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Inducing Multi-Convexity in Path Constrained Trajectory Optimization for Mobile ManipulatorsApr 22 2019In this paper, we propose a novel trajectory optimization algorithm for mobile manipulators under end-effector path, collision avoidance and various kinematic constraints. Our key contribution lies in showing how this highly non-linear and non-convex ... More
Safety experiments for small robots investigating the potential of soft materials in mitigating the harm to the head due to impactsApr 21 2019There is a growing interest in social robots to be considered in the therapy of children with autism due to their effectiveness in improving the outcomes. However, children on the spectrum exhibit challenging behaviors that need to be considered when ... More
Secure and secret cooperation of robotic swarms by using Merkle treesApr 19 2019Swarm robotics systems are envisioned to become an important component of both academic research and real-world applications. However, in order to reach widespread adoption, new models that ensure the secure cooperation of these systems need to be developed. ... More
Contact-Aided Invariant Extended Kalman Filtering for Robot State EstimationApr 19 2019Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to environmental and lighting conditions, or fusion of kinematic and contact ... More
Enabling Socially Competent navigation through incorporating HRIApr 19 2019Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions within the ... More
Deep Rigid Instance Scene FlowApr 18 2019In this paper we tackle the problem of scene flow estimation in the context of self-driving. We leverage deep learning techniques as well as strong priors as in our application domain the motion of the scene can be composed by the motion of the robot ... More
Wait for me! Towards socially assistive walk companionsApr 18 2019The aim of the present study involves designing a humanoid robot guide as a walking trainer for elderly and rehabilitation patients. The system is based on the humanoid robot Pepper with a compliance approach that allows to match the motion intention ... More
A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental InteractionsApr 18 2019This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental interaction ... More
Learning a Controller Fusion Network by Online Trajectory Filtering for Vision-based UAV RacingApr 18 2019Autonomous UAV racing has recently emerged as an interesting research problem. The dream is to beat humans in this new fast-paced sport. A common approach is to learn an end-to-end policy that directly predicts controls from raw images by imitating an ... More
A Data Driven Approach for Motion Planning of Autonomous Driving Under Complex ScenarioApr 18 2019To guarantee the safe and efficient motion planning of autonomous driving under dynamic traffic environment, the autonomous vehicle should be equipped with not only the optimal but also a long term efficient policy to deal with complex scenarios. The ... More
Particle Filter on EpisodeApr 18 2019Differently from animals, robots can record its experience correctly for long time. We propose a novel algorithm that runs a particle filter on the time sequence of the experience. It can be applied to some teach-and-replay tasks. In a task, the trainer ... More
Fusion of Object Tracking and Dynamic Occupancy Grid MapApr 18 2019Environment modeling in autonomous driving is realized by two fundamental approaches, grid-based and feature-based approach. Both methods interpret the environment differently and show some situation-dependent beneficial realizations. In order to use ... More
Improving Usability, Efficiency, and Safety of UAV Path Planning through a Virtual Reality InterfaceApr 18 2019As the capability and complexity of UAVs continue to increase, the human-robot interface community has a responsibility to design better ways of specifying the complex 3D flight paths necessary for instructing them. Immersive interfaces, such as those ... More
Metrics for the Evaluation of localisation RobustnessApr 18 2019Robustness and safety are crucial properties for the real-world application of autonomous vehicles. One of the most critical components of any autonomous system is localisation. During the last 20 years there has been significant progress in this area ... More
A Game Theoretical Framework for the Evaluation of Unmanned Aircraft Systems Airspace Integration ConceptsApr 17 2019Predicting the outcomes of integrating Unmanned Aerial Systems (UAS) into the National Aerospace (NAS) is a complex problem which is required to be addressed by simulation studies before allowing the routine access of UAS into the NAS. This thesis focuses ... More
Event-based Vision: A SurveyApr 17 2019Event cameras are bio-inspired sensors that work radically different from traditional cameras. Instead of capturing images at a fixed rate, they measure per-pixel brightness changes asynchronously. This results in a stream of events, which encode the ... More
Gaze Training by Modulated Dropout Improves Imitation LearningApr 17 2019Imitation learning by behavioral cloning is a prevalent method which has achieved some success in vision-based autonomous driving. The basic idea behind behavioral cloning is to have the neural network learn from observing a human expert's behavior. Typically, ... More
Decoupled Data Based Approach for Learning to Control Nonlinear Dynamical SystemsApr 17 2019This paper addresses the problem of learning the optimal control policy for a nonlinear stochastic dynamical system with continuous state space, continuous action space and unknown dynamics. This class of problems are typically addressed in stochastic ... More
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based PlannerApr 17 2019Despite the great progress in quadrupedal robotics during the last decade, selecting good contacts (footholds) in highly uneven and cluttered environments still remains an open challenge. This paper builds upon a state-of-the-art approach, already successfully ... More
3D Object Recognition with Ensemble Learning --- A Study of Point Cloud-Based Deep Learning ModelsApr 17 2019In this study, we present an analysis of model-based ensemble learning for 3D point-cloud object classification and detection. An ensemble of multiple model instances is known to outperform a single model instance, but there is little study of the topic ... More
Explicit Motion Risk RepresentationApr 16 2019This paper presents a formal definition and explicit representation of robot motion risk. Currently, robot motion risk has not been formally defined, but has already been used in motion and path planning. Risk is either implicitly represented as model ... More
Benchmarking Tether-based UAV Motion PrimitivesApr 16 2019This paper proposes and benchmarks two tether-based motion primitives for tethered UAVs to execute autonomous flight with proprioception only. Tethered UAVs have been studied mainly due to power and safety considerations. Tether is either not included ... More
End-to-End Robotic Reinforcement Learning without Reward EngineeringApr 16 2019The combination of deep neural network models and reinforcement learning algorithms can make it possible to learn policies for robotic behaviors that directly read in raw sensory inputs, such as camera images, effectively subsuming both estimation and ... More
Predicting GNSS satellite visibility from densepoint cloudsApr 16 2019To help future mobile agents plan their movement in harsh environments, a predictive model has been designed to determine what areas would be favorable for \ac{GNSS} positioning. The model is able to predict the number of viable satellites for a \ac{GNSS} ... More
Large-scale 3D Mapping of Sub-arctic ForestsApr 16 2019The ability to map challenging sub-arctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, we explore possibilities of large-scale lidar mapping in a boreal forest. ... More
Energy-Efficient Slithering Gait Exploration for a Snake-like Robot based on Reinforcement LearningApr 16 2019Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly redundant degrees ... More
Relation-Shape Convolutional Neural Network for Point Cloud AnalysisApr 16 2019Point cloud analysis is very challenging, as the shape implied in irregular points is difficult to capture. In this paper, we propose RS-CNN, namely, Relation-Shape Convolutional Neural Network, which extends regular grid CNN to irregular configuration ... More
Robust nonlinear control of close formation flightApr 16 2019This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices generated by a leader ... More
Suction Grasp Region Prediction using Self-supervised Learning for Object Picking in Dense ClutterApr 16 2019This paper focuses on robotic picking tasks in cluttered scenario. Because of the diversity of poses, types of stack and complicated background in bin picking situation, it is much difficult to recognize and estimate their pose before grasping them. Here, ... More
Combining RGB and Points to Predict Grasping Region for Robotic Bin-PickingApr 16 2019This paper focuses on a robotic picking tasks in cluttered scenario. Because of the diversity of objects and clutter by placing, it is much difficult to recognize and estimate their pose before grasping. Here, we use U-net, a special Convolution Neural ... More
Speed and Separation Monitoring using on-robot Time--of--Flight laser--ranging sensor arraysApr 16 2019In this paper, a speed and separation monitoring (SSM) based safety controller using three time-of-flight ranging sensor arrays fastened to the robot links, is implemented. Based on the human-robot minimum distance and their relative velocities, a controller ... More
Efficient Supervision for Robot Learning via Imitation, Simulation, and AdaptationApr 15 2019Recent successes in machine learning have led to a shift in the design of autonomous systems, improving performance on existing tasks and rendering new applications possible. Data-focused approaches gain relevance across diverse, intricate applications ... More
Optimization Model for Planning Precision Grasps with Multi-Fingered HandsApr 15 2019Precision grasps with multi-fingered hands are important for precise placement and in-hand manipulation tasks. Searching precision grasps on the object represented by point cloud, is challenging due to the complex object shape, high-dimensionality, collision ... More
Learning Probabilistic Multi-Modal Actor Models for Vision-Based Robotic GraspingApr 15 2019Many previous works approach vision-based robotic grasping by training a value network that evaluates grasp proposals. These approaches require an optimization process at run-time to infer the best action from the value network. As a result, the inference ... More
Rigid Body Motion Prediction with Planar Non-convex Contact PatchApr 15 2019We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch can either be ... More
An LGMD Based Competitive Collision Avoidance Strategy for UAVApr 15 2019Building a reliable and efficient collision avoidance system for unmanned aerial vehicles (UAVs) is still a challenging problem. This research takes inspiration from locusts, which can fly in dense swarms for hundreds of miles without collision. In the ... More
Reinforcement Learning with Probabilistic Guarantees for Autonomous DrivingApr 15 2019Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the performance ... More
Synthetic Neural Vision System Design for Motion Pattern Recognition in Dynamic Robot ScenesApr 15 2019Insects have tiny brains but complicated visual systems for motion perception. A handful of insect visual neurons have been computationally modeled and successfully applied for robotics. How different neurons collaborate on motion perception, is an open ... More
Learning to Generate Unambiguous Spatial Referring Expressions for Real-World EnvironmentsApr 15 2019Referring to objects in a natural and unambiguous manner is crucial for effective human-robot interaction. Previous research on learning-based referring expressions has focused primarily on comprehension tasks, while generating referring expressions is ... More
Multi-Objective Autonomous Braking System using Naturalistic DatasetApr 15 2019A deep reinforcement learning based multi-objective autonomous braking system is presented. The design of the system is formulated in a continuous action space and seeks to maximize both pedestrian safety and perception as well as passenger comfort. The ... More
Focus Is All You Need: Loss Functions For Event-based VisionApr 15 2019Event cameras are novel vision sensors that output pixel-level brightness changes ("events") instead of traditional video frames. These asynchronous sensors offer several advantages over traditional cameras, such as, high temporal resolution, very high ... More
Tightly Coupled 3D Lidar Inertial Odometry and MappingApr 15 2019Ego-motion estimation is a fundamental requirement for most mobile robotic applications. By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable estimations. We introduce a tightly coupled lidar-IMU fusion ... More
Learning Whole-Image Descriptors for Real-time Loop Detection andKidnap Recovery under Large Viewpoint DifferenceApr 15 2019We present a real-time stereo visual-inertial-SLAM system which is able to recover from complicatedkidnap scenarios and failures online in realtime. We propose to learn the whole-image-descriptorin a weakly supervised manner based on NetVLAD and decoupled ... More
Learning to Navigate in Indoor Environments: from Memorizing to ReasoningApr 15 2019Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique to realize the ... More
Learning to Navigate in Indoor Environments: from Memorizing to ReasoningApr 15 2019Apr 16 2019Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique to realize the ... More
Learning to Guide: Guidance Law Based on Deep Meta-learning and Model Predictive Path Integral ControlApr 15 2019In this paper, we present a novel guidance scheme based on model-based deep reinforcement learning (RL) technique. With model-based deep RL method, a deep neural network is trained as a predictive model of guidance dynamics which is incorporated into ... More
Improving interactive reinforcement learning: What makes a good teacher?Apr 15 2019Interactive reinforcement learning has become an important apprenticeship approach to speed up convergence in classic reinforcement learning problems. In this regard, a variant of interactive reinforcement learning is policy shaping which uses a parent-like ... More
Curious iLQR: Resolving Uncertainty in Model-based RLApr 15 2019Curiosity as a means to explore during reinforcement learning problems has recently become very popular. However, very little progress has been made in utilizing curiosity for learning control. In this work, we propose a model-based reinforcement learning ... More
A Comparison of Policy Search in Joint Space and Cartesian Space for Refinement of SkillsApr 14 2019Imitation learning is a way to teach robots skills that are demonstrated by humans. Transfering skills between these different kinematic structures seems to be straightforward in Cartesian space. Because of the correspondence problem, however, the result ... More
Learning to Engage with Interactive Systems: A field StudyApr 14 2019Physical agents that can autonomously generate engaging, life-like behaviour will lead to more responsive and interesting robots and other autonomous systems. Although many advances have been made for one-to-one interactions in well controlled settings, ... More
Dot-to-Dot: Achieving Structured Robotic Manipulation through Hierarchical Reinforcement LearningApr 14 2019Robotic systems are ever more capable of automation and fulfilment of complex tasks, particularly with reliance on recent advances in intelligent systems, deep learning and artificial intelligence in general. However, as robots and humans come closer ... More
Online Sampling in the Parameter Space of a Neural Network for GPU-accelerated Motion Planning of Autonomous VehiclesApr 14 2019This paper proposes online sampling in the parameter space of a neural network for GPU-accelerated motion planning of autonomous vehicles. Neural networks are used as controller parametrization since they can handle nonlinear non-convex systems and their ... More
Quasi-static Analysis of Planar Sliding Using Friction PatchesApr 14 2019Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger and a flat ... More
Combining Physical Simulators and Object-Based Networks for ControlApr 13 2019Physics engines play an important role in robot planning and control; however, many real-world control problems involve complex contact dynamics that cannot be characterized analytically. Most physics engines therefore employ . approximations that lead ... More
Direct Sparse MappingApr 13 2019Photometric bundle adjustment, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, DSM, a full monocular visual SLAM based on PBA. Its persistent map handles ... More
On Model Adaptation for Sensorimotor Control of RobotsApr 13 2019In this article, we address the problem of computing adaptive sensorimotor models that can be used for guiding the motion of robotic systems with uncertain action-to-perception relations. The formulation of the uncalibrated sensor-based control problem ... More
Visual-Inertial Mapping with Non-Linear Factor RecoveryApr 13 2019Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems more accurate and robust. For globally consistent mapping, however, combining ... More
Real-time Model-based Image Color Correction for Underwater RobotsApr 12 2019Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This paper proposes ... More
On the Calibration of Force/Torque Sensors in RoboticsApr 12 2019We present and analyze methods for the kinematic and kinetostatic calibration of, typically, wrist mounted force/torque sensors in robotics. The algorithms are based on matrix factorization and require no special equipment. The only requirement is the ... More
Management of mobile resources in Physical Internet logistic modelsApr 12 2019This paper deals with the concept of a 'Physical Internet', the idea of building large logistics systems like the very successful Digital Internet network. The idea is to handle mobile resources, such as containers, just like Internet data packets. Thus, ... More
Interaction-aware Decision Making with Adaptive Strategies under Merging ScenariosApr 12 2019In order to drive safely and efficiently under merging scenarios, autonomous vehicles should be aware of their surroundings and make decisions by interacting with other road participants. Moreover, different strategies should be made when the autonomous ... More
Real-Time Dense Stereo Embedded in A UAV for Road InspectionApr 12 2019The condition assessment of road surfaces is essential to ensure their serviceability while still providing maximum road traffic safety. This paper presents a robust stereo vision system embedded in an unmanned aerial vehicle (UAV). The perspective view ... More
Probabilistic Permutation Synchronization using the Riemannian Structure of the Birkhoff PolytopeApr 11 2019We present an entirely new geometric and probabilistic approach to synchronization of correspondences across multiple sets of objects or images. In particular, we present two algorithms: (1) Birkhoff-Riemannian L-BFGS for optimizing the relaxed version ... More
Autonomous Robot Navigation with Rich Information Mapping in Nuclear Storage EnvironmentsApr 11 2019This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an autonomous navigation ... More
Safe, Aggressive Quadrotor Flight via Reachability-based Trajectory DesignApr 11 2019Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is executed while ... More
Controller Design and Implementation of a New Quadrotor Manipulation SystemApr 11 2019The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the end-effector ... More
Learning to Take Good Pictures of People with a Robot PhotographerApr 11 2019We present a robotic system capable of navigating autonomously by following a line and taking good quality pictures of people. When a group of people are detected, the robot rotates towards them and then back to line while continuously taking pictures ... More
ViTa-SLAM: Biologically-Inspired Visuo-Tactile SLAMApr 11 2019In this work, we propose a novel, bio-inspired multi-sensory SLAM approach called ViTa-SLAM. Compared to other multisensory SLAM variants, this approach allows for a seamless multi-sensory information fusion whilst naturally interacting with the environment. ... More
Efficient LiDAR data compression for embedded V2I or V2V data handlingApr 11 2019LiDAR are increasingly being used in intelligent vehicles (IV) or intelligent transportation systems (ITS). Storage and transmission of data generated by LiDAR sensors are one of the most challenging aspects of their deployment. In this paper we present ... More
Improvisation through Physical Understanding: Using Novel Objects as Tools with Visual ForesightApr 11 2019Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to previously unseen ... More
Game-Theoretic Modeling of Multi-Vehicle Interactions at Uncontrolled IntersectionsApr 10 2019Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle interactions at uncontrolled ... More
Automatic 3D Mapping for Tree Diameter Measurements in Inventory OperationsApr 10 2019Forestry is a major industry in many parts of the world. It relies on forest inventory, which consists of measuring tree attributes. We propose to use 3D mapping, based on the iterative closest point algorithm, to automatically measure tree diameters ... More
Indoor Testing and Simulation Platform for Close-distance Visual Inspection of Complex Structures using Micro Quadrotor UAVApr 10 2019In recent years, using drone, also known as unmanned aerial vehicle (UAV), in close-distance visual inspection has became an active area in many disciplines. However, many challenges still remain before we can achieve autonomous inspection, especially ... More
Compare Contact Model-based Control and Contact Model-free Learning: A Survey of Robotic Peg-in-hole Assembly StrategiesApr 10 2019In this paper, we present an overview of robotic peg-in-hole assembly and analyze two main strategies: contact model-based and contact model-free strategies. More specifically, we first introduce the contact model control approaches, including contact ... More
Novel Quadrotor Manipulation SystemApr 10 2019This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses ... More
Differential Dynamic Programming for Multi-Phase Rigid Contact DynamicsApr 10 2019A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the whole-body trajectory ... More
Depth from Videos in the Wild: Unsupervised Monocular Depth Learning from Unknown CamerasApr 10 2019We present a novel method for simultaneous learning of depth, egomotion, object motion, and camera intrinsics from monocular videos, using only consistency across neighboring video frames as supervision signal. Similarly to prior work, our method learns ... More
Vision-model-based Real-time Localization of Unmanned Aerial Vehicle for Autonomous Structure Inspection under GPS-denied EnvironmentApr 10 2019UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong GPS signal is ... More
Asymptotic Optimality of a Time Optimal Path Parametrization AlgorithmApr 10 2019Time Optimal Path Parametrization is the problem of minimizing the time interval during which an actuation constrained agent can traverse a given path. Recently, an efficient linear-time algorithm for solving this problem was proposed. However, its optimality ... More
POSEAMM: A Unified Framework for Solving Pose Problems using an Alternating Minimization MethodApr 09 2019Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central. State-of-the-art methods ... More
3D Object Instance Recognition and Pose Estimation Using Triplet Loss with Dynamic MarginApr 09 2019In this paper, we address the problem of 3D object instance recognition and pose estimation of localized objects in cluttered environments using convolutional neural networks. Inspired by the descriptor learning approach of Wohlhart et al., we propose ... More
Active Domain RandomizationApr 09 2019Domain randomization is a popular technique for improving domain transfer, often used in a zero-shot setting when the target domain is unknown or cannot easily be used for training. In this work, we empirically examine the effects of domain randomization ... More
Hierarchical Planning of Dynamic Movements without Scheduled Contact SequencesApr 09 2019Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a hierarchical trajectory ... More
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex OptimizationApr 09 2019Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the generation of ... More
Simultaneous drone localisation and wind turbine model fitting during autonomous surface inspectionApr 09 2019We present a method for simultaneous localisation and wind turbine model fitting for a drone performing an automated surface inspection. We use a skeletal parameterisation of the turbine that can be easily integrated into a non-linear least squares optimiser, ... More
Embodied Visual RecognitionApr 09 2019Passive visual systems typically fail to recognize objects in the amodal setting where they are heavily occluded. In contrast, humans and other embodied agents have the ability to move in the environment, and actively control the viewing angle to better ... More
Collision-aware Task Assignment for Multi-Robot SystemsApr 08 2019We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a collision cone, we predict potential collisions and introduce a binary ... More
3D mapping for multi hybrid robot cooperationApr 08 2019This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV camera data are ... More
A Time-Segmented Consortium Blockchain for Robotic Event RegistrationApr 08 2019A blockchain, during its lifetime, records large amounts of data, that in a common usage its kept on its entirety. In a robotics environment, the old information is useful for human evaluation, or oracles interfacing with the blockchain but it is not ... More
3D Local Features for Direct Pairwise RegistrationApr 08 2019We present a novel, data driven approach for solving the problem of registration of two point cloud scans. Our approach is direct in the sense that a single pair of corresponding local patches already provides the necessary transformation cue for the ... More
Rapid Collision Detection for Multicopter TrajectoriesApr 08 2019We present an algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory generation method to achieve rapid, obstacle-aware ... More
Spatio-Temporal Multisensor Calibration Based on Gaussian Processes Moving Object TrackingApr 08 2019Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for reliability and ... More
CoUAV: A Cooperative UAV Fleet Control and Monitoring PlatformApr 08 2019In the past decade, unmanned aerial vehicles (UAVs) have been widely used in various civilian applications, most of which only require a single UAV. In the near future, it is expected that more and more applications will be enabled by the cooperation ... More
Evolved embodied phase coordination enables robust quadruped robot locomotionApr 08 2019Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically design such control ... More
Evolved embodied phase coordination enables robust quadruped robot locomotionApr 08 2019Apr 11 2019Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically design such control ... More
A Hybrid Compositional Approach to Optimal Mission Planning for Multi-rotor UAVs using Metric Temporal LogicApr 08 2019This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment. Metric Temporal ... More
Kinematic Synthesis of Parallel Manipulator via Neural Network ApproachApr 08 2019In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with ... More
Real-time Soft Robot 3D Proprioception via Deep Vision-based SensingApr 08 2019The soft robots are welcomed in many robotic applications because of their high flexibility, which also poses a long-standing challenge on their proprioception, or measuring the real-time 3D shapes of the soft robots from internal sensors. The challenge ... More
Quasi-Direct Drive for Low-Cost Compliant Robotic ManipulationApr 08 2019Apr 11 2019Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human environments at low-cost. ... More
Quasi-Direct Drive for Low-Cost Compliant Robotic ManipulationApr 08 2019Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human environments at low-cost. ... More