander Operation | https://ieeexplore.ieee.org/document/9636452/ | [
"Kentaro Oshima",
"Toru Tsumugiwa",
"Ryuichi Yokogawa",
"Mitsuhiro Narusue",
"Hiroto Nishimura",
"Yusaku Takeda",
"Toshihiro Hara",
"Kentaro Oshima",
"Toru Tsumugiwa",
"Ryuichi Yokogawa",
"Mitsuhiro Narusue",
"Hiroto Nishimura",
"Yusaku Takeda",
"Toshihiro Hara"
] | With the recent diversification of operating devices, the demand for input operations that require confirmation of the effect of differences in display response on operability has increased. Regarding display response, previous studies have investigated the threshold time and sense of agency for a delayed response during device operation. However, these studies only focused on subjective evaluatio... |
Improving Driver Situation Awareness Prediction using Human Visual Sensory and Memory Mechanism | https://ieeexplore.ieee.org/document/9636112/ | [
"Haibei Zhu",
"Teruhisa Misu",
"Sujitha Martin",
"Xingwei Wu",
"Kumar Akash",
"Haibei Zhu",
"Teruhisa Misu",
"Sujitha Martin",
"Xingwei Wu",
"Kumar Akash"
] | Situation awareness (SA) is generally considered as the perception, understanding, and projection of objects’ properties and positions. We believe if the system can sense drivers’ SA, it can appropriately provide warnings for objects that drivers are not aware of. To investigate drivers’ awareness, in this study, a human-subject experiment of driving simulation was conducted for data collection. W... |
Asking the Right Questions: Facilitating Semantic Constraint Specification for Robot Skill Learning and Repair | https://ieeexplore.ieee.org/document/9636375/ | [
"Aaquib Tabrez",
"Jack Kawell",
"Bradley Hayes",
"Aaquib Tabrez",
"Jack Kawell",
"Bradley Hayes"
] | Developments in human-robot teaming have given rise to significant interest in training methods that enable collaborative agents to safely and successfully execute tasks alongside human teammates. While effective, many existing methods are brittle to changes in the environment and do not account for the preferences of human collaborators. This ineffectiveness is typically due to the complexity of ... |
Using Bayesian Optimization to Identify Optimal Exoskeleton Parameters Targeting Propulsion Mechanics: A Simulation Study | https://ieeexplore.ieee.org/document/9635982/ | [
"GilHwan Kim",
"Fabrizio Sergi",
"GilHwan Kim",
"Fabrizio Sergi"
] | The long-term goal of this research is to develop methods for training propulsion during walking using robotic exoskeletons that customize their intervention based on the response of an individual.In this study, we first determined the feasibility of modeling the relationship between propulsion mechanics and parameters of a robotic intervention applied at the hip and knee joints as a Gaussian proc... |
What Information Should a Robot Convey? | https://ieeexplore.ieee.org/document/9635999/ | [
"Hooman Hedayati",
"Mark D. Gross",
"Daniel Szafir",
"Hooman Hedayati",
"Mark D. Gross",
"Daniel Szafir"
] | Robotic technologies are becoming pervasive within industrial and domestic settings, resulting in more frequent interactions between humans and robots. To ensure these interactions are effective, Human-Robot Interaction (HRI) researchers have argued that robots and humans must establish a shared common ground by communicating fundamental pieces of information to each other, such as their intention... |
Not all users are the same: Providing personalized explanations for sequential decision making problems | https://ieeexplore.ieee.org/document/9636331/ | [
"Utkarsh Soni",
"Sarath Sreedharan",
"Subbarao Kambhampati",
"Utkarsh Soni",
"Sarath Sreedharan",
"Subbarao Kambhampati"
] | There is a growing interest in designing robots that can work alongside humans. Such robots will undoubtedly be expected to explain their behavior and decisions. While generating explanations is an actively researched topic, most works tend to focus on methods that generate explanations that are one size fits all. As in the specifics of the user-model are completely ignored. The handful of works t... |
Online Recognition of Bimanual Coordination Provides Important Context for Movement Data in Bimanual Teleoperated Robots | https://ieeexplore.ieee.org/document/9636272/ | [
"Jacob R. Boehm",
"Nicholas P. Fey",
"Ann Majewicz Fey",
"Jacob R. Boehm",
"Nicholas P. Fey",
"Ann Majewicz Fey"
] | An important problem in designing human-robot systems is the integration of human intent and performance in the robotic control loop, especially during complex tasks. Bimanual coordination is a complex human behavior that is critical in many fine motor tasks, including robot-assisted surgery. To fully leverage the capabilities of the robot as an intelligent and assistive agent, online recognition ... |
Iterative Program Synthesis for Adaptable Social Navigation | https://ieeexplore.ieee.org/document/9636540/ | [
"Jarrett Holtz",
"Simon Andrews",
"Arjun Guha",
"Joydeep Biswas",
"Jarrett Holtz",
"Simon Andrews",
"Arjun Guha",
"Joydeep Biswas"
] | Robot social navigation is influenced by human preferences and environment-specific scenarios such as elevators and doors, thus necessitating end-user adaptability. State-of-the-art approaches to social navigation fall into two categories: model-based social constraints and learning-based approaches. While effective, these approaches have fundamental limitations – model-based approaches require co... |
On compliance and safety with torque-control for robots with high reduction gears and no joint-torque feedback | https://ieeexplore.ieee.org/document/9636081/ | [
"Mehdi Benallegue",
"Rafael Cisneros",
"Abdelaziz Benallegue",
"Arnaud Tanguy",
"Adrien Escande",
"Mitsuharu Morisawa",
"Fumio Kanehiro",
"Mehdi Benallegue",
"Rafael Cisneros",
"Abdelaziz Benallegue",
"Arnaud Tanguy",
"Adrien Escande",
"Mitsuharu Morisawa",
"Fumio Kanehiro"
] | In this paper we report the safety-oriented framework for controlling the torque in the case of robots with high reduction gears and having no joint torque feedback. This kind of robots suffer from high joint friction and low backdrivability, requiring high gains and integral feedback, which can be dangerous. Our optimization-based framework includes feasibility and safety features borrowed from p... |
Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State | https://ieeexplore.ieee.org/document/9636584/ | [
"Ryan K. Cosner",
"Andrew W. Singletary",
"Andrew J. Taylor",
"Tamas G. Molnar",
"Katherine L. Bouman",
"Aaron D. Ames",
"Ryan K. Cosner",
"Andrew W. Singletary",
"Andrew J. Taylor",
"Tamas G. Molnar",
"Katherine L. Bouman",
"Aaron D. Ames"
] | The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for safety-critical control of systems with erroneous state estimates. We develop this framework by leveraging Control Barrier Functions (CBFs) and unifying the method of Bac... |
Group Multi-Object Tracking for Dynamic Risk Map and Safe Path Planning | https://ieeexplore.ieee.org/document/9636702/ | [
"Lyuyu Shen",
"Hongliang Guo",
"Yechao Bai",
"Lei Qin",
"Marcelo Ang",
"Daniela Rus",
"Lyuyu Shen",
"Hongliang Guo",
"Yechao Bai",
"Lei Qin",
"Marcelo Ang",
"Daniela Rus"
] | This paper studies the group multi-object tracking (MOT) problem in dynamic pedestrian environments, with intended application to safe navigation for autonomous vehicles. We complete a full autonomous vehicle navigation pipeline from object detection, tracking, grouping, to risk map generation and safe path planning. Our main contribution is to instantiate a group multi-object tracking algorithm, ... |
Reactive and Safe Road User Simulations using Neural Barrier Certificates | https://ieeexplore.ieee.org/document/9636568/ | [
"Yue Meng",
"Zengyi Qin",
"Chuchu Fan",
"Yue Meng",
"Zengyi Qin",
"Chuchu Fan"
] | Reactive and safe agent modellings are important for nowadays traffic simulator designs and safe planning applications. In this work, we proposed a reactive agent model which can ensure safety without comprising the original purposes, by learning only high-level decisions from expert data and a low level decentralized controller guided by the jointly learned decentralized barrier certificates. Emp... |
Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification | https://ieeexplore.ieee.org/document/9636091/ | [
"Jonathan Vorndamme",
"Sami Haddadin",
"Jonathan Vorndamme",
"Sami Haddadin"
] | Humanoid robots in unknown environments need to be able to quickly react to contacts in order to ensure safety of humans and their own hardware. For showing useful reactions to contacts, the robot needs information about possibly multiple contacts such as their respective contact locations and wrenches. In this paper, we introduce our algorithm rm-Code, a real-time multi-contact detection, isolati... |
R-SNN: An Analysis and Design Methodology for Robustifying Spiking Neural Networks against Adversarial Attacks through Noise Filters for Dynamic Vision Sensors | https://ieeexplore.ieee.org/document/9636718/ | [
"Alberto Marchisio",
"Giacomo Pira",
"Maurizio Martina",
"Guido Masera",
"Muhammad Shafique",
"Alberto Marchisio",
"Giacomo Pira",
"Maurizio Martina",
"Guido Masera",
"Muhammad Shafique"
] | Spiking Neural Networks (SNNs) aim at providing energy-efficient learning capabilities when implemented on neuromorphic chips with event-based Dynamic Vision Sensors (DVS). This paper studies the robustness of SNNs against adversarial attacks on such DVS-based systems, and proposes R-SNN, a novel methodology for robustifying SNNs through efficient DVS-noise filtering. We are the first to generate ... |
Autonomous Cooperative Transportation System involving Multi-Aerial Robots with Variable Attachment Mechanism | https://ieeexplore.ieee.org/document/9636145/ | [
"Koshi Oishi",
"Tomohiko Jimbo",
"Koshi Oishi",
"Tomohiko Jimbo"
] | Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve fail- safe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the stability of transportation. However, there are almost no transportation systems capable of scaling to the payload weight and size and changing the optimal at... |
Decentralized Control and Teleoperation of a Multi-UAV Parallel Robot Based on Intrinsic Measurements | https://ieeexplore.ieee.org/document/9636195/ | [
"Shiyu Liu",
"Julian Erskine",
"Abdelhamid Chriette",
"Isabelle Fantoni",
"Shiyu Liu",
"Julian Erskine",
"Abdelhamid Chriette",
"Isabelle Fantoni"
] | Aerial manipulators have great potential in accomplishing a variety of aerial tasks. One class of aerial manipulators, multi-UAV parallel robots, consists of multiple UAVs connected to a payload or an end-effector by passive kinematic chains. The primary limitation of such aerial manipulators is the dependence on motion capture (MOCAP) systems that provide precise and high-rate exteroceptive pose ... |
The New Dexterity Omnirotor Platform: Design, Modeling, and Control of a Modular, Versatile, All-Terrain Vehicle | https://ieeexplore.ieee.org/document/9635995/ | [
"Joao Buzzatto",
"Pedro H. Mendes",
"Navin Perera",
"Karl Stol",
"Minas Liarokapis",
"Joao Buzzatto",
"Pedro H. Mendes",
"Navin Perera",
"Karl Stol",
"Minas Liarokapis"
] | Micro Aerial Vehicles (MAV) with Vertical Takeoff and Landing (VTOL) capabilities, such as quadrotors, have offered significant value to many research fields and markets. However, only recently, MAV began to be explored as systems capable of interacting with the environment, performing manipulation tasks, and participating in more versatility-demanding operations. Pursuing the goal of turning flyi... |
Design, Optimal Guidance and Control of a Low-cost Re-usable Electric Model Rocket | https://ieeexplore.ieee.org/document/9636430/ | [
"Lukas Spannagl",
"Elias Hampp",
"Andrea Carron",
"Jerome Sieber",
"Carlo Alberto Pascucci",
"Aldo U. Zgraggen",
"Alexander Domahidi",
"Melanie N. Zeilinger",
"Lukas Spannagl",
"Elias Hampp",
"Andrea Carron",
"Jerome Sieber",
"Carlo Alberto Pascucci",
"Aldo U. Zgraggen",
"Alexander Domahidi",
"Melanie N. Zeilinger"
] | In the last decade, autonomous vertical take-off and landing (VTOL) vehicles have become increasingly important as they lower mission costs thanks to their re-usability. However, their development is complex, rendering even the basic experimental validation of the required advanced guidance and control (G & C) algorithms prohibitively time-consuming and costly. In this paper, we present the design... |
Efficient Manoeuvring of Quadrotor under Constrained Space and Predefined Accuracy | https://ieeexplore.ieee.org/document/9636323/ | [
"Sourish Ganguly",
"Viswa N. Sankaranarayanan",
"B. V. S. G. Suraj",
"Rishabh Dev Yadav",
"Spandan Roy",
"Sourish Ganguly",
"Viswa N. Sankaranarayanan",
"B. V. S. G. Suraj",
"Rishabh Dev Yadav",
"Spandan Roy"
] | In recent times, quadrotors have become immensely applicable in scenarios such as relief operations, infrastructure maintenance, search-and-rescue missions etc. A key control design challenge arises in these applications when the quadrotor has to manoeuvre through constrained spaces such as narrow windows, pipelines in the presence of external disturbances and parametric uncertainties: such condit... |
Design and comparison of tails for bird-scale flapping-wing robots | https://ieeexplore.ieee.org/document/9635990/ | [
"M.M. Guzmán",
"C. Ruiz Páez",
"F. J. Maldonado",
"R. Zufferey",
"J. Tormo-Barbero",
"J.Á Acosta",
"A. Ollero",
"M.M. Guzmán",
"C. Ruiz Páez",
"F. J. Maldonado",
"R. Zufferey",
"J. Tormo-Barbero",
"J.Á Acosta",
"A. Ollero"
] | Flapping-wing robots (so-called ornithopters) are a promising type of platform to perform efficient winged flight and interaction with the environment. However, the control of such vehicles is challenging due to their under-actuated morphology to meet lightweight requirements. Consequently, the flight control of flapping-wing robots is predominantly handled by the tail. Most ornithopters feature a... |
Multi-Robot Task Planning under Individual and Collaborative Temporal Logic Specifications | https://ieeexplore.ieee.org/document/9636287/ | [
"Ruofei Bai",
"Ronghao Zheng",
"Meiqin Liu",
"Senlin Zhang",
"Ruofei Bai",
"Ronghao Zheng",
"Meiqin Liu",
"Senlin Zhang"
] | This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To efficiently generate feasible and optimized task execution plans for the robots, we propose a hierarchical multi-robot temporal task planning framework, in which... |
Reduced State Value Iteration for Multi-Drone Persistent Surveillance with Charging Constraints | https://ieeexplore.ieee.org/document/9636160/ | [
"Patrick H. Washington",
"Mac Schwager",
"Patrick H. Washington",
"Mac Schwager"
] | This paper presents Reduced State Value Iteration (RSVI), an algorithm to compute policies for Markov Decision Processes (MDPs) that have natural checkpoints, allowing for a solution based on a reduced state space. The algorithm is applied to find policies for multiple drones to persistently surveil an environment subject to charging constraints. RSVI leverages the structure of the true MDP to bui... |
Multi-robot Scheduling for Environmental Monitoring as a Team Orienteering Problem | https://ieeexplore.ieee.org/document/9636854/ | [
"Ariella Mansfield",
"Sandeep Manjanna",
"Douglas G. Macharet",
"M. Ani Hsieh",
"Ariella Mansfield",
"Sandeep Manjanna",
"Douglas G. Macharet",
"M. Ani Hsieh"
] | In this paper, we propose an evolutionary algorithm for solving the multi-robot orienteering problem where a team of cooperative robots aims to maximize the total information collected by visiting a subset of given nodes within a fixed budget on travel costs. Multi-robot orienteering problems are relevant to applications such as logistic delivery services, precision agriculture, and environmental ... |
An augmented MDP approach for solving Stochastic Security Games | https://ieeexplore.ieee.org/document/9636495/ | [
"Romain Châtel",
"Abdel-Illah Mouaddib",
"Romain Châtel",
"Abdel-Illah Mouaddib"
] | We propose a novel theoretical approach for solving a Stochastic Security Game using augmented Markov Decison Processes and an experimental evaluation. Most of the previous works mentioned in the literature focus on Linear Programming techniques seeking Strong Stackelberg Equilibria through the defender and attacker’s strategy spaces. Although effective, these techniques are computationally expens... |
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