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A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered EnvironmentsAug 22 2019This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently generate an obstacle-free ... More
Simulation Model of Two-Robot Cooperation in Common Operating EnvironmentAug 22 2019The article considers a simulation modelling problem related to the chess game process occurring between two three-tier manipulators. The objective of the game construction lies in developing the procedure of effective control of the autonomous manipulator ... More
Learning Object-Action Relations from Bimanual Human Demonstration Using Graph NetworksAug 22 2019Recognising human actions is a vital task for a humanoid robot, especially in domains like programming by demonstration. Previous approaches on action recognition primarily focused on the overall prevalent action being executed, but we argue that bimanual ... More
Object detection on aerial imagery using CenterNetAug 22 2019Detection and classification of objects in aerial imagery have several applications like urban planning, crop surveillance, and traffic surveillance. However, due to the lower resolution of the objects and the effect of noise in aerial images, extracting ... More
BIM-assisted object recognition for the on-site autonomous robotic assembly of discrete structuresAug 22 2019Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for construction applications, ... More
A Wearable Tactile Sensor Array for Large Area Remote Vibration Sensing in the HandAug 22 2019Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate the sensing ... More
MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and ResearchAug 21 2019We present MuSHR, the Multi-agent System for non-Holonomic Racing. MuSHR is a low-cost, open-source robotic racecar platform for education and research, developed by the Personal Robotics Lab in the Paul G. Allen School of Computer Science & Engineering ... More
MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and ResearchAug 21 2019Aug 22 2019We present MuSHR, the Multi-agent System for non-Holonomic Racing. MuSHR is a low-cost, open-source robotic racecar platform for education and research, developed by the Personal Robotics Lab in the Paul G. Allen School of Computer Science & Engineering ... More
Design Space of Behaviour Planning for Autonomous DrivingAug 21 2019We explore the complex design space of behaviour planning for autonomous driving. Design choices that successfully address one aspect of behaviour planning can critically constrain others. To aid the design process, in this work we decompose the design ... More
Universal Reconfiguration of Facet-Connected Modular Robots by Pivots: The $O(1)$ MusketeersAug 21 2019We present the first universal reconfiguration algorithm for transforming a modular robot between any two facet-connected square-grid configurations using pivot moves. More precisely, we show that five extra "helper" modules ("musketeers") suffice to ... More
Championing Research Through Design in HRIAug 20 2019One of the challenges in conducting research on the intersection of the CHI and Human-Robot Interaction (HRI) communities is in addressing the gap of acceptable design research methods between the two. While HRI is focused on interaction with robots and ... More
State Space System Modeling of a Quad Copter UAVAug 20 2019In this paper, a linear mathematical model for a quad copter unmanned aerial vehicle (UAV) is derived. The three degrees of freedom (3DOF) and six degrees of freedom (6DOF) quad copter state-space models are developed starting from basic Newtonian equations. ... More
Reliable Real Time Ball Tracking for Robot Table TennisAug 20 2019Robot table tennis systems require a vision system that can track the ball position with low latency and high sampling rate. Altering the ball to simplify the tracking using for instance infrared coating changes the physics of the ball trajectory. As ... More
Indoor Navigation Using Information From A Map And A RangefinderAug 20 2019The problem of indoor navigation of mobile objects, using a map and measurements of distances to the walls is considered. A nonlinear filtering problem aimed at calculating the optimal, in the root-mean-square sense, of the sought parameters is formulated ... More
Efficiently Improving and Quantifying Robot Accuracy In SituAug 20 2019The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good mechanical ... More
Interactive Trajectory Adaptation through Force-guided Bayesian OptimizationAug 20 2019Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a nominal plan of the ... More
Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait MotionAug 19 2019Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow footprint associated ... More
Learning from failures in robot-assisted feeding: Using online learning to develop manipulation strategies for bite acquisitionAug 19 2019Successful robot-assisted feeding requires bite acquisition of a wide variety of food items. Different food items may require different manipulation actions for successful bite acquisition. Therefore, a key challenge is to handle previously-unseen food ... More
How far should self-driving cars see? Effect of observation range on vehicle self-localizationAug 19 2019Accuracy and time efficiency are two essential requirements for the self-localization of autonomous vehicles. While the observation range considered for simultaneous localization and mapping (SLAM) has a significant effect on both accuracy and computation ... More
Continuous Toolpath Planning in Additive ManufacturingAug 19 2019We develop a framework that creates a new polygonal mesh representation of the 3D domain of a layer-by-layer 3D printing job on which we identify single, continuous tool paths covering each connected piece of the domain in every layer. We present a tool ... More
Scene Classification in Indoor Environments for Robots using Context Based Word EmbeddingsAug 18 2019Scene Classification has been addressed with numerous techniques in computer vision literature. However, with the increasing number of scene classes in datasets in the field, it has become difficult to achieve high accuracy in the context of robotics. ... More
Robonomics: The Study of Robot-Human Peer-to-Peer Financial Transactions and AgreementsAug 18 2019The concept of a blockchain has given way to the development of cryptocurrencies, enabled smart contracts, and unlocked a plethora of other disruptive technologies. But, beyond its use case in cryptocurrencies, and in network coordination and automation, ... More
Long-Duration Fully Autonomous Operation of Rotorcraft Unmanned Aerial Systems for Remote-Sensing Data AcquisitionAug 18 2019Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, further enhancement of the field requires operation over long periods of time, ... More
Contact Skill Imitation Learning for Robot-Independent Assembly ProgrammingAug 17 2019Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems. In this work we present a data-driven approach to extract and learn ... More
Inverse Kinematics with Forward Dynamics Solvers for Sampled Motion TrackingAug 17 2019Tracking Cartesian trajectories with end-effectors is a fundamental task in robot control. For motion that is not known a priori, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses. On joint ... More
Continuous Relaxation of Symbolic Planner for One-Shot Imitation LearningAug 16 2019We address one-shot imitation learning, where the goal is to execute a previously unseen task based on a single demonstration. While there has been exciting progress in this direction, most of the approaches still require a few hundred tasks for meta-training, ... More
AGDC: Automatic Garbage Detection and CollectionAug 16 2019Waste management is one of the significant problems throughout the world. Contemporaneous methods find it difficult to manage the volume of solid waste generated by the growing urban population. In this paper, we propose a system which is very hygienic ... More
Decentralized Multi-Floor Exploration by a Swarm of Miniature Robots Teaming with Wall-Climbing UnitsAug 16 2019In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a wheeled ground ... More
Examining the Use of Temporal-Difference Incremental Delta-Bar-Delta for Real-World Predictive Knowledge ArchitecturesAug 15 2019Predictions and predictive knowledge have seen recent success in improving not only robot control but also other applications ranging from industrial process control to rehabilitation. A property that makes these predictive approaches well suited for ... More
Persistent Surveillance With Energy-Constrained UAVs and Mobile Charging StationsAug 15 2019We address the problem of achieving persistent surveillance over an environment by using energy-constrained unmanned aerial vehicles (UAVs), which are supported by unmanned ground vehicles (UGVs) serving as mobile charging stations. Specifically, we plan ... More
Distributed Path Planning for Executing Cooperative Tasks with Time WindowsAug 15 2019We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at the necessary ... More
Learning Interactive Behaviors for Musculoskeletal Robots Using Bayesian Interaction PrimitivesAug 15 2019Musculoskeletal robots that are based on pneumatic actuation have a variety of properties, such as compliance and back-drivability, that render them particularly appealing for human-robot collaboration. However, programming interactive and responsive ... More
Sample-efficient Deep Reinforcement Learning with Imaginary Rollouts for Human-Robot InteractionAug 15 2019Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in human-robot interaction ... More
Shield Synthesis for Real: Enforcing Safety in Cyber-Physical SystemsAug 15 2019Cyber-physical systems are often safety-critical in that violations of safety properties may lead to catastrophes. We propose a method to enforce the safety of systems with real-valued signals by synthesizing a runtime enforcer called the shield. Whenever ... More
Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory OptimizationAug 15 2019Dynamic trajectory optimization is a popular approach for generating optimal and dynamically consistent trajectories. In order to deal with model errors and perturbations, the trajectories are usually tracked with feedback controllers. Their robustness ... More
Continuous Control for High-Dimensional State Spaces: An Interactive Learning ApproachAug 14 2019Deep Reinforcement Learning (DRL) has become a powerful methodology to solve complex decision-making problems. However, DRL has several limitations when used in real-world problems (e.g., robotics applications). For instance, long training times are required ... More
Swimming locomotion of Soft Robotic SnakesAug 14 2019Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a new type of ... More
A Survey of Recent Scalability Improvements for Semidefinite Programming with Applications in Machine Learning, Control, and RoboticsAug 14 2019Historically, scalability has been a major challenge to the successful application of semidefinite programming in fields such as machine learning, control, and robotics. In this paper, we survey recent approaches for addressing this challenge including ... More
Robust Translational Force Control of Multi-Rotor UAV for Precise Acceleration TrackingAug 14 2019In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the multi-rotor ... More
Probabilistic Multimodal Modeling for Human-Robot Interaction TasksAug 14 2019Human-robot interaction benefits greatly from multimodal sensor inputs as they enable increased robustness and generalization accuracy. Despite this observation, few HRI methods are capable of efficiently performing inference for multimodal systems. In ... More
Fog Robotics: A Summary, Challenges and Future ScopeAug 14 2019Human-robot interaction plays a crucial role to make robots closer to humans. Usually, robots are limited by their own capabilities. Therefore, they utilise Cloud Robotics to enhance their dexterity. Its ability includes the sharing of information such ... More
3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent AgentsAug 14 2019Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding environments. The ... More
Control Of Mobile Robots Using Barrier Functions Under Temporal Logic SpecificationsAug 14 2019In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic (LTL). In particular, we consider ... More
Multi-Agent Manipulation via Locomotion using Hierarchical Sim2RealAug 13 2019Manipulation and locomotion are closely related problems that are often studied in isolation. In this work, we study the problem of coordinating multiple mobile agents to exhibit manipulation behaviors using a reinforcement learning (RL) approach. Our ... More
General Hand Guidance Framework using Microsoft HoloLensAug 13 2019Hand guidance emerged from the safety requirements for collaborative robots, namely possessing joint-torque sensors. Since then it has proven to be a powerful tool for easy trajectory programming, allowing lay-users to reprogram robots intuitively. Going ... More
Cataglyphis ant navigation strategies solve the global localization problem in robots with binary sensorsAug 13 2019Low cost robots, such as vacuum cleaners or lawn mowers, employ simplistic and often random navigation policies. Although a large number of sophisticated localization and planning approaches exist, they require additional sensors like LIDAR sensors, cameras ... More
Loop Closure Detection in Closed EnvironmentsAug 13 2019Low cost robots, such as vacuum cleaners or lawn mowers employ simplistic and often random navigation policies. Although a large number of sophisticated mapping and planning approaches exist, they require additional sensors like LIDAR sensors, cameras ... More
From Crystallized Adaptivity to Fluid Adaptivity in Deep Reinforcement Learning -- Insights from Biological Systems on Adaptive FlexibilityAug 13 2019Recent developments in machine-learning algorithms have led to impressive performance increases in many traditional application scenarios of artificial intelligence research. In the area of deep reinforcement learning, deep learning functional architectures ... More
A sub-modular receding horizon solution for mobile multi-agent persistent monitoringAug 12 2019We study the problem of persistent monitoring of finite number of inter-connected geographical nodes for event detection via a group of heterogeneous mobile agents. We use Poisson process model to capture the probability of the events occurring at the ... More
Learning to Detect Collisions for Continuum Manipulators without a Prior ModelAug 12 2019Due to their flexibility, dexterity, and compact size, Continuum Manipulators (CMs) can enhance minimally invasive interventions. In these procedures, the CM may be operated in proximity of sensitive organs; therefore, requiring accurate and appropriate ... More
Enabling Commercial Autonomous Space Robotic ExplorersAug 12 2019In contrast to manned missions, the application of autonomous robots for space exploration missions decreases the safety concerns of the exploration missions while extending the exploration distance since returning transportation is not necessary for ... More
Fast Adaptation with Meta-Reinforcement Learning for Trust Modelling in Human-Robot InteractionAug 12 2019In socially assistive robotics, an important research area is the development of adaptation techniques and their effect on human-robot interaction. We present a meta-learning based policy gradient method for addressing the problem of adaptation in human-robot ... More
Decision making in dynamic and interactive environments based on cognitive hierarchy theory: Formulation, solution, and application to autonomous drivingAug 12 2019In this paper, we describe a framework for autonomous decision making in a dynamic and interactive environment based on cognitive hierarchy theory. We model the interactions between the ego agent and its operating environment as a two-player dynamic game, ... More
Experience Reuse with Probabilistic Movement PrimitivesAug 11 2019Acquiring new robot motor skills is cumbersome, as learning a skill from scratch and without prior knowledge requires the exploration of a large space of motor configurations. Accordingly, for learning a new task, time could be saved by restricting the ... More
DynaNet: Neural Kalman Dynamical Model for Motion Estimation and PredictionAug 11 2019Dynamical models estimate and predict the temporal evolution of physical systems. State Space Models (SSMs) in particular represent the system dynamics with many desirable properties, such as being able to model uncertainty in both the model and measurements, ... More
Deep Dexterous Grasping of Novel Objects from a Single ViewAug 10 2019Dexterous grasping of a novel object given a single view is an open problem. This paper makes several contributions to its solution. First, we present a simulator for generating and testing dexterous grasps. Second we present a data set, generated by ... More
Towards Online Observability-Aware Trajectory Optimization for Landmark-based EstimatorsAug 10 2019As autonomous systems rely increasingly on onboard sensors for localization and perception, the parallel tasks of motion planning and uncertainty minimization become increasingly coupled. This coupling is well-captured by augmenting the planning objective ... More
Learning to Explore in Motion and Interaction TasksAug 10 2019Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In this paper ... More
Color-Coded Fiber-Optic Tactile Sensor for an Elastomeric Robot SkinAug 10 2019The sense of touch is essential for reliable mapping between the environment and a robot which interacts physically with objects. Presumably, an artificial tactile skin would facilitate safe interaction of the robots with the environment. In this work, ... More
View management for lifelong visual mapsAug 09 2019The time complexity of making observations and loop closures in a graph-based visual SLAM system is a function of the number of views stored. Clever algorithms, such as approximate nearest neighbor search, can make this function sub-linear. Despite this, ... More
New Wing Stroke and Wing Pitch Approaches for Milligram-scale Aerial DevicesAug 09 2019Here we report the construction of the simplest transmission mechanism ever designed capable of converting linear motions of any actuator to $\pm$60$^\circ$ rotary wing stroke motion. It is planar, compliant, can be fabricated in a single step and requires ... More
Transferable Representation Learning in Vision-and-Language NavigationAug 09 2019Vision-and-Language Navigation (VLN) tasks such as Room-to-Room (R2R) require machine agents to interpret natural language instructions and learn to act in visually realistic environments to achieve navigation goals. The overall task requires competence ... More
Transferable Representation Learning in Vision-and-Language NavigationAug 09 2019Aug 12 2019Vision-and-Language Navigation (VLN) tasks such as Room-to-Room (R2R) require machine agents to interpret natural language instructions and learn to act in visually realistic environments to achieve navigation goals. The overall task requires competence ... More
Deep Learning based Wearable Assistive System for Visually Impaired PeopleAug 09 2019In this paper, we propose a deep learning based assistive system to improve the environment perception experience of visually impaired (VI). The system is composed of a wearable terminal equipped with an RGBD camera and an earphone, a powerful processor ... More
Fully Convolutional Search Heuristic Learning for Rapid Path PlannersAug 09 2019Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to reliably find ... More
Localizing Backscatters by a Single Robot With Zero Start-up CostAug 09 2019Recent years have witnessed the rapid proliferation of low-power backscatter technologies that realize the ubiquitous and long-term connectivity to empower smart cities and smart homes. Localizing such low-power backscatter tags is crucial for IoT-based ... More
Design of the first sub-milligram flapping wing aerial vehicleAug 09 2019Here we report the first sub-milligram flapping wing vehicle which is able to mimic insect wing kinematics. Wing stroke amplitude of 90$^\circ$ and wing pitch amplitude of 80$^\circ$ is demonstrated. This is also the smallest wing-span (single wing length ... More
An Insect-scale Self-sufficient Rolling MicrorobotAug 08 2019We design an insect-sized rolling microrobot driven by continuously rotating wheels. It measures 18mm$\times$8mm$\times$8mm. There are 2 versions of the robot - a 96mg laser-powered one and a 130mg supercapacitor powered one. The robot can move at 27mm/s ... More
An Insect-scale Untethered Laser-powered Jumping MicrorobotAug 08 2019We present the design of an insect-sized jumping microrobot measuring 17mm$\times$6mm$\times$14mm and weighing 75 milligrams. The microrobot consumes 6.4mW of power to jump up by 8mm in height. The tethered version of the robot can jump 6 times per minute ... More
Exploiting Sparse Semantic HD Maps for Self-Driving Vehicle LocalizationAug 08 2019In this paper we propose a novel semantic localization algorithm that exploits multiple sensors and has precision on the order of a few centimeters. Our approach does not require detailed knowledge about the appearance of the world, and our maps require ... More
Neural-Learning Trajectory Tracking Control of Flexible-Joint Robot Manipulators with Unknown DynamicsAug 08 2019Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by the inability ... More
Disturbance Estimation and Rejection for High-Precision Multirotor Position ControlAug 08 2019Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts or ground and wall effects. Moreover, to maximize flight time, small multirotor ... More
UAV Surveillance Under Visibility and Dwell-Time Constraints: A Sampling-Based ApproachAug 08 2019A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters, including a desired ... More
Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud DataAug 08 2019This paper addresses the problem of human body detection---particularly a human body lying on the ground (a.k.a. casualty)---using point cloud data. This ability to detect a casualty is one of the most important features of mobile rescue robots, in order ... More
Sim-to-Real Learning for Casualty Detection from Ground Projected Point Cloud DataAug 08 2019Aug 09 2019This paper addresses the problem of human body detection---particularly a human body lying on the ground (a.k.a. casualty)---using point cloud data. This ability to detect a casualty is one of the most important features of mobile rescue robots, in order ... More
Vision-based Navigation Using Deep Reinforcement LearningAug 08 2019Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning architecture ... More
Safe physical HRI: Toward a unified treatment of speed and separation monitoring together with power and force limitingAug 08 2019So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i) speed and separation ... More
Learning Vision-based Flight in Drone Swarms by ImitationAug 08 2019Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms based on imitation ... More
Fast Manipulability Maximization Using Continuous-Time Trajectory OptimizationAug 08 2019A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possible modification of suitable joint-space trajectories, since the joint velocities ... More
Learning to Grasp from 2.5D images: a Deep Reinforcement Learning ApproachAug 08 2019In this paper, we propose a deep reinforcement learning (DRL) solution to the grasping problem using 2.5D images as the only source of information. In particular, we developed a simulated environment where a robot equipped with a vacuum gripper has the ... More
A VR System for Immersive Teleoperation and Live Exploration with a Mobile RobotAug 08 2019Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation experience. However, ... More
Coverage Path Planning using Path Primitive Sampling and Primitive Coverage Graph for Visual InspectionAug 08 2019Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning (CPP) problem ... More
Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental ForcesAug 07 2019The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and autonomously operated surface vehicles. Human data collection and monitoring ... More
Riverine Coverage with an Autonomous Surface Vehicle over Known EnvironmentsAug 07 2019Environmental monitoring and surveying operations on rivers currently are performed primarily with manually-operated boats. In this domain, autonomous coverage of areas is of vital importance, for improving both the quality and the efficiency of coverage. ... More
Meander Based River Coverage by an Autonomous Surface VehicleAug 07 2019Autonomous coverage has tremendous importance for environmental surveying and exploration tasks performed on rivers both in terms of efficiency and data collection quality. Most surveys of rivers are performed manually using quite similar approaches. ... More
Developing a Simple Model for Sand-Tool Interaction and Autonomously Shaping SandAug 07 2019Autonomy for robots interacting with sand will enable a wide range of beneficial behaviors, from earth moving for construction and farming vehicles to navigating rough terrain for Mars rovers. The goal of this work is to shape sand into desired forms. ... More
Unified Simulation and Test Platform for Control Systems of Unmanned VehiclesAug 07 2019Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which requires massive ... More
Cable-driven robotic interface for lower limb neuromechanics identificationAug 07 2019This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control, as is typically ... More
Analyse du besoin en assistance robotique dans la chirurgie de l'oreilleAug 07 2019Otologic surgery has some specificities compared to others surgeries. The anatomic working space is small, with various anatomical structures to preserve, like ossicles or facial nerve. This requires the use of microscope or endoscope. The microscope ... More
Etat de l'art des systèmes robotisés en vue d'une application pour la chirurgie otologiqueAug 07 2019This article deals with a patents state-of-the-art linked to our robotic system which holds an endoscope. In a first part, we analyze how the endoscope operates as well as we discover the environment where we wish to use it: the middle ear. In a second ... More
Key Features of the Coupled Hand-operated Balanced Manipulator (HOBM) and Lightweight Robot (LWR)Aug 07 2019The paper deals with coupled systems including hand-operated balanced manipulators and lightweight robots. The aim of such a cooperation is to displace heavy payloads with less powerful robots. In other term, in the coupled system for handling of heavy ... More
DronePick: Object Picking and Delivery Teleoperation with the Drone Controlled by a Wearable Tactile DisplayAug 07 2019We report on the teleoperation system DronePick which provides remote object picking and delivery by a human-controlled quadcopter. The main novelty of the proposed system is that the human user continuously gets the visual and haptic feedback for accurate ... More
Multi-Robot Path Deconfliction through Prioritization by Path ProspectsAug 06 2019This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled planning, in ... More
Design, Modeling, and Control of Norma: a Slider & Pendulum-Driven Spherical RobotAug 06 2019This paper discusses the design, modeling, and control of Norma, a novel 2 DOF mobile spherical robot (SR). The propelling mechanism of this robot consists of two actuators: a slider, and a rotational pendulum located on the SR's diagonal shaft. The slider ... More
Preliminary design of a device to assist handwriting in children with movement disordersAug 06 2019This paper presents the development of a new passive assistive handwriting device, which aims to stabilize the motion of people living with movement disorders. Many people living with conditions such as cerebral palsy, stroke, muscular dystrophy or dystonia ... More
NAVARO II, a Novel Scissor-Based Planar Parallel Robot 1Aug 06 2019This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanismis an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the threelegs is replaced by a scissor to obtain ... More
Fast Time-optimal Avoidance of Moving Obstacles for High-Speed MAV FlightAug 06 2019In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary target state ... More
Local Supports Global: Deep Camera Relocalization with Sequence EnhancementAug 06 2019We propose to leverage the local information in image sequences to support global camera relocalization. In contrast to previous methods that regress global poses from single images, we exploit the spatial-temporal consistency in sequential images to ... More
Representing Robot Task Plans as Robust Logical-Dynamical SystemsAug 05 2019It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and recovery behaviors ... More
DoorGym: A Scalable Door Opening Environment And Baseline AgentAug 05 2019Aug 07 2019Reinforcement Learning (RL) has brought forth ideas of autonomous robots that can navigate real-world environments with ease, aiding humans in a variety of tasks. RL agents have just begun to make their way out of simulation into the real world. Once ... More