Datasets:

DeepNLP
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ICRA-2020-Accepted-Papers

title stringlengths 21 180	detail_url stringlengths 27 45	author_list sequencelengths 0 36	abstract stringlengths 96 403
Mechanically Programmed Miniature Origami Grippers	https://ieeexplore.ieee.org/document/9196545/	[ "Alec Orlofsky", "Chang Liu", "Soroush Kamrava", "Ashkan Vaziri", "Samuel M. Felton", "Alec Orlofsky", "Chang Liu", "Soroush Kamrava", "Ashkan Vaziri", "Samuel M. Felton" ]	This paper presents a robotic gripper design that can perform customizable grasping tasks at the millimeter scale. The design is based on the origami string, a mechanism with a single degree of freedom that can be mechanically programmed to approximate arbitrary paths in space. By using this concept, we create miniature fingers that bend at multiple joints with a single actuator input. The shape a...
Bio-inspired Tensegrity Fish Robot	https://ieeexplore.ieee.org/document/9196675/	[ "Jun Shintake", "Davide Zappetti", "Timothée Peter", "Yusuke Ikemoto", "Dario Floreano", "Jun Shintake", "Davide Zappetti", "Timothée Peter", "Yusuke Ikemoto", "Dario Floreano" ]	This paper presents a method to create fish-like robots with tensegrity systems and describes a prototype modeled on the body shape of the rainbow trout with a length of 400 mm and a mass of 102 g that is driven by a waterproof servomotor. The structure of the tensegrity robot consists of rigid body segments and elastic cables that represent bone/tissue and muscles of fish, respectively. This stru...
Gaussian-Dirichlet Random Fields for Inference over High Dimensional Categorical Observations	https://ieeexplore.ieee.org/document/9196713/	[ "John E. San Soucie", "Heidi M. Sosik", "Yogesh Girdhar", "John E. San Soucie", "Heidi M. Sosik", "Yogesh Girdhar" ]	We propose a generative model for the spatio-temporal distribution of high dimensional categorical observations. These are commonly produced by robots equipped with an imaging sensor such as a camera, paired with an image classifier, potentially producing observations over thousands of categories. The proposed approach combines the use of Dirichlet distributions to model sparse co-occurrence relat...
Investigation of a Multistable Tensegrity Robot applied as Tilting Locomotion System	https://ieeexplore.ieee.org/document/9196706/	[ "Philipp Schorr", "Florian Schale", "Jan Marc Otterbach", "Lena Zentner", "Klaus Zimmermann", "Valter Böhm", "Philipp Schorr", "Florian Schale", "Jan Marc Otterbach", "Lena Zentner", "Klaus Zimmermann", "Valter Böhm" ]	This paper describes the development of a tilting locomotion system based on a compliant tensegrity structure with multiple stable equilibrium configurations. A tensegrity structure featuring 4 stable equilibrium states is considered. The mechanical model of the structure is presented and the according equations of motion are derived. The variation of the length of selected structural members allo...
A Novel Articulated Soft Robot Capable of Variable Stiffness through Bistable Structure	https://ieeexplore.ieee.org/document/9197479/	[ "Yong Zhong", "Ruxu Du", "Liao Wu", "Haoyong Yu", "Yong Zhong", "Ruxu Du", "Liao Wu", "Haoyong Yu" ]	Soft robot has demonstrated promise in unstructured and dynamic environments due to unique advantages, such as safe interaction, adaptiveness, easy to actuate, and easy fabrication. However, the highly dissipative nature of elastic materials results in small stiffness of soft robot which limits certain functions, such as force transmission, position accuracy, and load capability. In this paper, we...
Modeling and Experiments on the Swallowing and Disgorging Characteristics of an Underwater Continuum Manipulator	https://ieeexplore.ieee.org/document/9196780/	[ "Haihang Wang", "He Xu", "Fengshu Yu", "Xin Li", "Chen Yang", "Siqing Chen", "Junlong Chen", "Yonghui Zhang", "Xueshan Zhou", "Haihang Wang", "He Xu", "Fengshu Yu", "Xin Li", "Chen Yang", "Siqing Chen", "Junlong Chen", "Yonghui Zhang", "Xueshan Zhou" ]	Soft robots apply compliant materials to perform motions and behaviors not typically achievable by rigid robots. An underwater, compliant, multi-segment continuum manipulator that can bend, swallow, disgorge is developed in this study. The manipulator is driven by McKibben water hydraulic artificial muscle (WHAM). The mechanical properties of the WHAM are tested and analyzed experimentally. The ki...
Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments	https://ieeexplore.ieee.org/document/9196790/	[ "Yinan Sun", "Yuqi Jiang", "Hao Yang", "Louis-Claude Walter", "Junius Santoso", "Erik H. Skorina", "Cagdas Onal", "Yinan Sun", "Yuqi Jiang", "Hao Yang", "Louis-Claude Walter", "Junius Santoso", "Erik H. Skorina", "Cagdas Onal" ]	Soft robots are theoretically well-suited to rescue and exploration applications where their flexibility allows for the traversal of highly cluttered environments. However, most existing mobile soft robots are not fast or powerful enough to effectively traverse three dimensional environments. In this paper, we introduce a new mobile robot with a continuously deformable slender body structure, the ...
Flexure Hinge-based Biomimetic Thumb with a Rolling-Surface Metacarpal Joint	https://ieeexplore.ieee.org/document/9196578/	[ "Spenser Pulleyking", "Joshua Schultz", "Spenser Pulleyking", "Joshua Schultz" ]	The human thumb's state contribution to grasping and dexterous manipulation of objects is a function of the kinematic multiplicity of joints and structure of the bones, joints, and ligaments. This paper looks at the design and evaluation of a human-like thumb for use in a robotic hand, where the thumb's state contribution to grasping and dexterous manipulation is a function of a simplified kinemat...
Ibex: A reconfigurable ground vehicle with adaptive terrain navigation capability	https://ieeexplore.ieee.org/document/9196571/	[ "Senthur Raj", "R P Manu Aatitya", "S Jack Samuel", "J Veejay Karthik", "D. Ezhilarasi", "Senthur Raj", "R P Manu Aatitya", "S Jack Samuel", "J Veejay Karthik", "D. Ezhilarasi" ]	This paper presents a unique unmanned ground vehicle with a dynamic wheelbase and an adaptive thrust based friction optimization scheme that aids in the traversal of steep slopes and slippery surfaces. The vehicle is capable of adapting itself to the surface topography using an impedance-based stabilization module to minimize the mechanical oscillatory transients induced during its motion. A detai...
Day and Night Collaborative Dynamic Mapping in Unstructured Environment Based on Multimodal Sensors	https://ieeexplore.ieee.org/document/9197072/	[ "Yufeng Yue", "Chule Yang", "Jun Zhang", "Mingxing Wen", "Zhenyu Wu", "Haoyuan Zhang", "Danwei Wang", "Yufeng Yue", "Chule Yang", "Jun Zhang", "Mingxing Wen", "Zhenyu Wu", "Haoyuan Zhang", "Danwei Wang" ]	Enabling long-term operation during day and night for collaborative robots requires a comprehensive understanding of the unstructured environment. Besides, in the dynamic environment, robots must be able to recognize dynamic objects and collaboratively build a global map. This paper proposes a novel approach for dynamic collaborative mapping based on multimodal environmental perception. For each m...
Generating Locomotion with Effective Wheel Radius Manipulation	https://ieeexplore.ieee.org/document/9196825/	[ "Tim Hojnik", "Lachlan Pond", "Ross Dungavell", "Paul Flick", "Jonathan Roberts", "Tim Hojnik", "Lachlan Pond", "Ross Dungavell", "Paul Flick", "Jonathan Roberts" ]	Travel over sloped terrain is difficult as an incline changes the interaction between each wheel and the ground resulting in an unbalanced load distribution which can lead to loss of traction and instability. This paper presents a novel approach to generating wheel rotation for primary locomotion by only changing its centre of rotation, or as a complimentary locomotion source to increase versatili...
A GNC Architecture for Planetary Rovers with Autonomous Navigation	https://ieeexplore.ieee.org/document/9197122/	[ "Martin Azkarate", "Levin Gerdes", "Luc Joudrier", "Carlos J. Pérez-del-Pulgar", "Martin Azkarate", "Levin Gerdes", "Luc Joudrier", "Carlos J. Pérez-del-Pulgar" ]	This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation requirements of these missions demand a control architecture featuring autonomous capabilities to achieve a fast and long traverse. The proposed solution presents a two-le...
Learning Face Recognition Unsupervisedly by Disentanglement and Self-Augmentation	https://ieeexplore.ieee.org/document/9197348/	[ "Yi-Lun Lee", "Min-Yuan Tseng", "Yu-Cheng Luo", "Dung-Ru Yu", "Wei-Chen Chiu", "Yi-Lun Lee", "Min-Yuan Tseng", "Yu-Cheng Luo", "Dung-Ru Yu", "Wei-Chen Chiu" ]	As the growth of smart home, healthcare, and home robot applications, learning a face recognition system which is specific for a particular environment and capable of self-adapting to the temporal changes in appearance (e.g., caused by illumination or camera position) is nowadays an important topic. In this paper, given a video of a group of people, which simulates the surveillance video in a smar...
PARC: A Plan and Activity Recognition Component for Assistive Robots	https://ieeexplore.ieee.org/document/9196856/	[ "Jean Massardi", "Mathieu Gravel", "Éric Beaudry", "Jean Massardi", "Mathieu Gravel", "Éric Beaudry" ]	Mobile robot assistants have many applications, such as helping people in their daily living activities. These robots have to detect and recognize the actions and goals of the humans they are assisting. While there are several wide-spread plan and activity recognition solutions for controlled environments with many built-in sensors, like smart-homes, there is a lack of such systems for mobile robo...
Image-Based Place Recognition on Bucolic Environment Across Seasons From Semantic Edge Description	https://ieeexplore.ieee.org/document/9197529/	[ "Assia Benbihi", "Stéphanie Arravechia", "Matthieu Geist", "Cédric Pradalier", "Assia Benbihi", "Stéphanie Arravechia", "Matthieu Geist", "Cédric Pradalier" ]	Most of the research effort on image-based place recognition is designed for urban environments. In bucolic environments such as natural scenes with low texture and little semantic content, the main challenge is to handle the variations in visual appearance across time such as illumination, weather, vegetation state or viewpoints. The nature of the variations is different and this leads to a diffe...
A Multilayer-Multimodal Fusion Architecture for Pattern Recognition of Natural Manipulations in Percutaneous Coronary Interventions	https://ieeexplore.ieee.org/document/9197111/	[ "Xiao-Hu Zhou", "Xiao-Liang Xie", "Zhen-Qiu Feng", "Zeng-Guang Hou", "Gui-Bin Bian", "Rui-Qi Li", "Zhen-Liang Ni", "Shi-Qi Liu", "Yan-Jie Zhou", "Xiao-Hu Zhou", "Xiao-Liang Xie", "Zhen-Qiu Feng", "Zeng-Guang Hou", "Gui-Bin Bian", "Rui-Qi Li", "Zhen-Liang Ni", "Shi-Qi Liu", "Yan-Jie Zhou" ]	The increasingly-used robotic systems can provide precise delivery and reduce X-ray radiation to medical staff in percutaneous coronary interventions (PCI), but natural manipulations of interventionalists are forgone in most robot-assisted procedures. Therefore, it is necessary to explore natural manipulations to design more advanced human-robot interfaces (HRI). In this study, a multilayer-multim...
Real-Time Graph-Based SLAM with Occupancy Normal Distributions Transforms	https://ieeexplore.ieee.org/document/9197325/	[ "Cornelia Schulz", "Andreas Zell", "Cornelia Schulz", "Andreas Zell" ]	Simultaneous Localization and Mapping (SLAM) is one of the basic problems in mobile robotics. While most approaches are based on occupancy grid maps, Normal Distributions Transforms (NDT) and mixtures like Occupancy Normal Distribution Transforms (ONDT) have been shown to represent sensor measurements more accurately. In this work, we slightly re-formulate the (O)NDT matching function such that it...
Spatio-Temporal Non-Rigid Registration of 3D Point Clouds of Plants	https://ieeexplore.ieee.org/document/9197569/	[ "Nived Chebrolu", "Thomas Läbe", "Cyrill Stachniss", "Nived Chebrolu", "Thomas Läbe", "Cyrill Stachniss" ]	Analyzing sensor data of plants and monitoring plant performance is a central element in different agricultural robotics applications. In plant science, phenotyping refers to analyzing plant traits for monitoring growth, for describing plant properties, or characterizing the plant's overall performance. It plays a critical role in the agricultural tasks and in plant breeding. Recently, there is a ...
Uncertainty-Based Adaptive Sensor Fusion for Visual-Inertial Odometry under Various Motion Characteristics	https://ieeexplore.ieee.org/document/9197397/	[ "Ryo Nakashima", "Akihito Seki", "Ryo Nakashima", "Akihito Seki" ]	We propose an uncertainty-based sensor fusion framework for visual-inertial odometry, which is the task of estimating relative motion using images and measurements from inertial measurement units. Visual-inertial odometry enables robust and scale-aware estimation of motion by incorporating sensor states, such as metric scale, velocity, and the direction of gravity, into the estimation. However, th...
Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV	https://ieeexplore.ieee.org/document/9197440/	[ "Jiarong Lin", "Fu Zhang", "Jiarong Lin", "Fu Zhang" ]	LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot’s pose and build high-precision, high-resolution maps of the surrounding environment. This enables autonomous navigation and safe path planning of autonomous vehicles. In this paper, we present a robust, real-time LOAM algorithm for LiDARs with small ...
Active SLAM using 3D Submap Saliency for Underwater Volumetric Exploration	https://ieeexplore.ieee.org/document/9196939/	[ "Sudharshan Suresh", "Paloma Sodhi", "Joshua G. Mangelson", "David Wettergreen", "Michael Kaess", "Sudharshan Suresh", "Paloma Sodhi", "Joshua G. Mangelson", "David Wettergreen", "Michael Kaess" ]	In this paper, we present an active SLAM framework for volumetric exploration of 3D underwater environments with multibeam sonar. Recent work in integrated SLAM and planning performs localization while maintaining volumetric free-space information. However, an absence of informative loop closures can lead to imperfect maps, and therefore unsafe behavior. To solve this, we propose a navigation poli...
Are We Ready for Service Robots? The OpenLORIS-Scene Datasets for Lifelong SLAM	https://ieeexplore.ieee.org/document/9196638/	[ "Xuesong Shi", "Dongjiang Li", "Pengpeng Zhao", "Qinbin Tian", "Yuxin Tian", "Qiwei Long", "Chunhao Zhu", "Jingwei Song", "Fei Qiao", "Le Song", "Yangquan Guo", "Zhigang Wang", "Yimin Zhang", "Baoxing Qin", "Wei Yang", "Fangshi Wang", "Rosa H. M. Chan", "Qi She", "Xuesong Shi", "Dongjiang Li", "Pengpeng Zhao", "Qinbin Tian", "Yuxin Tian", "Qiwei Long", "Chunhao Zhu", "Jingwei Song", "Fei Qiao", "Le Song", "Yangquan Guo", "Zhigang Wang", "Yimin Zhang", "Baoxing Qin", "Wei Yang", "Fangshi Wang", "Rosa H. M. Chan", "Qi She" ]	Service robots should be able to operate autonomously in dynamic and daily changing environments over an extended period of time. While Simultaneous Localization And Mapping (SLAM) is one of the most fundamental problems for robotic autonomy, most existing SLAM works are evaluated with data sequences that are recorded in a short period of time. In real-world deployment, there can be out-of-sight s...
RoNIN: Robust Neural Inertial Navigation in the Wild: Benchmark, Evaluations, & New Methods	https://ieeexplore.ieee.org/document/9196860/	[ "Sachini Herath", "Hang Yan", "Yasutaka Furukawa", "Sachini Herath", "Hang Yan", "Yasutaka Furukawa" ]	This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of horizontal positions and heading direction of a moving subject from a sequence of IMU sensor measurements from a phone. In contrast to existing methods, our method can handle varying phone orientations and placements.More concretely, the paper presents 1) a new benchmark containing mo...
Segmenting 2K-Videos at 36.5 FPS with 24.3 GFLOPs: Accurate and Lightweight Realtime Semantic Segmentation Network	https://ieeexplore.ieee.org/document/9196510/	[ "Dokwan Oh", "Daehyun Ji", "Cheolhun Jang", "Yoonsuk Hyun", "Hong S. Bae", "Sungju Hwang", "Dokwan Oh", "Daehyun Ji", "Cheolhun Jang", "Yoonsuk Hyun", "Hong S. Bae", "Sungju Hwang" ]	We propose a fast and lightweight end-to-end convolutional network architecture for real-time segmentation of high resolution videos, NfS-SegNet, that can segement 2K-videos at 36.5 FPS with 24.3 GFLOPS. This speed and computation-efficiency is due to following reasons: 1) The encoder network, NfS-Net, is optimized for speed with simple building blocks without memory-heavy operations such as depth...
Temporally Consistent Horizon Lines	https://ieeexplore.ieee.org/document/9197170/	[ "Florian Kluger", "Hanno Ackermann", "Michael Ying Yang", "Bodo Rosenhahn", "Florian Kluger", "Hanno Ackermann", "Michael Ying Yang", "Bodo Rosenhahn" ]	The horizon line is an important geometric feature for many image processing and scene understanding tasks in computer vision. For instance, in navigation of autonomous vehicles or driver assistance, it can be used to improve 3D reconstruction as well as for semantic interpretation of dynamic environments. While both algorithms and datasets exist for single images, the problem of horizon line esti...
Full-Scale Continuous Synthetic Sonar Data Generation with Markov Conditional Generative Adversarial Networks	https://ieeexplore.ieee.org/document/9197353/	[ "Marija Jegorova", "Antti Ilari Karjalainen", "Jose Vazquez", "Timothy Hospedales", "Marija Jegorova", "Antti Ilari Karjalainen", "Jose Vazquez", "Timothy Hospedales" ]	Deployment and operation of autonomous underwater vehicles is expensive and time-consuming. High-quality realistic sonar data simulation could be of benefit to multiple applications, including training of human operators for post-mission analysis, as well as tuning and validation of autonomous target recognition (ATR) systems for underwater vehicles. Producing realistic synthetic sonar imagery is ...
Adaptively Informed Trees (AIT*): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics	https://ieeexplore.ieee.org/document/9197338/	[ "Marlin P. Strub", "Jonathan D. Gammell", "Marlin P. Strub", "Jonathan D. Gammell" ]	Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this informed search depends on the accuracy of the heuristic.Selecting an appropriate heuristic is difficult. Heuristics applicable to an entire problem domain are o...
Informing Multi-Modal Planning with Synergistic Discrete Leads	https://ieeexplore.ieee.org/document/9197545/	[ "Zachary Kingston", "Andrew M. Wells", "Mark Moll", "Lydia E. Kavraki", "Zachary Kingston", "Andrew M. Wells", "Mark Moll", "Lydia E. Kavraki" ]	Robotic manipulation problems are inherently continuous, but typically have underlying discrete structure, e.g., whether or not an object is grasped. This means many problems are multi-modal and in particular have a continuous infinity of modes. For example, in a pick-and-place manipulation domain, every grasp and placement of an object is a mode. Usually manipulation problems require the robot to...
Hierarchical Coverage Path Planning in Complex 3D Environments	https://ieeexplore.ieee.org/document/9196575/	[ "Chao Cao", "Ji Zhang", "Matt Travers", "Howie Choset", "Chao Cao", "Ji Zhang", "Matt Travers", "Howie Choset" ]	State-of-the-art coverage planning methods perform well in simple environments but take an ineffectively long time to converge to an optimal solution in complex three-dimensional (3D) environments. As more structures are present in the same volume of workspace, these methods slow down as they spend more time searching for all of the nooks and crannies concealed in three-dimensional spaces. This wo...
Perception-aware time optimal path parameterization for quadrotors	https://ieeexplore.ieee.org/document/9197157/	[ "Igor Spasojevic", "Varun Murali", "Sertac Karaman", "Igor Spasojevic", "Varun Murali", "Sertac Karaman" ]	The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different choices of perceptual modalities are available, the low weight and power budgets of quadrotor systems makes a camera ideal for on-board navigation and estimation algo...
Generating Visibility-Aware Trajectories for Cooperative and Proactive Motion Planning	https://ieeexplore.ieee.org/document/9196809/	[ "Noam Buckman", "Alyssa Pierson", "Sertac Karaman", "Daniela Rus", "Noam Buckman", "Alyssa Pierson", "Sertac Karaman", "Daniela Rus" ]	The safety of an autonomous vehicle not only depends on its own perception of the world around it, but also on the perception and recognition from other vehicles. If an ego vehicle considers the uncertainty other vehicles have about itself, then by reducing the estimated uncertainty it can increase its safety. In this paper, we focus on how an ego vehicle plans its trajectories through the blind s...
An obstacle-interaction planning method for navigation of actuated vine robots	https://ieeexplore.ieee.org/document/9196587/	[ "M. Selvaggio", "L. A. Ramirez", "N. D. Naclerio", "B. Siciliano", "E. W. Hawkes", "M. Selvaggio", "L. A. Ramirez", "N. D. Naclerio", "B. Siciliano", "E. W. Hawkes" ]	The field of soft robotics is grounded on the idea that, due to their inherent compliance, soft robots can safely interact with the environment. Thus, the development of effective planning and control pipelines for soft robots should incorporate reliable robot-environment interaction models. This strategy enables soft robots to effectively exploit contacts to autonomously navigate and accomplish t...
Distributed Consensus Control of Multiple UAVs in a Constrained Environment	https://ieeexplore.ieee.org/document/9196926/	[ "Gang Wang", "Weixin Yang", "Na Zhao", "Yunfeng Ji", "Yantao Shen", "Hao Xu", "Peng Li", "Gang Wang", "Weixin Yang", "Na Zhao", "Yunfeng Ji", "Yantao Shen", "Hao Xu", "Peng Li" ]	In this paper, we investigate the consensus problem of multiple unmanned aerial vehicles (UAVs) in the presence of environmental constraints under a general communication topology containing a directed spanning tree. First, based on a position transformation function, we propose a novel dynamic reference position and yaw angle for each UAV to cope with both the asymmetric topology and the constrai...
Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions	https://ieeexplore.ieee.org/document/9196800/	[ "Guanya Shi", "Wolfgang Hönig", "Yisong Yue", "Soon-Jo Chung", "Guanya Shi", "Wolfgang Hönig", "Yisong Yue", "Soon-Jo Chung" ]	In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between multirotors, such as downwash from higher vehicles to lower ones. Conventional methods often fail to properly capture these interaction effects, resulting in controllers...
Line Coverage with Multiple Robots	https://ieeexplore.ieee.org/document/9197292/	[ "Saurav Agarwal", "Srinivas Akella", "Saurav Agarwal", "Srinivas Akella" ]	The line coverage problem is the coverage of linear environment features (e.g., road networks, power lines), modeled as 1D segments, by one or more robots while respecting resource constraints (e.g., battery capacity, flight time) for each of the robots. The robots incur direction dependent costs and resource demands as they traverse the edges. We treat the line coverage problem as an optimization...
Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions	https://ieeexplore.ieee.org/document/9196650/	[ "Riku Funada", "María Santos", "Takuma Gencho", "Junya Yamauchi", "Masayuki Fujita", "Magnus Egerstedt", "Riku Funada", "María Santos", "Takuma Gencho", "Junya Yamauchi", "Masayuki Fujita", "Magnus Egerstedt" ]	This paper presents a coverage control algorithm for teams of quadcopters with downward facing visual sensors that prevents the appearance of coverage holes in-between the monitored areas while maximizing the coverage quality as much as possible. We derive necessary and sufficient conditions for preventing the appearance of holes in-between the fields of views among trios of robots. Because this c...
Goal-Directed Occupancy Prediction for Lane-Following Actors	https://ieeexplore.ieee.org/document/9197495/	[ "Poornima Kaniarasu", "Galen Clark Haynes", "Micol Marchetti-Bowick", "Poornima Kaniarasu", "Galen Clark Haynes", "Micol Marchetti-Bowick" ]	Predicting the possible future behaviors of vehicles that drive on shared roads is a crucial task for safe autonomous driving. Many existing approaches to this problem strive to distill all possible vehicle behaviors into a simplified set of high-level actions. However, these action categories do not suffice to describe the full range of maneuvers possible in the complex road networks we encounter...
Intent-Aware Pedestrian Prediction for Adaptive Crowd Navigation	https://ieeexplore.ieee.org/document/9197434/	[ "Kapil D. Katyal", "Gregory D. Hager", "Chien-Ming Huang", "Kapil D. Katyal", "Gregory D. Hager", "Chien-Ming Huang" ]	Mobile robots capable of navigating seamlessly and safely in pedestrian rich environments promise to bring robotic assistance closer to our daily lives. In this paper we draw on insights of how humans move in crowded spaces to explore how to recognize pedestrian navigation intent, how to predict pedestrian motion and how a robot may adapt its navigation policy dynamically when facing unexpected hu...
Brno Urban Dataset - The New Data for Self-Driving Agents and Mapping Tasks	https://ieeexplore.ieee.org/document/9197277/	[ "Adam Ligocki", "Ales Jelinek", "Ludek Zalud", "Adam Ligocki", "Ales Jelinek", "Ludek Zalud" ]	Autonomous driving is a dynamically growing field of research, where quality and amount of experimental data is critical. Although several rich datasets are available these days, the demands of researchers and technical possibilities are evolving. Through this paper, we bring a new dataset recorded in Brno - Czech Republic. It offers data from four WUXGA cameras, two 3D LiDARs, inertial measuremen...
Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching	https://ieeexplore.ieee.org/document/9197302/	[ "Lu Zhang", "Wenchao Ding", "Jing Chen", "Shaojie Shen", "Lu Zhang", "Wenchao Ding", "Jing Chen", "Shaojie Shen" ]	Decision-making in dense traffic scenarios is challenging for automated vehicles (AVs) due to potentially stochastic behaviors of other traffic participants and perception uncertainties (e.g., tracking noise and prediction errors, etc.). Although the partially observable Markov decision process (POMDP) provides a systematic way to incorporate these uncertainties, it quickly becomes computationally...
Imitative Reinforcement Learning Fusing Vision and Pure Pursuit for Self-driving	https://ieeexplore.ieee.org/document/9197027/	[ "Mingxing Peng", "Zhihao Gong", "Chen Sun", "Long Chen", "Dongpu Cao", "Mingxing Peng", "Zhihao Gong", "Chen Sun", "Long Chen", "Dongpu Cao" ]	Autonomous urban driving navigation is still an open problem and has ample room for improvement in unknown complex environments and terrible weather conditions. In this paper, we propose a two-stage framework, called IPP-RL, to handle these problems. IPP means an Imitation learning method fusing visual information with the additional steering angle calculated by Pure-Pursuit (PP) method, and RL me...
Adversarial Appearance Learning in Augmented Cityscapes for Pedestrian Recognition in Autonomous Driving	https://ieeexplore.ieee.org/document/9197024/	[ "Artem Savkin", "Thomas Lapotre", "Kevin Strauss", "Uzair Akbar", "Federico Tombari", "Artem Savkin", "Thomas Lapotre", "Kevin Strauss", "Uzair Akbar", "Federico Tombari" ]	In the autonomous driving area synthetic data is crucial for cover specific traffic scenarios which autonomous vehicle must handle. This data commonly introduces domain gap between synthetic and real domains. In this paper we deploy data augmentation to generate custom traffic scenarios with VRUs in order to improve pedestrian recognition. We provide a pipeline for augmentation of the Cityscapes d...
ROI-cloud: A Key Region Extraction Method for LiDAR Odometry and Localization	https://ieeexplore.ieee.org/document/9197059/	[ "Zhibo Zhou", "Ming Yang", "Chunxiang Wang", "Bing Wang", "Zhibo Zhou", "Ming Yang", "Chunxiang Wang", "Bing Wang" ]	We present a novel key region extraction method of point cloud, ROI-cloud, for LiDAR odometry and localization with autonomous robots. Traditional methods process massive point cloud data in every region within the field of view. In dense urban environments, however, processing redundant and dynamic regions of point cloud is time-consuming and harmful to the results of matching algorithms. In this...
To Learn or Not to Learn: Visual Localization from Essential Matrices	https://ieeexplore.ieee.org/document/9196607/	[ "Qunjie Zhou", "Torsten Sattler", "Marc Pollefeys", "Laura Leal-Taixé", "Qunjie Zhou", "Torsten Sattler", "Marc Pollefeys", "Laura Leal-Taixé" ]	Visual localization is the problem of estimating a camera within a scene and a key technology for autonomous robots. State-of-the-art approaches for accurate visual localization use scene-specific representations, resulting in the overhead of constructing these models when applying the techniques to new scenes. Recently, learned approaches based on relative pose estimation have been proposed, carr...
Hierarchical Multi-Process Fusion for Visual Place Recognition	https://ieeexplore.ieee.org/document/9197360/	[ "Stephen Hausler", "Michael Milford", "Stephen Hausler", "Michael Milford" ]	Combining multiple complementary techniques together has long been regarded as a way to improve performance. In visual localization, multi-sensor fusion, multi-process fusion of a single sensing modality, and even combinations of different localization techniques have been shown to result in improved performance. However, merely fusing together different localization techniques does not account fo...
Camera Tracking in Lighting Adaptable Maps of Indoor Environments	https://ieeexplore.ieee.org/document/9197471/	[ "Tim Caselitz", "Michael Krawez", "Jugesh Sundram", "Mark Van Loock", "Wolfram Burgard", "Tim Caselitz", "Michael Krawez", "Jugesh Sundram", "Mark Van Loock", "Wolfram Burgard" ]	Tracking the pose of a camera is at the core of visual localization methods used in many applications. As the observations of a camera are inherently affected by lighting, it has always been a challenge for these methods to cope with varying lighting conditions. Thus far, this issue has mainly been approached with the intent to increase robustness by choosing lighting invariant map representations...
Fast, Compact and Highly Scalable Visual Place Recognition through Sequence-based Matching of Overloaded Representations	https://ieeexplore.ieee.org/document/9196827/	[ "Sourav Garg", "Michael Milford", "Sourav Garg", "Michael Milford" ]	Visual place recognition algorithms trade off three key characteristics: their storage footprint, their computational requirements, and their resultant performance, often expressed in terms of recall rate. Significant prior work has investigated highly compact place representations, sub-linear computational scaling and sub-linear storage scaling techniques, but have always involved a significant c...
Vision-based Multi-MAV Localization with Anonymous Relative Measurements Using Coupled Probabilistic Data Association Filter	https://ieeexplore.ieee.org/document/9196793/	[ "Ty Nguyen", "Kartik Mohta", "Camillo J. Taylor", "Vijay Kumar", "Ty Nguyen", "Kartik Mohta", "Camillo J. Taylor", "Vijay Kumar" ]	We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size, weight, and power (SWaP). Particularly, our framework fuses the onboard VIO with the anonymous, visual-based robot-to-robot detection to estimate all robot poses ...
MANGA: Method Agnostic Neural-policy Generalization and Adaptation	https://ieeexplore.ieee.org/document/9197398/	[ "Homanga Bharadhwaj", "Shoichiro Yamaguchi", "Shin-ichi Maeda", "Homanga Bharadhwaj", "Shoichiro Yamaguchi", "Shin-ichi Maeda" ]	In this paper we target the problem of transferring policies across multiple environments with different dynamics parameters and motor noise variations, by introducing a framework that decouples the processes of policy learning and system identification. Efficiently transferring learned policies to an unknown environment with changes in dynamics configurations in the presence of motor noise is ver...
Fast Adaptation of Deep Reinforcement Learning-Based Navigation Skills to Human Preference	https://ieeexplore.ieee.org/document/9197159/	[ "Jinyoung Choi", "Christopher Dance", "Jung-eun Kim", "Kyung-sik Park", "Jaehun Han", "Joonho Seo", "Minsu Kim", "Jinyoung Choi", "Christopher Dance", "Jung-eun Kim", "Kyung-sik Park", "Jaehun Han", "Joonho Seo", "Minsu Kim" ]	Deep reinforcement learning (RL) is being actively studied for robot navigation due to its promise of superior performance and robustness. However, most existing deep RL navigation agents are trained using fixed parameters, such as maximum velocities and weightings of reward components. Since the optimal choice of parameters depends on the use-case, it can be difficult to deploy such existing meth...
Variational Inference with Mixture Model Approximation for Applications in Robotics	https://ieeexplore.ieee.org/document/9197166/	[ "Emmanuel Pignat", "Teguh Lembono", "Sylvain Calinon", "Emmanuel Pignat", "Teguh Lembono", "Sylvain Calinon" ]	We propose to formulate the problem of representing a distribution of robot configurations (e.g. joint angles) as that of approximating a product of experts. Our approach uses variational inference, a popular method in Bayesian computation, which has several practical advantages over sampling-based techniques. To be able to represent complex and multimodal distributions of configurations, mixture ...
Injection of a Fluorescent Microsensor into a Specific Cell by Laser Manipulation and Heating with Multiple Wavelengths of Light	https://ieeexplore.ieee.org/document/9197234/	[ "Hisataka Maruyama", "Hairulazwan Hashim", "Ryota Yanagawa", "Fumihito Arai", "Hisataka Maruyama", "Hairulazwan Hashim", "Ryota Yanagawa", "Fumihito Arai" ]	In this study, we propose the manipulation and cell injection of a fluorescent microsensor using multiple wavelengths of light. The fluorescent microsensor is made of a 1-μm polystyrene particle containing infrared (IR: 808 nm) absorbing dye and Rhodamine B. The polystyrene particle can be manipulated in water using a 1064-nm laser because the refractive index of the polystyrene is 1.6 (refractive...
Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model	https://ieeexplore.ieee.org/document/9196773/	[ "Daniel J. Gonzalez", "H. Harry Asada", "Daniel J. Gonzalez", "H. Harry Asada" ]	The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unl...
Optimal Fast Entrainment Waveform for Indirectly Controlled Limit Cycle Walker Against External Disturbances	https://ieeexplore.ieee.org/document/9196525/	[ "Longchuan Li", "Isao Tokuda", "Fumihiko Asano", "Longchuan Li", "Isao Tokuda", "Fumihiko Asano" ]	After occasional perturbation, it is crucial to spontaneously control the limit cycle walking so that it quickly returns to its closed orbit in phase space. Otherwise, its stability can not be sufficiently guaranteed if the speed of recovery is slow while successive perturbation is applied. The accumulated deviation may eventually drive the phase outside the basin of attraction, leading to failure...
Correspondence Identification in Collaborative Robot Perception through Maximin Hypergraph Matching	https://ieeexplore.ieee.org/document/9196594/	[ "Peng Gao", "Ziling Zhang", "Rui Guo", "Hongsheng Lu", "Hao Zhang", "Peng Gao", "Ziling Zhang", "Rui Guo", "Hongsheng Lu", "Hao Zhang" ]	Correspondence identification is an essential problem for collaborative multi-robot perception, with the objective of deciding the correspondence of objects that are observed in the field of view of each robot. In this paper, we introduce a novel maximin hypergraph matching approach that formulates correspondence identification as a hypergraph matching problem. The proposed approach incorporates b...
Distributed Multi-Target Tracking for Autonomous Vehicle Fleets	https://ieeexplore.ieee.org/document/9197241/	[ "Ola Shorinwa", "Javier Yu", "Trevor Halsted", "Alex Koufos", "Mac Schwager", "Ola Shorinwa", "Javier Yu", "Trevor Halsted", "Alex Koufos", "Mac Schwager" ]	We present a scalable distributed target tracking algorithm based on the alternating direction method of multipliers that is well-suited for a fleet of autonomous cars communicating over a vehicle-to-vehicle network. Each sensing vehicle communicates with its neighbors to execute iterations of a Kalman filter-like update such that each agent's estimate approximates the centralized maximum a poster...
Flying batteries: In-flight battery switching to increase multirotor flight time	https://ieeexplore.ieee.org/document/9197580/	[ "Karan P. Jain", "Mark W. Mueller", "Karan P. Jain", "Mark W. Mueller" ]	We present a novel approach to increase the flight time of a multirotor via mid-air docking and in-flight battery switching. A main quadcopter flying using a primary battery has a docking platform attached to it. A `flying battery' - a small quadcopter carrying a secondary battery - is equipped with docking legs that can mate with the main quadcopter's platform. Connectors between the legs and the...
Optimal Control of an Energy-Recycling Actuator for Mobile Robotics Applications	https://ieeexplore.ieee.org/document/9196870/	[ "Erez Krimsky", "Steven H. Collins", "Erez Krimsky", "Steven H. Collins" ]	Actuator power consumption is a limiting factor in mobile robot design. In this paper we introduce the concept of an energy-recycling actuator, which uses an array of springs and clutches to capture and return elastic energy in parallel with an electric motor. Engaging and disengaging clutches appropriately could reduce electrical energy consumption without sacrificing controllability, but present...
An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance	https://ieeexplore.ieee.org/document/9197206/	[ "Tobias Schoels", "Luigi Palmieri", "Kai O. Arras", "Moritz Diehl", "Tobias Schoels", "Luigi Palmieri", "Kai O. Arras", "Moritz Diehl" ]	Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and kinodynamic feasibility. This work approaches the problem using a nonlinear model predictive control (NMPC) framework, that is based on a novel convex inner approxima...
Action Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Data	https://ieeexplore.ieee.org/document/9197415/	[ "Mohi Khansari", "Daniel Kappler", "Jianlan Luo", "Jeff Bingham", "Mrinal Kalakrishnan", "Mohi Khansari", "Daniel Kappler", "Jianlan Luo", "Jeff Bingham", "Mrinal Kalakrishnan" ]	This paper introduces Action Image, a new grasp proposal representation that allows learning an end-to-end deep-grasping policy. Our model achieves 84% grasp success on 172 real world objects while being trained only in simulation on 48 objects with just naive domain randomization. Similar to computer vision problems, such as object detection, Action Image builds on the idea that object features a...
High Accuracy and Efficiency Grasp Pose Detection Scheme with Dense Predictions	https://ieeexplore.ieee.org/document/9197333/	[ "Hu Cheng", "Danny Ho", "Max Q.-H. Meng", "Hu Cheng", "Danny Ho", "Max Q.-H. Meng" ]	Learning-based grasp pose detection algorithms have boosted the performance of robot grasping, but they usually need manually fine-tuning steps to find the balance between detection accuracy and efficient. In this paper, we discard these intermediate procedures, like sampling grasps and generating grasp proposals, and propose an end-to-end grasp pose detection model. Our model uses the RGB image a...
Transferable Active Grasping and Real Embodied Dataset	https://ieeexplore.ieee.org/document/9197185/	[ "Xiangyu Chen", "Zelin Ye", "Jiankai Sun", "Yuda Fan", "Fang Hu", "Chenxi Wang", "Cewu Lu", "Xiangyu Chen", "Zelin Ye", "Jiankai Sun", "Yuda Fan", "Fang Hu", "Chenxi Wang", "Cewu Lu" ]	Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible viewpoints for grasping by the use of hand-mounted RGB-D cameras. To overcome the disadvantages of photo-realistic environment simulation, we propose a large-s...
PointNet++ Grasping: Learning An End-to-end Spatial Grasp Generation Algorithm from Sparse Point Clouds	https://ieeexplore.ieee.org/document/9196740/	[ "Peiyuan Ni", "Wenguang Zhang", "Xiaoxiao Zhu", "Qixin Cao", "Peiyuan Ni", "Wenguang Zhang", "Xiaoxiao Zhu", "Qixin Cao" ]	Grasping for novel objects is important for robot manipulation in unstructured environments. Most of current works require a grasp sampling process to obtain grasp candidates, combined with local feature extractor using deep learning. This pipeline is time-costly, expecially when grasp points are sparse such as at the edge of a bowl.In this paper, we propose an end-to-end approach to directly pred...
Clear Grasp: 3D Shape Estimation of Transparent Objects for Manipulation	https://ieeexplore.ieee.org/document/9197518/	[ "Shreeyak Sajjan", "Matthew Moore", "Mike Pan", "Ganesh Nagaraja", "Johnny Lee", "Andy Zeng", "Shuran Song", "Shreeyak Sajjan", "Matthew Moore", "Mike Pan", "Ganesh Nagaraja", "Johnny Lee", "Andy Zeng", "Shuran Song" ]	Transparent objects are a common part of everyday life, yet they possess unique visual properties that make them incredibly difficult for standard 3D sensors to produce accurate depth estimates for. In many cases, they often appear as noisy or distorted approximations of the surfaces that lie behind them. To address these challenges, we present ClearGrasp - a deep learning approach for estimating ...
6D Object Pose Regression via Supervised Learning on Point Clouds	https://ieeexplore.ieee.org/document/9197461/	[ "Ge Gao", "Mikko Lauri", "Yulong Wang", "Xiaolin Hu", "Jianwei Zhang", "Simone Frintrop", "Ge Gao", "Mikko Lauri", "Yulong Wang", "Xiaolin Hu", "Jianwei Zhang", "Simone Frintrop" ]	This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the dominant features to be used for inferring object poses, while depth information receives much less attention. However, depth information contains rich geometri...
YCB-M: A Multi-Camera RGB-D Dataset for Object Recognition and 6DoF Pose Estimation	https://ieeexplore.ieee.org/document/9197426/	[ "Till Grenzdörffer", "Martin Günther", "Joachim Hertzberg", "Till Grenzdörffer", "Martin Günther", "Joachim Hertzberg" ]	While a great variety of 3D cameras have been introduced in recent years, most publicly available datasets for object recognition and pose estimation focus on one single camera. In this work, we present a dataset of 32 scenes that have been captured by 7 different 3D cameras, totaling 49,294 frames. This allows evaluating the sensitivity of pose estimation algorithms to the specifics of the used c...
Self-supervised 6D Object Pose Estimation for Robot Manipulation	https://ieeexplore.ieee.org/document/9196714/	[ "Xinke Deng", "Yu Xiang", "Arsalan Mousavian", "Clemens Eppner", "Timothy Bretl", "Dieter Fox", "Xinke Deng", "Yu Xiang", "Arsalan Mousavian", "Clemens Eppner", "Timothy Bretl", "Dieter Fox" ]	To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self- supervised way is important. In this work, we introduce a robot system for self-supervised 6D object pose estimation. Starting from modules trained in simulation, our system is able to label real world images with accurate 6D o...
Low-cost GelSight with UV Markings: Feature Extraction of Objects Using AlexNet and Optical Flow without 3D Image Reconstruction	https://ieeexplore.ieee.org/document/9197264/	[ "Alexander C. Abad", "Anuradha Ranasinghe", "Alexander C. Abad", "Anuradha Ranasinghe" ]	GelSight sensor has been used to study microgeometry of objects since 2009 in tactile sensing applications. Elastomer, reflective coating, lighting, and camera were the main challenges of making a GelSight sensor within a short period. The recent addition of permanent markers to the GelSight was a new era in shear/slip studies. In our previous studies, we introduced Ultraviolet (UV) ink and UV LED...
Evaluation of Non-collocated Force Feedback Driven by Signal-independent Noise	https://ieeexplore.ieee.org/document/9197112/	[ "Zonghe Chua", "Allison M. Okamura", "Darrel R. Deo", "Zonghe Chua", "Allison M. Okamura", "Darrel R. Deo" ]	Individuals living with paralysis or amputation can operate robotic prostheses using input signals based on their intent or attempt to move. Because sensory function is lost or diminished in these individuals, haptic feedback must be non-collocated. The intracortical brain computer interface (iBCI) has enabled a variety of neural prostheses for people with paralysis. An important attribute of the ...
Tactile sensing based on fingertip suction flow for submerged dexterous manipulation	https://ieeexplore.ieee.org/document/9197582/	[ "Philippe Nadeau", "Michael Abbott", "Dominic Melville", "Hannah S. Stuart", "Philippe Nadeau", "Michael Abbott", "Dominic Melville", "Hannah S. Stuart" ]	The ocean is a harsh and unstructured environment for robotic systems; high ambient pressures, saltwater corrosion and low-light conditions demand machines with robust electrical and mechanical parts that are able to sense and respond to the environment. Prior work shows that the addition of gentle suction flow to the hands of underwater robots can aid in the handling of objects during mobile mani...
Highly Robust Visual Place Recognition Through Spatial Matching of CNN Features	https://ieeexplore.ieee.org/document/9196967/	[ "Luis G. Camara", "Carl Gäbert", "Libor Přeučil", "Luis G. Camara", "Carl Gäbert", "Libor Přeučil" ]	We revise, improve and extend the system previously introduced by us and named SSM-VPR (Semantic and Spatial Matching Visual Place Recognition), largely boosting its performance above the current state of the art. The system encodes images of places by employing the activations of different layers of a pre-trained, off-the-shelf, VGG16 Convolutional Neural Network (CNN) architecture. It consists o...
Online Trajectory Planning Through Combined Trajectory Optimization and Function Approximation: Application to the Exoskeleton Atalante	https://ieeexplore.ieee.org/document/9196633/	[ "Alexis Duburcq", "Yann Chevaleyre", "Nicolas Bredeche", "Guilhem Boéris", "Alexis Duburcq", "Yann Chevaleyre", "Nicolas Bredeche", "Guilhem Boéris" ]	Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally demanding, preventing their use online. In this paper, we present a novel algorithm called Guided Trajectory Learning that learns a function approximation of solutions computed through trajectory optimization while ensuri...
Act, Perceive, and Plan in Belief Space for Robot Localization	https://ieeexplore.ieee.org/document/9197097/	[ "Michele Colledanchise", "Damiano Malafronte", "Lorenzo Natale", "Michele Colledanchise", "Damiano Malafronte", "Lorenzo Natale" ]	In this paper, we outline an interleaved acting and planning technique to rapidly reduce the uncertainty of the estimated robot's pose by perceiving relevant information from the environment, as recognizing an object or asking someone for a direction. Generally, existing localization approaches rely on low-level geometric features such as points, lines, and planes. While these approaches provide t...
Decentralized Task Allocation in Multi-Agent Systems Using a Decentralized Genetic Algorithm	https://ieeexplore.ieee.org/document/9197314/	[ "Ruchir Patel", "Eliot Rudnick-Cohen", "Shapour Azarm", "Michael Otte", "Huan Xu", "Jeffrey W. Herrmann", "Ruchir Patel", "Eliot Rudnick-Cohen", "Shapour Azarm", "Michael Otte", "Huan Xu", "Jeffrey W. Herrmann" ]	In multi-agent collaborative search missions, task allocation is required to determine which agents will perform which tasks. We propose a new approach for decentralized task allocation based on a decentralized genetic algorithm (GA). The approach parallelizes a genetic algorithm across the team of agents, making efficient use of their computational resources. In the proposed approach, the agents ...
Fast and resilient manipulation planning for target retrieval in clutter	https://ieeexplore.ieee.org/document/9196652/	[ "Changjoo Nam", "Jinhwi Lee", "Sang Hun Cheong", "Brian Y. Cho", "ChangHwan Kim", "Changjoo Nam", "Jinhwi Lee", "Sang Hun Cheong", "Brian Y. Cho", "ChangHwan Kim" ]	This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free path to the target exists. The robot must relocate some objects to retrieve the target without collisions. For fast completion of object rearrangement, the rob...
Untethered Soft Millirobot with Magnetic Actuation	https://ieeexplore.ieee.org/document/9197202/	[ "Anuruddha Bhattacharjee", "Louis William Rogowski", "Xiao Zhang", "Min Jun Kim", "Anuruddha Bhattacharjee", "Louis William Rogowski", "Xiao Zhang", "Min Jun Kim" ]	This paper presents scalable designs and fabrication, actuation, and manipulation techniques for soft millirobots under uniform magnetic field control. The millirobots were fabricated through an economic and robust moulding technique using polydimethylsiloxane (PDMS), acrylonitrile butadiene styrene (ABS) filaments, and 3D printed polylactic acid (PLA) rings. The soft millirobots were simple hollo...
Accelerated Robot Learning via Human Brain Signals	https://ieeexplore.ieee.org/document/9196566/	[ "Iretiayo Akinola", "Zizhao Wang", "Junyao Shi", "Xiaomin He", "Pawan Lapborisuth", "Jingxi Xu", "David Watkins-Valls", "Paul Sajda", "Peter Allen", "Iretiayo Akinola", "Zizhao Wang", "Junyao Shi", "Xiaomin He", "Pawan Lapborisuth", "Jingxi Xu", "David Watkins-Valls", "Paul Sajda", "Peter Allen" ]	In reinforcement learning (RL), sparse rewards are a natural way to specify the task to be learned. However, most RL algorithms struggle to learn in this setting since the learning signal is mostly zeros. In contrast, humans are good at assessing and predicting the future consequences of actions and can serve as good reward/policy shapers to accelerate the robot learning process. Previous works ha...
Muscle and Brain Activations in Cylindrical Rotary Controller Manipulation with Index Finger and Thumb	https://ieeexplore.ieee.org/document/9196520/	[ "Rio Okatani", "Toru Tsumugiwa", "Ryuichi Yokogawa", "Mitsuhiro Narusue", "Hiroto Nishimura", "Yuusaku Takeda", "Toshihiro Hara", "Rio Okatani", "Toru Tsumugiwa", "Ryuichi Yokogawa", "Mitsuhiro Narusue", "Hiroto Nishimura", "Yuusaku Takeda", "Toshihiro Hara" ]	This study aim to confirm the effect of viscosity characteristics differences on the rotational manipulation of a cylindrical rotary controller with the index finger and thumb through a quantitative analysis and evaluation of muscle and brain activations. The target motion was a rotary manipulation with the index finger and thumb of a cylindrical rotary controller with a 50 mm diameter. The rotary...
Real-Time Robot Reach-To-Grasp Movements Control Via EOG and EMG Signals Decoding	https://ieeexplore.ieee.org/document/9197550/	[ "Bernhard Specht", "Zied Tayeb", "Emannual Dean", "Rahil Soroushmojdehi", "Gordon Cheng", "Bernhard Specht", "Zied Tayeb", "Emannual Dean", "Rahil Soroushmojdehi", "Gordon Cheng" ]	In this paper, we propose a real-time human-robot interface (HRI) system, where Electrooculography (EOG) and Electromyography (EMG) signals were decoded to perform reach-to-grasp movements. For that, five different eye movements (up, down, left, right and rest) were classified in real-time and translated into commands to steer an industrial robot (UR-10) to one of the four approximate target direc...
Simultaneous Estimations of Joint Angle and Torque in Interactions with Environments using EMG	https://ieeexplore.ieee.org/document/9197441/	[ "Dongwon Kim", "Kyung Koh", "Giovanni Oppizzi", "Raziyeh Baghi", "Li-Chuan Lo", "Chunyang Zhang", "Li-Qun Zhang", "Dongwon Kim", "Kyung Koh", "Giovanni Oppizzi", "Raziyeh Baghi", "Li-Chuan Lo", "Chunyang Zhang", "Li-Qun Zhang" ]	We develop a decoding technique that estimates both the position and torque of a joint of the limb in interaction with an environment based on activities of the agonist-antagonist pair of muscles using electromyography in real time. The long short-term memory (LSTM) network is employed as the core processor of the proposed technique that is capable of learning time series of a long-time span with ...
High-Density Electromyography Based Control of Robotic Devices: On the Execution of Dexterous Manipulation Tasks	https://ieeexplore.ieee.org/document/9196629/	[ "Anany Dwivedi", "Jaime Lara", "Leo K. Cheng", "Niranchan Paskaranandavadivel", "Minas Liarokapis", "Anany Dwivedi", "Jaime Lara", "Leo K. Cheng", "Niranchan Paskaranandavadivel", "Minas Liarokapis" ]	Electromyography (EMG) based interfaces have been used in various robotics studies ranging from teleoperation and telemanipulation applications to the EMG based control of prosthetic, assistive, or robotic rehabilitation devices. But most of these studies have focused on the decoding of user's motion or on the control of the robotic devices in the execution of simple tasks (e.g., grasping tasks). ...
Perception-Action Coupling in Usage of Telepresence Cameras	https://ieeexplore.ieee.org/document/9197578/	[ "Alexandra Valiton", "Zhi Li", "Alexandra Valiton", "Zhi Li" ]	Telepresence tele-action robots enable human workers to reliably perform difficult tasks in remote, cluttered, and human environments. However, the effort to control coordinated manipulation and active perception motions may exhaust and intimidate novice workers. We hypothesize that such cognitive efforts would be effectively reduced if the teleoperators are provided with autonomous camera selecti...
A technical framework for human-like motion generation with autonomous anthropomorphic redundant manipulators	https://ieeexplore.ieee.org/document/9196937/	[ "Giuseppe Averta", "Danilo Caporale", "Cosimo Della Santina", "Antonio Bicchi", "Matteo Bianchi", "Giuseppe Averta", "Danilo Caporale", "Cosimo Della Santina", "Antonio Bicchi", "Matteo Bianchi" ]	The need for users' safety and technology accept-ability has incredibly increased with the deployment of co-bots physically interacting with humans in industrial settings, and for people assistance. A well-studied approach to meet these requirements is to ensure human-like robot motions. Classic solutions for anthropomorphic movement generation usually rely on optimization procedures, which build ...
Real-Time Adaptive Assembly Scheduling in Human-Multi-Robot Collaboration According to Human Capability	https://ieeexplore.ieee.org/document/9196618/	[ "Shaobo Zhang", "Yi Chen", "Jun Zhang", "Yunyi Jia", "Shaobo Zhang", "Yi Chen", "Jun Zhang", "Yunyi Jia" ]	Human-multi-robot collaboration is becoming more and more common in intelligent manufacturing. Optimal assembly scheduling of such systems plays a critical role in their production efficiency. Existing approaches mostly consider humans as agents with assumed or known capabilities, which leads to suboptimal performance in realistic applications where human capabilities usually change. In addition, ...
Microscope-Guided Autonomous Clear Corneal Incision	https://ieeexplore.ieee.org/document/9196645/	[ "Jun Xia", "Sean J. Bergunder", "Duoru Lin", "Ying Yan", "Shengzhi Lin", "M. Ali Nasseri", "Mingchuan Zhou", "Haotian Lin", "Kai Huang", "Jun Xia", "Sean J. Bergunder", "Duoru Lin", "Ying Yan", "Shengzhi Lin", "M. Ali Nasseri", "Mingchuan Zhou", "Haotian Lin", "Kai Huang" ]	Clear Corneal Incision, a challenging step in cataract surgery, and important to the overall quality of the surgery. New surgeons usually spend one full year trying to perfect their incision, but even after such rigorous training deficient incisions can still occur. This paper proposes an autonomous robotic system for this self-sealing incision. A conventional ophthalmic microscope system with a m...
Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation	https://ieeexplore.ieee.org/document/9197507/	[ "J.R. Jurado Realpe", "G. Aiche", "S. Abdelaziz", "P. Poignet", "J.R. Jurado Realpe", "G. Aiche", "S. Abdelaziz", "P. Poignet" ]	This paper introduces a 2-DOF spatial remote center of motion (RCM) tensegrity mechanism, based on a double parallelogram system, dedicated for percutaneous needle insertion. The originality of this mechanism is its ability to be reconfigured and its capacity to perform a decoupled modulation of its stiffness in an asynchronous way. To do so, an analytical stiffness model of the robot is establish...
Redundancy Resolution Integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments	https://ieeexplore.ieee.org/document/9197271/	[ "Joao C. Santos", "Ahmed Chemori", "Marc Gouttefarde", "Joao C. Santos", "Ahmed Chemori", "Marc Gouttefarde" ]	This paper introduces a Model Predictive Control (MPC) strategy for fully-constrained Cable-Driven Parallel Robots. The main advantage of the proposed scheme lies in its ability to explicitly handle cable tension limits. Indeed, the cable tension distribution is performed as an integral part of the main control architecture. This characteristic significantly improves the safety of the system. Expe...
Mechanics for Tendon Actuated Multisection Continuum Arms	https://ieeexplore.ieee.org/document/9197006/	[ "Phanideep S. Gonthina", "Michael B. Wooten", "Isuru S. Godage", "Ian D. Walker", "Phanideep S. Gonthina", "Michael B. Wooten", "Isuru S. Godage", "Ian D. Walker" ]	Tendon actuated multisection continuum arms have high potential for inspection applications in highly constrained spaces. They generate motion by axial and bending deformations. However, because of the high mechanical coupling between continuum sections, variable length-based kinematic models produce poor results. A new mechanics model for tendon actuated multisection continuum arms is proposed in...
Trajectory Optimization for a Six-DOF Cable-Suspended Parallel Robot with Dynamic Motions Beyond the Static Workspace	https://ieeexplore.ieee.org/document/9196803/	[ "Sheng Xiang", "Haibo Gao", "Zhen Liu", "Clément Gosselin", "Sheng Xiang", "Haibo Gao", "Zhen Liu", "Clément Gosselin" ]	This paper presents a trajectory optimization formulation for planning dynamic trajectories of a six-degree-of-freedom (six-DOF) cable-suspended parallel robot (CSPR) that extend beyond the static workspace. The optimization is guided by low-dimensional dynamic models to overcome the local minima and accelerate the exploration of the narrow feasible state space. The dynamic similarity between the ...
An Intelligent Spraying System with Deep Learning-based Semantic Segmentation of Fruit Trees in Orchards	https://ieeexplore.ieee.org/document/9197556/	[ "Jeongeun Kim", "Jeahwi Seol", "Sukwoo Lee", "Se-Woon Hong", "Hyoung Il Son", "Jeongeun Kim", "Jeahwi Seol", "Sukwoo Lee", "Se-Woon Hong", "Hyoung Il Son" ]	This study proposes an intelligent spraying system with semantic segmentation of fruit trees in a pear orchard. A fruit tree detection system was developed using the SegNet model, a semantic segmentation structure. The system is trained with images categorized into five distinct classes. The learned deep learning model performed with an accuracy of 83.79%. Further, we fusion depth data from an RGB...
An Efficient Planning and Control Framework for Pruning Fruit Trees	https://ieeexplore.ieee.org/document/9197551/	[ "Alexander You", "Fouad Sukkar", "Robert Fitch", "Manoj Karkee", "Joseph R. Davidson", "Alexander You", "Fouad Sukkar", "Robert Fitch", "Manoj Karkee", "Joseph R. Davidson" ]	Dormant pruning is a major cost component of fresh market tree fruit production, nearly equal in scale to harvesting the fruit. However, relatively little focus has been given to the problem of pruning trees autonomously. In this paper, we introduce a robotic system consisting of an industrial manipulator, an eye-in-hand RGB-D camera configuration, and a custom pneumatic cutter. The system is capa...
Context Dependant Iterative Parameter Optimisation for Robust Robot Navigation	https://ieeexplore.ieee.org/document/9196550/	[ "Adam Binch", "Gautham P. Das", "Jaime Pulido Fentanes", "Marc Hanheide", "Adam Binch", "Gautham P. Das", "Jaime Pulido Fentanes", "Marc Hanheide" ]	Progress in autonomous mobile robotics has seen significant advances in the development of many algorithms for motion control and path planning. However, robust performance from these algorithms can often only be expected if the parameters controlling them are tuned specifically for the respective robot model, and optimised for specific scenarios in the environment the robot is working in. Such pa...
Extending Riemmanian Motion Policies to a Class of Underactuated Wheeled-Inverted-Pendulum Robots	https://ieeexplore.ieee.org/document/9196866/	[ "Bruce Wingo", "Ching-An Cheng", "Muhammad Murtaza", "Munzir Zafar", "Seth Hutchinson", "Bruce Wingo", "Ching-An Cheng", "Muhammad Murtaza", "Munzir Zafar", "Seth Hutchinson" ]	Riemannian Motion Policies (RMPs) have recently been introduced as a way to specify second-order motion policies defined on robot task spaces. RMP-based approaches have the advantage of being more general than traditional approaches based on operational space control; for example, the generalized task inertia in an RMP can be fully state-dependent, which is particularly effective in designing coll...
Augmenting Self-Stability: Height Control of a Bernoulli Ball via Bang-Bang Control	https://ieeexplore.ieee.org/document/9197391/	[ "Toby Howison", "Fabio Giardina", "Fumiya Iida", "Toby Howison", "Fabio Giardina", "Fumiya Iida" ]	Mechanical self-stability is often useful for controlling systems in uncertain and unstructured environments because it can regulate processes without explicit state observation or feedback computation. However, the performance of such systems is often not optimised, which begs the question how their dynamics can be naturally augmented by a control law to improve performance metrics. We propose a ...
Singularity-Free Inverse Dynamics for Underactuated Systems with a Rotating Mass	https://ieeexplore.ieee.org/document/9197306/	[ "Seyed Amir Tafrishi", "Mikhail Svinin", "Motoji Yamamoto", "Seyed Amir Tafrishi", "Mikhail Svinin", "Motoji Yamamoto" ]	Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial coupling that passive joints/bodies create. In this study, we present a model that is free from singularity while the trajectory of the rotating mass has a small-amplitude sine wave around its circle. First, we derive the ...
Robust capture of unknown objects with a highly under-actuated gripper	https://ieeexplore.ieee.org/document/9197100/	[ "Paul E. Glick", "Nikko Van Crey", "Michael T. Tolley", "Donald Ruffatto", "Paul E. Glick", "Nikko Van Crey", "Michael T. Tolley", "Donald Ruffatto" ]	Capturing large objects of unknown shape and orientation remains a challenge for most robotic grippers. We present a highly under-actuated gripper well suited for this task. Prior work shows two primary limitations to these grippers: the grip force of each link tends to decrease as the number of links increases, and the stability of an under-actuated linkage depends on the configuration of the lin...
SUMMIT: A Simulator for Urban Driving in Massive Mixed Traffic	https://ieeexplore.ieee.org/document/9197228/	[ "Panpan Cai", "Yiyuan Lee", "Yuanfu Luo", "David Hsu", "Panpan Cai", "Yiyuan Lee", "Yuanfu Luo", "David Hsu" ]	Autonomous driving in an unregulated urban crowd is an outstanding challenge, especially, in the presence of many aggressive, high-speed traffic participants. This paper presents SUMMIT, a high-fidelity simulator that facilitates the development and testing of crowd-driving algorithms. By leveraging the open-source OpenStreetMap map database and a heterogeneous multi-agent motion prediction model ...
A Model-Based Reinforcement Learning and Correction Framework for Process Control of Robotic Wire Arc Additive Manufacturing	https://ieeexplore.ieee.org/document/9197222/	[ "Audelia G. Dharmawan", "Yi Xiong", "Shaohui Foong", "Gim Song Soh", "Audelia G. Dharmawan", "Yi Xiong", "Shaohui Foong", "Gim Song Soh" ]	Robotic Wire Arc Additive Manufacturing (WAAM) utilizes a robot arm as a motion system to build 3D metallic objects by depositing weld beads one above the other in a layer by layer fashion. A key part of this approach is the process study and control of Multi-Layer Multi-Bead (MLMB) deposition, which is very sensitive to process parameters and prone to error stacking. Despite its importance, it ha...
Toward Optimal FDM Toolpath Planning with Monte Carlo Tree Search	https://ieeexplore.ieee.org/document/9196945/	[ "Chanyeol Yoo", "Samuel Lensgraf", "Robert Fitch", "Lee M. Clemon", "Ramgopal Mettu", "Chanyeol Yoo", "Samuel Lensgraf", "Robert Fitch", "Lee M. Clemon", "Ramgopal Mettu" ]	The most widely used methods for toolpath planning in 3D printing slice the input model into successive 2D layers to construct the toolpath. Unfortunately the methods can incur a substantial amount of wasted motion (i.e., the extruder is moving while not printing). In recent years we have introduced a new paradigm that characterizes the space of feasible toolpaths using a dependency graph on the i...
Optimizing performance in automation through modular robots	https://ieeexplore.ieee.org/document/9196590/	[ "Stefan B. Liu", "Matthias Althoff", "Stefan B. Liu", "Matthias Althoff" ]	Flexible manufacturing and automation require robots that can be adapted to changing tasks. We propose to use modular robots that are customized from given modules for a specific task. This work presents an algorithm for proposing a module composition that is optimal with respect to performance metrics such as cycle time and energy efficiency, while considering kinematic, dynamic, and obstacle con...

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ICRA 2020 Accepted Paper Meta Info Dataset

This dataset is collect from the ICRA 2020 IEEE International Conference on Robotics and Automation (ICRA) 2020 accepted papers' meta info (https://ieeexplore.ieee.org/xpl/conhome/9560720/proceeding) as well as the arxiv website DeepNLP paper arxiv (http://www.deepnlp.org/content/paper/icra2020). For researchers who are interested in doing analysis of ICRA 2020 accepted papers and potential trends, you can use the already cleaned up json files. Each row contains the meta information of a paper in the ICRA 2020 conference. To explore more AI & Robotic papers (NIPS/ICML/ICLR/IROS/ICRA/etc) and AI equations, feel free to navigate the Equation Search Engine (http://www.deepnlp.org/search/equation) as well as the AI Agent Search Engine to find the deployed AI Apps and Agents (http://www.deepnlp.org/search/agent) in your domain.

Equations Latex code and Papers Search Engine

Meta Information of Json File of Paper

{
    "title": "Online Prediction of Lane Change with a Hierarchical Learning-Based Approach",
    "detail_url": "https://ieeexplore.ieee.org/document/9812269/",
    "author_list": ["Xishun Liao", "Ziran Wang", "Xuanpeng Zhao", "Zhouqiao Zhao", "Kyungtae Han", "Prashant Tiwari", "Matthew J. Barth", "Guoyuan Wu", "Xishun Liao", "Ziran Wang", "Xuanpeng Zhao", "Zhouqiao Zhao", "Kyungtae Han", "Prashant Tiwari", "Matthew J. Barth", "Guoyuan Wu"],
    "abstract": "In the foreseeable future, connected and auto-mated vehicles (CAVs) and human-driven vehicles will share the road networks together. In such a mixed traffic environment, CAVs need to understand and predict maneuvers of surrounding vehicles for safer and more efficient interactions, especially when human drivers bring in a wide range of uncertainties. In this paper, we propose a learning-based lane..."
}