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A Resolution Adaptive Algorithm for the Stochastic Orienteering Problem with Chance Constraints | https://ieeexplore.ieee.org/document/9636104/ | [
"Thomas C. Thayer",
"Stefano Carpin",
"Thomas C. Thayer",
"Stefano Carpin"
] | We study a stochastic version of the classic orienteering problem where the time to traverse an edge is a continuous random variable. For a given temporal deadline B, our solution produces a policy, i.e., a function that, based on the current position along a solution path and the elapsed time, decides whether to continue along the path or take a shortcut to avoid missing the deadline. The solutio... |
Force-based Formation Control of Omnidirectional Ground Vehicles | https://ieeexplore.ieee.org/document/9636453/ | [
"Chiara Gabellieri",
"Alessandro Palleschi",
"Lucia Pallottino",
"Chiara Gabellieri",
"Alessandro Palleschi",
"Lucia Pallottino"
] | Formation control of multi-robot systems has been largely studied due to its wide application domain. Several methods in the literature rely on explicit communication among the robots, which in realistic scenarios may lead to reduced performance or even instability due to delays and packet loss or corruption. Nonetheless, multi-robot coordination based solely on implicit communication has been pro... |
Hybrid Path Planning for UAV Traffic Management | https://ieeexplore.ieee.org/document/9636390/ | [
"Eyal Zehavi",
"Noa Agmon",
"Eyal Zehavi",
"Noa Agmon"
] | Unmanned Aircraft System Traffic Management (UTM) becomes a highly relevant complex challenge, as the UAV activity is rapidly growing bringing more amateur and professional drones to the urban skies. The main concern of managing such a system is safely navigating and controlling hundreds or thousands of drones simultaneously, flying in a crowded dense environments. This paper introduces an innovat... |
Optimizing Requests for Support in Context-Restricted Autonomy | https://ieeexplore.ieee.org/document/9636240/ | [
"Loïs Vanhée",
"Laurent Jeanpierre",
"Abdel-Illah Mouaddib",
"Loïs Vanhée",
"Laurent Jeanpierre",
"Abdel-Illah Mouaddib"
] | Adjustable Autonomy is gaining interest as it alleviates robot management costs, which often restrain non-routine applications. Whereas it seems straightforward to account for the availability of helpers when making plans that involve being granted for support in the future, no existing research covers this issue. As a solution, we formalize the first human-centric model that accounts for operator... |
Smart Pointers and Shared Memory Synchronisation for Efficient Inter-process Communication in ROS on an Autonomous Vehicle | https://ieeexplore.ieee.org/document/9636018/ | [
"Costin Iordache",
"Stephen M. Fendyke",
"Mike J. Jones",
"Robert A. Buckley",
"Costin Iordache",
"Stephen M. Fendyke",
"Mike J. Jones",
"Robert A. Buckley"
] | Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package, which is an efficient mechanism for intra-process communication, does not address the problem of efficient local inter-process communication (IPC). To remedy t... |
CompROS: A composable ROS2 based architecture for real-time embedded robotic development | https://ieeexplore.ieee.org/document/9636590/ | [
"Saeid Dehnavi",
"Martijn Koedam",
"Andrew Nelson",
"Dip Goswami",
"Kees Goossens",
"Saeid Dehnavi",
"Martijn Koedam",
"Andrew Nelson",
"Dip Goswami",
"Kees Goossens"
] | Robot Operating System (ROS) is a de-facto standard robot middleware in many academic and industrial use cases. However, utilizing ROS/ROS2 in safety-critical embedded applications with real-time requirement is challenging because of C1) Non-real-time underlying hardware, C2) No control on the host OS scheduler, C3) Unpredictable dynamic memory allocation, C4) High resource requirement, and C5) Un... |
Arena-Rosnav: Towards Deployment of Deep-Reinforcement-Learning-Based Obstacle Avoidance into Conventional Autonomous Navigation Systems | https://ieeexplore.ieee.org/document/9636226/ | [
"Linh Kästner",
"Teham Buiyan",
"Lei Jiao",
"Tuan Anh Le",
"Xinlin Zhao",
"Zhengcheng Shen",
"Jens Lambrecht",
"Linh Kästner",
"Teham Buiyan",
"Lei Jiao",
"Tuan Anh Le",
"Xinlin Zhao",
"Zhengcheng Shen",
"Jens Lambrecht"
] | Recently, mobile robots have become important tools in various industries, especially in logistics. Deep reinforcement learning emerged as an alternative planning method to replace overly conservative approaches and promises more efficient and flexible navigation. However, deep reinforcement learning approaches are not suitable for long-range navigation due to their proneness to local minima and l... |
Efficient Computation of Map-scale Continuous Mutual Information on Chip in Real Time | https://ieeexplore.ieee.org/document/9636603/ | [
"Keshav Gupta",
"Peter Zhi Xuan Li",
"Sertac Karaman",
"Vivienne Sze",
"Keshav Gupta",
"Peter Zhi Xuan Li",
"Sertac Karaman",
"Vivienne Sze"
] | Exploration tasks are essential to many emerging robotics applications, ranging from search and rescue to space exploration. The planning problem for exploration requires determining the best locations for future measurements that will enhance the fidelity of the map, for example, by reducing its total entropy. A widely-studied technique involves computing the Mutual Information (MI) between the c... |
Sensor selection for detecting deviations from a planned itinerary | https://ieeexplore.ieee.org/document/9636582/ | [
"Hazhar Rahmani",
"Dylan A. Shell",
"Jason M. O’Kane",
"Hazhar Rahmani",
"Dylan A. Shell",
"Jason M. O’Kane"
] | Suppose an agent asserts that it will move through an environment in some way. When the agent executes its motion, how does one verify the claim? The problem arises in a range of contexts including validating safety claims about robot behavior, applications in security and surveillance, and for both the conception and the (physical) design and logistics of scientific experiments. Given a set of fe... |
Automata-based Optimal Planning with Relaxed Specifications | https://ieeexplore.ieee.org/document/9635906/ | [
"Disha Kamale",
"Eleni Karyofylli",
"Cristian-Ioan Vasile",
"Disha Kamale",
"Eleni Karyofylli",
"Cristian-Ioan Vasile"
] | In this paper, we introduce an automata-based framework for planning with relaxed specifications. User relaxation preferences are represented as weighted finite state edit systems that capture permissible operations on the specification, substitution and deletion of tasks, with complex constraints on ordering and grouping. We propose a three-way product automaton construction method that allows us... |
Probabilistically Guaranteed Satisfaction of Temporal Logic Constraints During Reinforcement Learning | https://ieeexplore.ieee.org/document/9636598/ | [
"Derya Aksaray",
"Yasin Yazıcıoğlu",
"Ahmet Semi Asarkaya",
"Derya Aksaray",
"Yasin Yazıcıoğlu",
"Ahmet Semi Asarkaya"
] | We propose a novel constrained reinforcement learning method for finding optimal policies in Markov Decision Processes while satisfying temporal logic constraints with a desired probability throughout the learning process. An automata-theoretic approach is proposed to ensure the probabilistic satisfaction of the constraint in each episode, which is different from penalizing violations to achieve c... |
Attainment Regions in Feature-Parameter Space for High-Level Debugging in Autonomous Robots | https://ieeexplore.ieee.org/document/9636336/ | [
"Simón C. Smith",
"Subramanian Ramamoorthy",
"Simón C. Smith",
"Subramanian Ramamoorthy"
] | Understanding a controller’s performance in different scenarios is crucial for robots that are going to be deployed in safety-critical tasks. If we do not have a model of the dynamics of the world, which is often the case in complex domains, we may need to approximate a performance function of the robot based on its interaction with the environment. Such a performance function gives us insights in... |
A Topological Approach to Finding Coarsely Diverse Paths | https://ieeexplore.ieee.org/document/9636714/ | [
"Aakriti Upadhyay",
"Boris Goldfarb",
"Chinwe Ekenna",
"Aakriti Upadhyay",
"Boris Goldfarb",
"Chinwe Ekenna"
] | We present a topological method for finding coarsely diverse pathways. The use of pre-computed paths for online planning in a dynamic context reduces the overhead of re-planning alternate routes. Our algorithm applied the notion of discrete Morse theory to identify critical points incident on the obstacles and used this information to identify and return a diverse set of coarse paths. Three sampli... |
Probabilistic Specification Learning for Planning with Safety Constraints | https://ieeexplore.ieee.org/document/9636712/ | [
"Kandai Watanabe",
"Nicholas Renninger",
"Sriram Sankaranarayanan",
"Morteza Lahijanian",
"Kandai Watanabe",
"Nicholas Renninger",
"Sriram Sankaranarayanan",
"Morteza Lahijanian"
] | This paper proposes a framework for learning task specifications from demonstrations, while ensuring that the learned specifications do not violate safety constraints. Furthermore, we show how these specifications can be used in a planning problem to control the robot under environments that can be different from those encountered during the learning phase. We formulate the specification learning ... |
Stereo Plane SLAM Based on Intersecting Lines | https://ieeexplore.ieee.org/document/9635961/ | [
"Xiaoyu Zhang",
"Wei Wang",
"Xianyu Qi",
"Ziwei Liao",
"Xiaoyu Zhang",
"Wei Wang",
"Xianyu Qi",
"Ziwei Liao"
] | Plane features can be used to reduce drift errors in SLAM systems, especially in indoor environments. It is easy and efficient to extract planes from a dense point cloud, which is commonly generated from a RGB-D camera or a 3D lidar. But when using a stereo camera, it is hard to compute dense point clouds accurately or efficiently. In this paper, we propose a novel method to compute plane paramete... |
Hierarchical Segment-based Optimization for SLAM | https://ieeexplore.ieee.org/document/9635913/ | [
"Yuxin Tian",
"Yujie Wang",
"Ming Ouyang",
"Xuesong Shi",
"Yuxin Tian",
"Yujie Wang",
"Ming Ouyang",
"Xuesong Shi"
] | This paper presents a hierarchical segment-based optimization method for Simultaneous Localization and Mapping (SLAM) system. First we propose a reliable trajectory segmentation method that can be used to increase efficiency in the back-end optimization. Then we propose a buffer mechanism for the first time to improve the robustness of the segmentation. During the optimization, we use global infor... |
Random Fourier Features based SLAM | https://ieeexplore.ieee.org/document/9636819/ | [
"Yermek Kapushev",
"Anastasia Kishkun",
"Gonzalo Ferrer",
"Evgeny Burnaev",
"Yermek Kapushev",
"Anastasia Kishkun",
"Gonzalo Ferrer",
"Evgeny Burnaev"
] | This work is dedicated to simultaneous continuous-time trajectory estimation and mapping based on Gaussian Processes (GP). State-of-the-art GP-based models for Simultaneous Localization and Mapping (SLAM) are computationally efficient but can only be used with a restricted class of kernel functions. This paper provides the algorithm based on GP with Random Fourier Features (RFF) approximation for ... |
Robust Rank Deficient SLAM | https://ieeexplore.ieee.org/document/9636443/ | [
"Samer B. Nashed",
"Jong Jin Park",
"Roger Webster",
"Joseph W. Durham",
"Samer B. Nashed",
"Jong Jin Park",
"Roger Webster",
"Joseph W. Durham"
] | Autonomous mobile robots need maps for effective, safe navigation, and SLAM in general is still an unsolved problem. Nonetheless, certain combinations of environmental characteristics and sensors admit tractable solutions. In particular, detection and tracking of linear features such as line segments (2D) or planar facets (3D) has been proven robust in many man-made environments. However, these ty... |
What’s Best for My Mesh? Convex or Non-Convex Regularisation for Mesh Optimisation | https://ieeexplore.ieee.org/document/9636424/ | [
"Jason Pilbrough",
"Paul Amayo",
"Jason Pilbrough",
"Paul Amayo"
] | A 3D mesh offers a rich yet lightweight representation of geometry and topology for the metric and semantic understanding of a robot’s scene. Noisy features are often used to generate the mesh which furthers the need for accurate regularisation. Current approaches tightly couple front-end optimisation with regularisation making it difficult to evaluate the choice of discretisation and regularisati... |
Local to Global Plane Regularity Aggregation for Dense Surfel Mapping | https://ieeexplore.ieee.org/document/9636254/ | [
"Jiexiang Tan",
"Xiangyang Ji",
"Jiexiang Tan",
"Xiangyang Ji"
] | In this paper, we propose a novel local to global plane regularity aggregation framework for dense surfel mapping, aiming for real-time reconstruction of high-quality 3D global models in both indoor and urban environments. Different from prior works that directly localize surfels globally, we investigate three interplanar geometric relations: {coplanarity, parallelism, orthogonality} from local to... |
Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization | https://ieeexplore.ieee.org/document/9636222/ | [
"Antoni Rosinol",
"Luca Carlone",
"Antoni Rosinol",
"Luca Carlone"
] | Meshes are commonly used as 3D maps since they encode the topology of the scene while being lightweight. Unfortunately, 3D meshes are mathematically difficult to handle directly because of their combinatorial and discrete nature. Therefore, most approaches generate 3D meshes of a scene after fusing depth data using volumetric or other representations. Nevertheless, volumetric fusion remains comput... |
DeepRelativeFusion: Dense Monocular SLAM using Single-Image Relative Depth Prediction | https://ieeexplore.ieee.org/document/9636504/ | [
"Shing Yan Loo",
"Syamsiah Mashohor",
"Sai Hong Tang",
"Hong Zhang",
"Shing Yan Loo",
"Syamsiah Mashohor",
"Sai Hong Tang",
"Hong Zhang"
] | Traditional monocular visual simultaneous localization and mapping (SLAM) algorithms have been extensively studied and proven to reliably recover a sparse structure and camera motion. Nevertheless, the sparse structure is still insufficient for scene interaction, e.g., visual navigation and augmented reality applications. To densify the scene reconstruction, the use of single-image absolute depth ... |
Automatic Construction of Lane-level HD Maps for Urban Scenes | https://ieeexplore.ieee.org/document/9636205/ | [
"Yiyang Zhou",
"Yuichi Takeda",
"Masayoshi Tomizuka",
"Wei Zhan",
"Yiyang Zhou",
"Yuichi Takeda",
"Masayoshi Tomizuka",
"Wei Zhan"
] | High definition (HD) maps have demonstrated their essential roles in enabling full autonomy, especially in complex urban scenarios. As a crucial layer of the HD map, lane-level maps are particularly useful: they contain geometrical and topological information for both lanes and intersections. However, large scale construction of HD maps is limited by tedious human labeling and high maintenance cos... |
CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System | https://ieeexplore.ieee.org/document/9636676/ | [
"Jiajun Lv",
"Kewei Hu",
"Jinhong Xu",
"Yong Liu",
"Xiushui Ma",
"Xingxing Zuo",
"Jiajun Lv",
"Kewei Hu",
"Jinhong Xu",
"Yong Liu",
"Xiushui Ma",
"Xingxing Zuo"
] | In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fuse high-frequency and asynchronous sensor data effectively. We apply the proposed framework in a 3D LiDAR-inertial system for evaluations. The proposed method adopts a non-rigid registration method for continuous-time tr... |
An Efficient and Continuous Representation for Occupancy Mapping with Random Mapping | https://ieeexplore.ieee.org/document/9635937/ | [
"Xu Liu",
"Decai Li",
"Yuqing He",
"Xu Liu",
"Decai Li",
"Yuqing He"
] | Generating meaningful spatial models of physical environments is a crucial ability for autonomous navigation of mobile robots. This paper considers the problem of building continuous occupancy maps from sparse and noisy sensor data. To this end, we propose a new method named random mapping maps that advances the popular methods in two aspects. Firstly, it can represent environment models in a memo... |
Fast Autonomous Robotic Exploration Using the Underlying Graph Structure | https://ieeexplore.ieee.org/document/9636148/ | [
"Julio A. Placed",
"José A. Castellanos",
"Julio A. Placed",
"José A. Castellanos"
] | In this work, we fully define the existing relationships between traditional optimality criteria and the connectivity of the underlying pose-graph in Active SLAM, characterizing, therefore, the connection between Graph Theory and the Theory Optimal Experimental Design. We validate the proposed relationships in 2D and 3D graph SLAM datasets, showing a remarkable relaxation of the computational load... |
A High-accuracy Framework for Vehicle Dynamic Modeling in Autonomous Driving | https://ieeexplore.ieee.org/document/9636861/ | [
"Shu Jiang",
"Yu Wang",
"Weiman Lin",
"Yu Cao",
"Longtao Lin",
"Jinghao Miao",
"Qi Luo",
"Shu Jiang",
"Yu Wang",
"Weiman Lin",
"Yu Cao",
"Longtao Lin",
"Jinghao Miao",
"Qi Luo"
] | Vehicle dynamic models are the key to bridge the gap between simulation and real road test in autonomous driving. An accurate vehicle model allows control algorithms in simulation being transferred to real road test with same quality. In this paper, we present a dynamic model residual correction framework (DRF) for vehicle dynamic modeling. DRF provides a general accuracy improvement framework on ... |
Monitoring Object Detection Abnormalities via Data-Label and Post-Algorithm Abstractions | https://ieeexplore.ieee.org/document/9636713/ | [
"Yuhang Chen",
"Chih-Hong Cheng",
"Jun Yan",
"Rongjie Yan",
"Yuhang Chen",
"Chih-Hong Cheng",
"Jun Yan",
"Rongjie Yan"
] | While object detection modules are essential functionalities for any autonomous vehicle, the performance of such modules that are implemented using deep neural networks can be, in many cases, unreliable. In this paper, we develop abstraction-based monitoring as a logical framework for filtering potentially erroneous detection results. Concretely, we consider two types of abstraction, namely data-l... |
Agent-Aware State Estimation in Autonomous Vehicles | https://ieeexplore.ieee.org/document/9636210/ | [
"Shane Parr",
"Ishan Khatri",
"Justin Svegliato",
"Shlomo Zilberstein",
"Shane Parr",
"Ishan Khatri",
"Justin Svegliato",
"Shlomo Zilberstein"
] | Autonomous systems often operate in environments where the behavior of multiple agents is coordinated by a shared global state. Reliable estimation of the global state is thus critical for successfully operating in a multi-agent setting. We introduce agent-aware state estimation—a framework for calculating indirect estimations of state given observations of the behavior of other agents in the envi... |
Designing and Deploying a Mobile UVC Disinfection Robot | https://ieeexplore.ieee.org/document/9636260/ | [
"Alyssa Pierson",
"John W. Romanishin",
"Hunter Hansen",
"Leonardo Zamora Yañez",
"Daniela Rus",
"Alyssa Pierson",
"John W. Romanishin",
"Hunter Hansen",
"Leonardo Zamora Yañez",
"Daniela Rus"
] | This paper presents a mobile UVC disinfection robot designed to mitigate the threat of airborne and surface pathogens. Our system comprises a mobile robot base, a custom UVC lamp assembly, and algorithms for autonomous navigation and path planning. We present a model of UVC disinfection and dosage of UVC light delivered by the mobile robot. We also discuss challenges and prototyping decisions for ... |
The Reasonable Crowd: Towards evidence-based and interpretable models of driving behavior | https://ieeexplore.ieee.org/document/9635960/ | [
"Bassam Helou",
"Aditya Dusi",
"Anne Collin",
"Noushin Mehdipour",
"Zhiliang Chen",
"Cristhian Lizarazo",
"Calin Belta",
"Tichakorn Wongpiromsarn",
"Radboud Duintjer Tebbens",
"Oscar Beijbom",
"Bassam Helou",
"Aditya Dusi",
"Anne Collin",
"Noushin Mehdipour",
"Zhiliang Chen",
"Cristhian Lizarazo",
"Calin Belta",
"Tichakorn Wongpiromsarn",
"Radboud Duintjer Tebbens",
"Oscar Beijbom"
] | Autonomous vehicles must balance a complex set of objectives. There is no consensus on how they should do so, nor on a model for specifying a desired driving behavior. We created a dataset to help address some of these questions in a limited operating domain. The data consists of 92 traffic scenarios, with multiple ways of traversing each scenario. Multiple annotators expressed their preference be... |
Mobile Manipulation–based Deployment of Micro Aerial Robot Scouts through Constricted Aperture-like Ingress Points | https://ieeexplore.ieee.org/document/9636178/ | [
"Prateek Arora",
"Christos Papachristos",
"Prateek Arora",
"Christos Papachristos"
] | This paper presents a novel strategy for the autonomous deployment of Micro Aerial Vehicle scouts through constricted aperture-like ingress points, by narrowly fitting and launching them with a high-precision Mobile Manipulation robot. A significant problem during exploration and reconnaissance into highly unstructured environments, such as indoor collapsed ones, is the encountering of impassable ... |
In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning | https://ieeexplore.ieee.org/document/9635954/ | [
"Kanata Suzuki",
"Momomi Kanamura",
"Yuki Suga",
"Hiroki Mori",
"Tetsuya Ogata",
"Kanata Suzuki",
"Momomi Kanamura",
"Yuki Suga",
"Hiroki Mori",
"Tetsuya Ogata"
] | In this study, we report the successful execution of in-air knotting of rope using a dual-arm two-finger robot based on deep learning. Owing to its flexibility, the state of the rope was in constant flux during the operation of the robot. This required the robot control system to dynamically correspond to the state of the object at all times. However, a manual description of appropriate robot moti... |
Automated Generation of Robotic Planning Domains from Observations | https://ieeexplore.ieee.org/document/9636781/ | [
"Maximilian Diehl",
"Chris Paxton",
"Karinne Ramirez-Amaro",
"Maximilian Diehl",
"Chris Paxton",
"Karinne Ramirez-Amaro"
] | Automated planning enables robots to find plans to achieve complex, long-horizon tasks, given a planning domain. This planning domain consists of a list of actions, with their associated preconditions and effects, and is usually manually defined by a human expert, which is very time-consuming or even infeasible. In this paper, we introduce a novel method for generating this domain automatically fr... |
Behavior Self-Organization Supports Task Inference for Continual Robot Learning | https://ieeexplore.ieee.org/document/9636297/ | [
"Muhammad Burhan Hafez",
"Stefan Wermter",
"Muhammad Burhan Hafez",
"Stefan Wermter"
] | Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot learning is an emerging research direction with the goal of endowing robots with this ability. In order to learn new tasks over time, the robot first needs to ... |
CRIL: Continual Robot Imitation Learning via Generative and Prediction Model | https://ieeexplore.ieee.org/document/9636069/ | [
"Chongkai Gao",
"Haichuan Gao",
"Shangqi Guo",
"Tianren Zhang",
"Feng Chen",
"Chongkai Gao",
"Haichuan Gao",
"Shangqi Guo",
"Tianren Zhang",
"Feng Chen"
] | Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in real world. In this work we study how to realize continual imitation learning ability that empowers robots to continually learn new tasks one by one, thus reduci... |
Ontology-Assisted Generalisation of Robot Action Execution Knowledge | https://ieeexplore.ieee.org/document/9636791/ | [
"Alex Mitrevsk",
"Paul G. Plöger",
"Gerhard Lakemeyer",
"Alex Mitrevsk",
"Paul G. Plöger",
"Gerhard Lakemeyer"
] | When an autonomous robot learns how to execute actions, it is of interest to know if and when the execution policy can be generalised to variations of the learning scenarios. This can inform the robot about the necessity of additional learning, as using incomplete or unsuitable policies can lead to execution failures. Generalisation is particularly relevant when a robot has to deal with a large va... |
Sim-to-Real Transfer for Robotic Manipulation with Tactile Sensory | https://ieeexplore.ieee.org/document/9636259/ | [
"Zihan Ding",
"Ya-Yen Tsai",
"Wang Wei Lee",
"Bidan Huang",
"Zihan Ding",
"Ya-Yen Tsai",
"Wang Wei Lee",
"Bidan Huang"
] | Reinforcement Learning (RL) methods have been widely applied for robotic manipulations via sim-to-real transfer, typically with proprioceptive and visual information. However, the incorporation of tactile sensing into RL for contact-rich tasks lacks investigation. In this paper, we model a tactile sensor in simulation and study the effects of its feedback in RL-based robotic control via a zero-sho... |
Visual-Tactile Fusion for 3D Objects Reconstruction from a Single Depth View and a Single Gripper Touch for Robotics Tasks | https://ieeexplore.ieee.org/document/9636150/ | [
"Mohamed Tahoun",
"Omar Tahri",
"Juan Antonio Corrales Ramón",
"Youcef Mezouar",
"Mohamed Tahoun",
"Omar Tahri",
"Juan Antonio Corrales Ramón",
"Youcef Mezouar"
] | The planning of robotic manipulation and grasping tasks depends on the reconstruction of the 3D object’s shape. Most of the existing 3D object reconstruction methods are based on visual sensing that are limited due to the lack of the object’s occluded side information. The goal of this paper is to overcome these limitations and improve the 3D objects’ reconstruction by adding the tactile sensing t... |
Policy Learning for Visually Conditioned Tactile Manipulation | https://ieeexplore.ieee.org/document/9636866/ | [
"Tarık Keleştemur",
"Taşkın Padır",
"Robert Platt",
"Tarık Keleştemur",
"Taşkın Padır",
"Robert Platt"
] | Recent work on robot learning with visual observations has shown great success in solving many manipulation tasks. While visual observations contain rich information about the environment and the robot, they can be unreliable in the presence of visual noise or occlusions. In these cases, we can leverage tactile observations generated by the interaction between the robot and the environment. In thi... |
Hybrid ICP | https://ieeexplore.ieee.org/document/9636600/ | [
"Kamil Dreczkowski",
"Edward Johns",
"Kamil Dreczkowski",
"Edward Johns"
] | ICP algorithms typically involve a fixed choice of data association method and a fixed choice of error metric. In this paper, we propose Hybrid ICP, a novel and flexible ICP variant which dynamically optimises both the data association method and error metric based on the live image of an object and the current ICP estimate. We show that when used for object pose estimation, Hybrid ICP is more acc... |
Improving Grasp Stability with Rotation Measurement from Tactile Sensing | https://ieeexplore.ieee.org/document/9636488/ | [
"Raj Kolamuri",
"Zilin Si",
"Yufan Zhang",
"Arpit Agarwal",
"Wenzhen Yuan",
"Raj Kolamuri",
"Zilin Si",
"Yufan Zhang",
"Arpit Agarwal",
"Wenzhen Yuan"
] | Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation patterns on the contacting surfaces when the object rotates. In this work, we propose a model-based algorithm that detects those rotational patterns and measures rota... |
Multi-view Fusion for Multi-level Robotic Scene Understanding | https://ieeexplore.ieee.org/document/9635994/ | [
"Yunzhi Lin",
"Jonathan Tremblay",
"Stephen Tyree",
"Patricio A. Vela",
"Stan Birchfield",
"Yunzhi Lin",
"Jonathan Tremblay",
"Stephen Tyree",
"Patricio A. Vela",
"Stan Birchfield"
] | We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-inhand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene, for the purpose of obstacle avoidance. 2) the rough pose of unknown objects from categories corresponding to primitive shapes (e.g., cuboids and cylinders), and... |
Fast Reactive Grasping with In-Finger Vision and In-Hand FPGA-accelerated CNNs | https://ieeexplore.ieee.org/document/9636043/ | [
"Felix Hundhausen",
"Raphael Grimm",
"Leon Stieber",
"Tamim Asfour",
"Felix Hundhausen",
"Raphael Grimm",
"Leon Stieber",
"Tamim Asfour"
] | We present a soft humanoid hand with in-finger integrated cameras and in-hand real-time image processing system for fast reactive grasping. Specifically, we describe an FPGA-based, in-hand integrated, embedded system for processing visual data captured by the five in-finger cameras while avoiding high bandwidth raw data streaming via the robots real-time data bus. The hardware acceleration allows ... |
Accurate depth estimation from a hybrid event-RGB stereo setup | https://ieeexplore.ieee.org/document/9635834/ | [
"Yi-Fan Zuo",
"Li Cui",
"Xin Peng",
"Yanyu Xu",
"Shenghua Gao",
"Xia Wang",
"Laurent Kneip",
"Yi-Fan Zuo",
"Li Cui",
"Xin Peng",
"Yanyu Xu",
"Shenghua Gao",
"Xia Wang",
"Laurent Kneip"
] | Event-based visual perception is becoming increasingly popular owing to interesting sensor characteristics enabling the handling of difficult conditions such as highly dynamic motion or challenging illumination. The mostly complementary nature of event cameras however still means that best results are achieved if the sensor is paired with a regular frame-based sensor. The present work aims at answ... |
FINO-Net: A Deep Multimodal Sensor Fusion Framework for Manipulation Failure Detection | https://ieeexplore.ieee.org/document/9636455/ | [
"Arda Inceoglu",
"Eren Erdal Aksoy",
"Abdullah Cihan Ak",
"Sanem Sariel",
"Arda Inceoglu",
"Eren Erdal Aksoy",
"Abdullah Cihan Ak",
"Sanem Sariel"
] | We need robots more aware of the unintended outcomes of their actions for ensuring safety. This can be achieved by an onboard failure detection system to monitor and detect such cases. Onboard failure detection is challenging with a limited set of onboard sensor setup due to the limitations of sensing capabilities of each sensor. To alleviate these challenges, we propose FINO-Net, a novel multimod... |
3D-FFS: Faster 3D object detection with Focused Frustum Search in sensor fusion based networks | https://ieeexplore.ieee.org/document/9636244/ | [
"Aniruddha Ganguly",
"Tasin Ishmam",
"Khandker Aftarul Islam",
"Md Zahidur Rahman",
"Md. Shamsuzzoha Bayzid",
"Aniruddha Ganguly",
"Tasin Ishmam",
"Khandker Aftarul Islam",
"Md Zahidur Rahman",
"Md. Shamsuzzoha Bayzid"
] | In this work we propose 3D-FFS, a novel approach to make sensor fusion based 3D object detection networks significantly faster using a class of computationally inexpensive heuristics. Existing sensor fusion based networks generate 3D region proposals by leveraging inferences from 2D object detectors. However, as images have no depth information, these networks rely on extracting semantic features ... |
Reinforcement Learning Compensated Extended Kalman Filter for Attitude Estimation | https://ieeexplore.ieee.org/document/9635963/ | [
"Yujie Tang",
"Liang Hu",
"Qingrui Zhang",
"Wei Pan",
"Yujie Tang",
"Liang Hu",
"Qingrui Zhang",
"Wei Pan"
] | Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them still suffer from 1) inaccurate initial estimation, 2) inaccurate initial filter gain, and 3) non-Gaussian process and/or measurement noise. This paper will leverage reinforcement learning to compensate for the classica... |
AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments | https://ieeexplore.ieee.org/document/9636585/ | [
"Tianwei Zhang",
"Huayan Zhang",
"Xiaofei Li",
"Junfeng Chen",
"Tin Lun Lam",
"Sethu Vijayakumar",
"Tianwei Zhang",
"Huayan Zhang",
"Xiaofei Li",
"Junfeng Chen",
"Tin Lun Lam",
"Sethu Vijayakumar"
] | Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some learning-based object detectors to remove these dynamic objects. However, these object detectors are computationally too expensive for mobile robot on-board pro... |
Data-fusion for robust off-road perception considering data quality of uncertain sensors | https://ieeexplore.ieee.org/document/9636541/ | [
"Patrick Wolf",
"Karsten Berns",
"Patrick Wolf",
"Karsten Berns"
] | Robust off-road perception for autonomous navigation is hard to achieve. Versatile environments, different hardware, and numerous disturbances limit the perceptional portability in changing applications and cross-platform. This contribution proposes sensor-fusion considering the data quality of uncertain sensors to increase the classification and mapping components’ perceptual robustness. The resu... |
A Meta-Learning-based Trajectory Tracking Framework for UAVs under Degraded Conditions | https://ieeexplore.ieee.org/document/9635918/ | [
"Esen Yel",
"Nicola Bezzo",
"Esen Yel",
"Nicola Bezzo"
] | Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system failures and external disturbances are among the most common causes of degraded mode of operation. To deal with this problem, in this work, we present a meta-l... |
Orientation-Aware Planning for Parallel Task Execution of Omni-Directional Mobile Robot | https://ieeexplore.ieee.org/document/9636051/ | [
"Cheng Gong",
"Zirui Li",
"Xingyu Zhou",
"Jiachen Li",
"Junhui Zhou",
"Jianwei Gong",
"Cheng Gong",
"Zirui Li",
"Xingyu Zhou",
"Jiachen Li",
"Junhui Zhou",
"Jianwei Gong"
] | Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can potentially enable the robot to carry out extra tasks. For instance, gimbals or sensors on robots may suffer from a limited field of view or be constrained by the ... |
Class-Ordered LPA*: An Incremental-Search Algorithm for Weighted Colored Graphs | https://ieeexplore.ieee.org/document/9636736/ | [
"Jaein Lim",
"Oren Salzman",
"Panagiotis Tsiotras",
"Jaein Lim",
"Oren Salzman",
"Panagiotis Tsiotras"
] | Replanning is an essential problem for robots operating in a dynamic and complex environment for responsive and robust autonomy. Previous incremental-search algorithms efficiently reuse existing search results to facilitate a new plan when the environment changes. Yet, they rely solely on geometric information of the environment encoded in an edge-weighted graph. However, semantic information ofte... |
Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning | https://ieeexplore.ieee.org/document/9636358/ | [
"Lorenz Wellhausen",
"Marco Hutter",
"Lorenz Wellhausen",
"Marco Hutter"
] | Navigation planning for legged robots has distinct challenges compared to wheeled and tracked systems due to the ability to lift legs off the ground and step over obstacles. While most navigation planners assume a fixed traversability value for a single terrain patch, we overcome this limitation by proposing a reachability-based navigation planner for legged robots. We approximate the robot morpho... |
Using Experience to Improve Constrained Planning on Foliations for Multi-Modal Problems | https://ieeexplore.ieee.org/document/9636236/ | [
"Zachary Kingston",
"Constantinos Chamzas",
"Lydia E. Kavraki",
"Zachary Kingston",
"Constantinos Chamzas",
"Lydia E. Kavraki"
] | Many robotic manipulation problems are multi-modal—they consist of a discrete set of mode families (e.g., whether an object is grasped or placed) each with a continuum of parameters (e.g., where exactly an object is grasped). Core to these problems is solving single-mode motion plans, i.e., given a mode from a mode family (e.g., a specific grasp), find a feasible motion to transition to the next d... |
A Sampling-based Motion Planning Framework for Complex Motor Actions | https://ieeexplore.ieee.org/document/9636395/ | [
"Shlok Sobti",
"Rahul Shome",
"Swarat Chaudhuri",
"Lydia E. Kavraki",
"Shlok Sobti",
"Rahul Shome",
"Swarat Chaudhuri",
"Lydia E. Kavraki"
] | We present a framework for planning complex motor actions such as pouring or scooping from arbitrary start states in cluttered real-world scenes. Traditional approaches to such tasks use dynamic motion primitives (DMPs) learned from human demonstrations. We enhance a recently proposed state-of-the-art DMP technique capable of obstacle avoidance by including them within a novel hybrid framework. Th... |
Reconfiguring Metamorphic Robots via SMT: Is It a Viable Way? | https://ieeexplore.ieee.org/document/9636534/ | [
"Jan Mrázek",
"Martin Jonáš",
"Jiří Barnat",
"Jan Mrázek",
"Martin Jonáš",
"Jiří Barnat"
] | We present a new approach to tackle the problem of lattice-type metamorphic robots reconfiguration. We base our approach on a reduction to satisfiability modulo theory (SMT). Unlike the current state-of-the-art solutions, we consider the spatial limitations of the modules themselves and produce collision-free plans. We give an in-depth description of the reduction and discuss several optimizations... |
Balloon Animal Robots: Reconfigurable Isoperimetric Inflated Soft Robots | https://ieeexplore.ieee.org/document/9635842/ | [
"Anthony D. Stuart",
"Zachary M. Hammond",
"Sean Follmer",
"Anthony D. Stuart",
"Zachary M. Hammond",
"Sean Follmer"
] | This paper introduces a new class of soft reconfigurable robot: balloon animal robots. The balloon animal robot consists of a closed volume inflatable tube which can be reconfigured into structures of varying topology by a collective of simple sub-unit robots. The robotic sub-units can (1) drive along the length of the tube to localize a joint, (2) create pinch points that locally reduce the bendi... |
Self-Reconfiguration of Modular Robots Using Virtual Forces | https://ieeexplore.ieee.org/document/9635889/ | [
"Edy Hourany",
"Christian Stephan",
"Abdallah Makhoul",
"Benoit Piranda",
"Bachir Habib",
"Julien Bourgeois",
"Edy Hourany",
"Christian Stephan",
"Abdallah Makhoul",
"Benoit Piranda",
"Bachir Habib",
"Julien Bourgeois"
] | Programmable matter is a material that can change its physical properties at will, whether it is its shape, density or conductivity. It can be implemented as an ensemble of micro-robots arranged in space to form a specific shape and having their own computing power. This technology behaves as a distributed system. Each micro-robot is called a module and the whole forms a modular robot. This paper ... |
Finding Structure Configurations for Flying Modular Robots | https://ieeexplore.ieee.org/document/9636086/ | [
"Bruno Gabrich",
"David Saldaña",
"Mark Yim",
"Bruno Gabrich",
"David Saldaña",
"Mark Yim"
] | Flying Modular Structures offer a versatile mechanism that can change the arrangement of constituent actuators according to task requirements. In this work, we extend a modular aerial platform that can expand its actuation capabilities depending on the configuration. Each module is composed of a quadrotor in a cage that can rigidly connect with other modules. The quadrotor is connected with the ca... |
Enumeration of Polyominoes & Polycubes Composed of Magnetic Cubes | https://ieeexplore.ieee.org/document/9636784/ | [
"Yitong Lu",
"Anuruddha Bhattacharjee",
"Daniel Biediger",
"MinJun Kim",
"Aaron T. Becker",
"Yitong Lu",
"Anuruddha Bhattacharjee",
"Daniel Biediger",
"MinJun Kim",
"Aaron T. Becker"
] | This paper examines a family of designs for magnetic cubes and counts how many configurations are possible for each design as a function of the number of modules. Magnetic modular cubes are cubes with magnets arranged on their faces. The magnets are positioned so that each face has either magnetic south or north pole outward. Moreover, we require that the net magnetic moment of the cube passes thr... |
Joint Multi-Object Detection and Tracking with Camera-LiDAR Fusion for Autonomous Driving | https://ieeexplore.ieee.org/document/9636311/ | [
"Kemiao Huang",
"Qi Hao",
"Kemiao Huang",
"Qi Hao"
] | Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint detection and tracking schemes and robust data association for autonomous driving applications. The novelty of this work includes: (1) development of an end-to-end deep... |
Powerline Tracking with Event Cameras | https://ieeexplore.ieee.org/document/9636824/ | [
"Alexander Dietsche",
"Giovanni Cioffi",
"Javier Hidalgo-Carrió",
"Davide Scaramuzza",
"Alexander Dietsche",
"Giovanni Cioffi",
"Javier Hidalgo-Carrió",
"Davide Scaramuzza"
] | Autonomous inspection of powerlines with quadrotors is challenging. Flights require persistent perception to keep a close look at the lines. We propose a method that uses event cameras to robustly track powerlines. Event cameras are inherently robust to motion blur, have low latency, and high dynamic range. Such properties are advantageous for autonomous inspection of powerlines with drones, where... |
CRACT: Cascaded Regression-Align-Classification for Robust Tracking | https://ieeexplore.ieee.org/document/9636803/ | [
"Heng Fan",
"Haibin Ling",
"Heng Fan",
"Haibin Ling"
] | High quality object proposals are crucial in visual tracking algorithms that utilize region proposal network (RPN). Refinement of these proposals, typically by box regression and classification in parallel, has been popularly adopted to boost tracking performance. However, it still meets problems when dealing with complex and dynamic background. Thus motivated, in this paper we introduce an improv... |
Dynamic Event Camera Calibration | https://ieeexplore.ieee.org/document/9636398/ | [
"Kun Huang",
"Yifu Wang",
"Laurent Kneip",
"Kun Huang",
"Yifu Wang",
"Laurent Kneip"
] | Camera calibration is an important prerequisite towards the solution of 3D computer vision problems. Traditional methods rely on static images of a calibration pattern. This raises interesting challenges towards the practical usage of event cameras, which notably require image change to produce sufficient measurements. The current standard for event camera calibration therefore consists of using f... |
PointSiamRCNN: Target-aware Voxel-based Siamese Tracker for Point Clouds | https://ieeexplore.ieee.org/document/9636863/ | [
"Hao Zou",
"Chujuan Zhang",
"Yong Liu",
"Wanlong Li",
"Feng Wen",
"Hongbo Zhang",
"Hao Zou",
"Chujuan Zhang",
"Yong Liu",
"Wanlong Li",
"Feng Wen",
"Hongbo Zhang"
] | Currently, there have been many kinds of pointbased 3D trackers, while voxel-based methods are still underexplored. In this paper, we first propose a voxel-based tracker, named PointSiamRCNN, improving tracking performance by embedding target information into the search region. Our framework is composed of two parts for achieving proposal generation and proposal refinement, which fully releases th... |
Diverse Critical Interaction Generation for Planning and Planner Evaluation | https://ieeexplore.ieee.org/document/9636266/ | [
"Zhao-Heng Yin",
"Lingfeng Sun",
"Liting Sun",
"Masayoshi Tomizuka",
"Wei Zhan",
"Zhao-Heng Yin",
"Lingfeng Sun",
"Liting Sun",
"Masayoshi Tomizuka",
"Wei Zhan"
] | Generating diverse and comprehensive interacting agents to evaluate the decision-making modules is essential for the safe and robust planning of autonomous vehicles (AV). Due to efficiency and safety concerns, most researchers choose to train interactive adversary (competitive or weakly competitive) agents in simulators and generate test cases to interact with evaluated AVs. However, most existing... |
Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles | https://ieeexplore.ieee.org/document/9635903/ | [
"Josiah P. Hanna",
"Arrasy Rahman",
"Elliot Fosong",
"Francisco Eiras",
"Mihai Dobre",
"John Redford",
"Subramanian Ramamoorthy",
"Stefano V. Albrecht",
"Josiah P. Hanna",
"Arrasy Rahman",
"Elliot Fosong",
"Francisco Eiras",
"Mihai Dobre",
"John Redford",
"Subramanian Ramamoorthy",
"Stefano V. Albrecht"
] | Recognising the goals or intentions of observed vehicles is a key step towards predicting the long-term future behaviour of other agents in an autonomous driving scenario. When there are unseen obstacles or occluded vehicles in a scenario, goal recognition may be confounded by the effects of these unseen entities on the behaviour of observed vehicles. Existing prediction algorithms that assume rat... |
Semi-Cooperative Control for Autonomous Emergency Vehicles | https://ieeexplore.ieee.org/document/9636849/ | [
"Noam Buckman",
"Wilko Schwarting",
"Sertac Karaman",
"Daniela Rus",
"Noam Buckman",
"Wilko Schwarting",
"Sertac Karaman",
"Daniela Rus"
] | Autonomous control of an emergency vehicle will save lives through faster transport and shorter response. Towards this goal, it must overcome the challenge of inter- acting with existing human drivers on the road. We present a game-theoretic approach for semi-cooperative control of an autonomous emergency vehicle that can interact efficiently with humans on the road. We model the interactions betw... |
RV-FuseNet: Range View Based Fusion of Time-Series LiDAR Data for Joint 3D Object Detection and Motion Forecasting | https://ieeexplore.ieee.org/document/9636083/ | [
"Ankit Laddha",
"Shivam Gautam",
"Gregory P. Meyer",
"Carlos Vallespi-Gonzalez",
"Carl K. Wellington",
"Ankit Laddha",
"Shivam Gautam",
"Gregory P. Meyer",
"Carlos Vallespi-Gonzalez",
"Carl K. Wellington"
] | Robust real-time detection and motion forecasting of traffic participants is necessary for autonomous vehicles to safely navigate urban environments. In this paper, we present RV-FuseNet, a novel end-to-end approach for joint detection and trajectory estimation directly from time-series LiDAR data. Instead of the widely used bird’s eye view (BEV) representation, we utilize the native range view (R... |
A Simple and Efficient Multi-task Network for 3D Object Detection and Road Understanding | https://ieeexplore.ieee.org/document/9635858/ | [
"Di Feng",
"Yiyang Zhou",
"Chenfeng Xu",
"Masayoshi Tomizuka",
"Wei Zhan",
"Di Feng",
"Yiyang Zhou",
"Chenfeng Xu",
"Masayoshi Tomizuka",
"Wei Zhan"
] | Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative analysis. In this work, we show that it is possible to perform all perception tasks via a simple and efficient multi-task network. Our proposed network, LidarM... |
DeepSIL: A Software-in-the-Loop Framework for Evaluating Motion Planning Schemes Using Multiple Trajectory Prediction Networks | https://ieeexplore.ieee.org/document/9636423/ | [
"Jan Strohbeck",
"Johannes Müller",
"Adrian Holzbock",
"Michael Buchholz",
"Jan Strohbeck",
"Johannes Müller",
"Adrian Holzbock",
"Michael Buchholz"
] | Testing and verification is still an open issue on the way to fully automated driving. Simulations can help to reduce the required testing efforts, however, classical simulators based on physical models and heuristics, such as the intelligent driver model (IDM), show limited model accuracy on a microscopic scenario level. In turn, learning-based driver models are often capable to predict human dri... |
Joint Intention and Trajectory Prediction Based on Transformer | https://ieeexplore.ieee.org/document/9636241/ | [
"Ze Sui",
"Yue Zhou",
"Xu Zhao",
"Ao Chen",
"Yiyang Ni",
"Ze Sui",
"Yue Zhou",
"Xu Zhao",
"Ao Chen",
"Yiyang Ni"
] | Although autonomous driving technology has made tremendous progress in recent years, it is still challenging to predict the intentions and trajectories of pedestrians. The state-of-the-art methods suffer from two problems. (1) Existing works consider these two tasks separately, ignoring the connection between them. (2) The selection and integration of inputs for these tasks are not well designed. ... |
GloCAL: Glocalized Curriculum-Aided Learning of Multiple Tasks with Application to Robotic Grasping | https://ieeexplore.ieee.org/document/9636492/ | [
"Anil Kurkcu",
"Cihan Acar",
"Domenico Campolo",
"Keng Peng Tee",
"Anil Kurkcu",
"Cihan Acar",
"Domenico Campolo",
"Keng Peng Tee"
] | The domain of robotics is challenging to apply deep reinforcement learning due to the need for large amounts of data and for ensuring safety during learning. Curriculum learning has shown good performance in terms of sample-efficient deep learning. In this paper, we propose an algorithm (named GloCAL) that creates a curriculum for an agent to learn multiple discrete tasks, based on clustering task... |
Multi-Scale Aggregation with Self-Attention Network for Modeling Electrical Motor Dynamics | https://ieeexplore.ieee.org/document/9636717/ | [
"Kuan-Chih Huang",
"Hao-Hsiang Yang",
"Wei-Ting Chen",
"Kuan-Chih Huang",
"Hao-Hsiang Yang",
"Wei-Ting Chen"
] | Modeling induction motor dynamics is a crucial problem in the industry. The previous works mainly model the dynamics based on the physical model assumption and state equation. However, due to the complex internal structure of motors, the traditional methods cannot estimate dynamics precisely. To address this issue, we adopt a deep learning-based approach that takes the time-series motor data measu... |
A Robust Data-Driven Approach for Dynamics Model Identification in Trajectory Planning | https://ieeexplore.ieee.org/document/9635979/ | [
"Jiangqiu Chen",
"Minyu Zhang",
"Zhifei Yang",
"Linqing Xia",
"Jiangqiu Chen",
"Minyu Zhang",
"Zhifei Yang",
"Linqing Xia"
] | In this paper, we propose a data-driven modelling framework using a sparse regression technique to find the governing equations of dynamics systems. With this approach, the prior knowledge of features from simple structures can be used to deduce which on complex structures. The prior knowledge of single-pendulums, double-pendulums, and spherical pendulum enlightens the guess of the feature library... |
Guiding Robot Model Construction with Prior Features | https://ieeexplore.ieee.org/document/9635831/ | [
"Erik Derner",
"Jiří Kubalík",
"Robert Babuška",
"Erik Derner",
"Jiří Kubalík",
"Robert Babuška"
] | Virtually all robot control methods benefit from the availability of an accurate mathematical model of the robot. However, obtaining a sufficient amount of informative data for constructing dynamic models can be difficult, especially when the models are to be learned during robot deployment. Under such circumstances, standard data-driven model learning techniques often yield models that do not com... |
A Novel Quotient Space Approach to Model-Based Fault Detection and Isolation: Theory and Preliminary Simulation Evaluation | https://ieeexplore.ieee.org/document/9636026/ | [
"Annie M. Mao",
"Louis L. Whitcomb",
"Annie M. Mao",
"Louis L. Whitcomb"
] | We report the development of novel fault detection and isolation (FDI) methods for model-based fault detection (MB-FD) and quotient-space fault isolation (QS-FI). This FDI approach performs MB-FD and QS-FI of single or multiple con-current faults in plants and actuators simultaneously, without a priori knowledge of fault form, type, or dynamics. To detect faults, MB-FD characterizes deviation from... |
Particle MPC for Uncertain and Learning-Based Control | https://ieeexplore.ieee.org/document/9635967/ | [
"Robert Dyro",
"James Harrison",
"Apoorva Sharma",
"Marco Pavone",
"Robert Dyro",
"James Harrison",
"Apoorva Sharma",
"Marco Pavone"
] | As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essential for robust performance. In this paper we present a nonlinear particle model predictive control (PMPC) approach to control under uncertainty, which directly incorporates any particle-based uncertainty representation, ... |
DMotion: Robotic Visuomotor Control with Unsupervised Forward Model Learned from Videos | https://ieeexplore.ieee.org/document/9636362/ | [
"Haoqi Yuan",
"Ruihai Wu",
"Andrew Zhao",
"Haipeng Zhang",
"Zihan Ding",
"Hao Dong",
"Haoqi Yuan",
"Ruihai Wu",
"Andrew Zhao",
"Haipeng Zhang",
"Zihan Ding",
"Hao Dong"
] | Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be demanding in many cases. To cope with this limitation, we propose a method, dubbed DMotion, that trains a forward model from video data only, via disentangling the m... |
Dynamic hand gesture recognition using a stretchable multi-layer capacitive array, proximity sensing, and a SVM classifier | https://ieeexplore.ieee.org/document/9636744/ | [
"Matteo Virone",
"Pedro Lopes",
"Rui Pedro Rocha",
"Anibal. T. de Almeida",
"Mahmoud Tavakoli",
"Matteo Virone",
"Pedro Lopes",
"Rui Pedro Rocha",
"Anibal. T. de Almeida",
"Mahmoud Tavakoli"
] | Hand Gesture Recognition (HGR) has application in Human Machine Interfaces (HMIs), to control robots, games, and machines. Here we demonstrate a soft-matter multi-layer printed electronic circuit, that can be used to detect the human gesture without the need for physical contact, except for unlocking the system. The film is able to detect touch and proximity of the hand at various nodes, and thus ... |
Estimating the Shape of Soft Pneumatic Actuators using Active Vibroacoustic Sensing | https://ieeexplore.ieee.org/document/9636527/ | [
"Kazumi Randika",
"Kentaro Takemura",
"Kazumi Randika",
"Kentaro Takemura"
] | Soft robotic devices, including actuators fabricated from materials with a low modulus of elasticity, such as silicone elastomers, have gained significant interest in recent years. A flexible sensor is a vital component for estimating the conditions of soft actuators, such as shape, and deformation due to contact events. However, it is challenging to develop a flexible sensor with tolerability and... |
A Caging Inspired Gripper using Flexible Fingers and a Movable Palm | https://ieeexplore.ieee.org/document/9635873/ | [
"Luke Beddow",
"Helge Wurdemann",
"Dimitrios Kanoulas",
"Luke Beddow",
"Helge Wurdemann",
"Dimitrios Kanoulas"
] | This paper proposes the design of a robotic gripper motivated by the bin-picking problem, where a variety of objects need to be picked from cluttered bins. The presented gripper design focuses on an enveloping cage-like approach, which surrounds the object with three hooked fingers, and then presses into the object with a movable palm. The fingers are flexible and imbue grasps with some elasticity... |
The Role of Digit Arrangement in Soft Robotic In-Hand Manipulation | https://ieeexplore.ieee.org/document/9636188/ | [
"Clark B. Teeple",
"Randall C. St. Louis",
"Moritz A. Graule",
"Robert J. Wood",
"Clark B. Teeple",
"Randall C. St. Louis",
"Moritz A. Graule",
"Robert J. Wood"
] | The need for robotic hands capable of gentle in-hand manipulation is growing rapidly as robots enter the real world. In this work, we show that the arrangement of digits in a soft robotic hand has a strong effect on in-hand manipulation capabilities. Introducing task-based performance metrics which quantify the range of motion, repeatability, and accuracy of in-hand manipulation tasks, we investig... |
A Dexterous, Reconfigurable, Adaptive Robot Hand Combining Anthropomorphic and Interdigitated Configurations | https://ieeexplore.ieee.org/document/9636538/ | [
"Geng Gao",
"Jayden Chapman",
"Saori Matsunaga",
"Toshisada Mariyama",
"Bruce MacDonald",
"Minas Liarokapis",
"Geng Gao",
"Jayden Chapman",
"Saori Matsunaga",
"Toshisada Mariyama",
"Bruce MacDonald",
"Minas Liarokapis"
] | Robot grasping and dexterous, in-hand manipulation allow robots to interact with their surroundings and execute a plethora of complex tasks such as pushing buttons, opening doors, and interacting with electrical appliances. In robotics, such complicated tasks are typically executed by multi-fingered end-effectors that are heavy, rigid, and expensive, employing numerous degrees of freedom and actua... |
A Computational Framework for Robot Hand Design via Reinforcement Learning | https://ieeexplore.ieee.org/document/9636305/ | [
"Zhong Zhang",
"Yu Zheng",
"Zhe Hu",
"Lezhang Liu",
"Xuan Zhao",
"Xiong Li",
"Jia Pan",
"Zhong Zhang",
"Yu Zheng",
"Zhe Hu",
"Lezhang Liu",
"Xuan Zhao",
"Xiong Li",
"Jia Pan"
] | Robot hand is essential for a fully functional robot and designing a good robot hand is a sophisticated job that challenges the designer’s knowledge and experience. This paper presents a computational framework for automatic optimal robot hand design based on reinforcement learning (RL), which considers desired grasping tasks, grasp control strategies, and performance quality measures altogether. ... |
Force Control With Friction Compensation In A Pneumatic Gripper | https://ieeexplore.ieee.org/document/9636027/ | [
"Rocco A. Romeo",
"Agata Zocco",
"Luca Fiorio",
"Daniele Pucci",
"M. Maggiali",
"Rocco A. Romeo",
"Agata Zocco",
"Luca Fiorio",
"Daniele Pucci",
"M. Maggiali"
] | Robots can grasp, even manipulate, objects with different shape, weight and size thanks to the their end-effectors. These are mostly constituted by two fingers, and are known as grippers. However, despite being quite simple for human beings, manipulation is not so straightforward to carry out on robotic systems. One of the main obstacles is the lack of reliable control methods: this is especially ... |
Contact Anticipation for Physical Human–Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors | https://ieeexplore.ieee.org/document/9636130/ | [
"Caleb Escobedo",
"Matthew Strong",
"Mary West",
"Ander Aramburu",
"Alessandro Roncone",
"Caleb Escobedo",
"Matthew Strong",
"Mary West",
"Ander Aramburu",
"Alessandro Roncone"
] | In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is insufficient, as human–robot contact is inevitable and, in some situations, desired. Our work enables manipulators to anticipate, detect, and act on contact. To achiev... |
Task geometry aware assistance for kinesthetic teaching of redundant robots | https://ieeexplore.ieee.org/document/9636209/ | [
"Dimitrios Papageorgiou",
"Sotiris Stavridis",
"Christos Papakonstantinou",
"Zoe Doulgeri",
"Dimitrios Papageorgiou",
"Sotiris Stavridis",
"Christos Papakonstantinou",
"Zoe Doulgeri"
] | Kinesthetic teaching allows the direct skill transfer from the human to the robot through physical human-robot interaction. However, it is heavily affected by the robot’s dynamics and the control scheme utilized for the physical interaction. In this work, we aim at assisting the human-teacher by reducing her/his physical and cognitive load. To this aim, we propose a controller with virtual fixture... |
A Conceptual Approach of Passive Human-Intention-Orientated Variable Admittance Control using Power Envelope | https://ieeexplore.ieee.org/document/9636487/ | [
"Jingdong Chen",
"Paul I. Ro",
"Jingdong Chen",
"Paul I. Ro"
] | Two main challenges that need to be addressed in physical human-robot interaction (pHRI) are efficient recognition of human intention and interaction safety. In this paper, a general human intention framework was summarized, firstly, according to the robot's roles: a passive follower and a compliant leader. Secondly, we proposed variable admittance control models governed by human intentions. Powe... |
Inferring Goals with Gaze during Teleoperated Manipulation | https://ieeexplore.ieee.org/document/9636551/ | [
"Reuben M. Aronson",
"Nadia Almutlak",
"Henny Admoni",
"Reuben M. Aronson",
"Nadia Almutlak",
"Henny Admoni"
] | Assistive robot manipulators help people with upper motor impairments perform tasks by themselves. However, teleoperating a robot to perform complex tasks is difficult. Shared control algorithms make this easier: these algorithms predict the user’s goal, autonomously generate a plan to accomplish the goal, and fuse that plan with the user’s input. To accurately predict the user’s goal, these algor... |
Multitask Variational Autoencoding of Human-to-Human Object Handover | https://ieeexplore.ieee.org/document/9636221/ | [
"Haziq Razali",
"Yiannis Demiris",
"Haziq Razali",
"Yiannis Demiris"
] | Assistive robots that operate alongside humans require the ability to understand and replicate human behaviours during a handover. A handover is defined as a joint action between two participants in which a giver hands an object over to the receiver. In this paper, we present a method for learning human-to-human handovers observed from motion capture data. Given the giver and receiver pose from a ... |
Synergetic Gait Prediction for Stroke Rehabilitation with Varying Walking Speeds | https://ieeexplore.ieee.org/document/9635860/ | [
"Chaobin Zou",
"Rui Huang",
"Zhinan Peng",
"Jing Qiu",
"Hong Cheng",
"Chaobin Zou",
"Rui Huang",
"Zhinan Peng",
"Jing Qiu",
"Hong Cheng"
] | Lower Limb Exoskeletons (LLEs) are promising in gait rehabilitation for stroke survivors. In gait training of post-stroke patients with LLEs, one of the main challenges is how to generate appropriate gait patterns from the sound leg to the paretic leg for different patients with varying walking speeds. In this paper, we proposed a Synergetic Gait Prediction (SGP) model for rehabilitation LLEs with... |
Organization and Understanding of a Tactile Information Dataset TacAct For Physical Human-Robot Interaction | https://ieeexplore.ieee.org/document/9636389/ | [
"Peng Wang",
"Jixiao Liu",
"Funing Hou",
"Dicai Chen",
"Zihou Xia",
"Shijie Guo",
"Peng Wang",
"Jixiao Liu",
"Funing Hou",
"Dicai Chen",
"Zihou Xia",
"Shijie Guo"
] | Human touching the robot to convey intentions or emotions is an essential communication pathway during physical Human-Robot Interaction (pHRI). Therefore, advanced service robots require superior tactile intelligence to guarantee naturalness and safety when making physical contact with human subjects. Tactile intelligence is the capability to percept and recognize tactile information from touch be... |
Towards Human Haptic Gesture Interpretation for Robotic Systems | https://ieeexplore.ieee.org/document/9636015/ | [
"Bibit Bianchini",
"Prateek Verma",
"J. Kenneth Salisbury",
"Bibit Bianchini",
"Prateek Verma",
"J. Kenneth Salisbury"
] | Physical human-robot interactions (pHRI) are less efficient and communicative than human-human interactions, and a key reason is a lack of informative sense of touch in robotic systems. Interpreting human touch gestures is a nuanced, challenging task with extreme gaps between human and robot capability. Among prior works that demonstrate human touch recognition capability, differences in sensors, ... |
State Estimation of a Partially Observable Multi-Link System with No Joint Encoders Incorporating External Dead-Reckoning | https://ieeexplore.ieee.org/document/9636132/ | [
"Tomonari Furukawa",
"J. Josiah Steckenrider",
"Gamini Dissanayake",
"Tomonari Furukawa",
"J. Josiah Steckenrider",
"Gamini Dissanayake"
] | This paper presents a technique for state estimation of a multi-link system having no joint encoders, which can only be partially observed by a camera. To fully observe the system without changing the current configuration, a gyroscope and an accelerometer are attached to each link as dead-reckoning sensors. Observations of the dead-reckoning sensors are associated with the states of the multi-lin... |
Computationally Affordable Hierarchical Framework for Humanoid Robot Control | https://ieeexplore.ieee.org/document/9636013/ | [
"Koji Ishihara",
"Jun Morimoto",
"Koji Ishihara",
"Jun Morimoto"
] | We propose a hierarchical control framework for generating versatile motions by a humanoid robot. The central feature of our framework is computational affordability: a large amount of computation time is allowable in the upper-level hierarchy. Consequently, whole-body trajectory optimization for a long time horizon becomes feasible. To ensure such affordability, a fast feedback loop is establishe... |
Water Surface Stability Prediction of Amphibious Bio-Inspired Undulatory Fin Robot | https://ieeexplore.ieee.org/document/9636182/ | [
"Zhenhan Chen",
"Qiao Hu",
"Yingliang Chen",
"Chang Wei",
"Shenglin Yin",
"Zhenhan Chen",
"Qiao Hu",
"Yingliang Chen",
"Chang Wei",
"Shenglin Yin"
] | To solve the interference problems of wind and wave action and load movement when switching under water surface conditions in the marine environment, a study on the water surface stability prediction of the bio-inspired undulatory fin robot is carried out. Based on the fin motion equation and fluid drag theory, a water surface stability calculation model of the robot is established. The study comp... |
Quasi-static motion of a new serial snake-like robot on a water surface: a geometrical approach | https://ieeexplore.ieee.org/document/9636073/ | [
"Xiao Xie",
"Johann Herault",
"Étienne Clement",
"Vincent Lebastard",
"Frédéric Boyer",
"Xiao Xie",
"Johann Herault",
"Étienne Clement",
"Vincent Lebastard",
"Frédéric Boyer"
] | This paper reports methods to compute the equilibrium stances of a new snake-like robot designed to stabilize its head on a free water surface. To adjust rapidly the stability of the robot, this bio-inspired robot can rotate independently each body-shell, and modify the level of immersion of each module. To predict the stable stance accessible by this additional degree of freedom, a model is devel... |
Simulating Ocean Wave Movement in a Soft Pneumatic Surface | https://ieeexplore.ieee.org/document/9636056/ | [
"Alexandra W. Steelman",
"Elena B. Sabinson",
"Isha Pradhan",
"Aratrika Ghatak",
"Keith E. Green",
"Alexandra W. Steelman",
"Elena B. Sabinson",
"Isha Pradhan",
"Aratrika Ghatak",
"Keith E. Green"
] | It is well understood that nature has a calming effect on us. But in a physical space remote from nature, might the robotic embodiment of a natural phenomenon have the same effect? To address this question, we have simulated the soothing movement of ocean waves in a soft robotic surface, both as a simulation and in a physical prototype. In this paper, we report on our modeling methods of this natu... |
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