Robotics

Authors and titles for August 2021

[1] arXiv:2108.00083 [pdf, other]

Title: Majorization Minimization Methods for Distributed Pose Graph Optimization

Taosha Fan, Todd Murphey

Comments: 33 pages

Subjects: Robotics (cs.RO); Optimization and Control (math.OC)

[2] arXiv:2108.00133 [pdf, other]

Title: Online Spatio-temporal Calibration of Tightly-coupled Ultrawideband-aided Inertial Localization

Abhishek Goudar, Angela P. Schoellig

Subjects: Robotics (cs.RO)

[3] arXiv:2108.00159 [pdf, other]

Title: Learning Embeddings that Capture Spatial Semantics for Indoor Navigation

Vidhi Jain, Prakhar Agarwal, Shishir Patil, Katia Sycara

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[4] arXiv:2108.00276 [pdf, other]

Title: Risk Averse Bayesian Reward Learning for Autonomous Navigation from Human Demonstration

Christian Ellis, Maggie Wigness, John G. Rogers III, Craig Lennon, Lance Fiondella

Subjects: Robotics (cs.RO)

[5] arXiv:2108.00285 [pdf, other]

Title: Planning of Power Grasps Using Infinite Program Under Complementary Constraints

Zherong Pan, Duo Zhang, Changhe Tu, Xifeng Gao

Comments: 8 pages, 5 figures

Subjects: Robotics (cs.RO)

[6] arXiv:2108.00301 [pdf, other]

Title: Improving Grasp Stability with Rotation Measurement from Tactile Sensing

Raj Kolamuri, Zilin Si, Yufan Zhang, Arpit Agarwal, Wenzhen Yuan

Subjects: Robotics (cs.RO)

[7] arXiv:2108.00309 [pdf, other]

Title: Motion Planning for Variable Topology Trusses: Reconfiguration and Locomotion

Chao Liu, Sencheng Yu, Mark Yim

Comments: 20 pages, 36 figures

Journal-ref: IEEE Transactions on Robotics, vol. 39, no. 3, pp. 2020-2039, June 2023

Subjects: Robotics (cs.RO)

[8] arXiv:2108.00346 [pdf, other]

Title: Desperate Times Call for Desperate Measures: Towards Risk-Adaptive Task Allocation

Max Rudolph, Sonia Chernova, Harish Ravichandar

Comments: Accepted for IROS 2021

Subjects: Robotics (cs.RO); Multiagent Systems (cs.MA)

[9] arXiv:2108.00348 [pdf, other]

Title: Penalty-based Numerical Representation of Rigid Body Interactions with Applications to Simulation of Robotic Grasping

Michael Zechmair, Yannick Morel

Comments: 7 pages, 8 figures, conference

Subjects: Robotics (cs.RO)

[10] arXiv:2108.00366 [pdf, other]

Title: Agent-aware State Estimation in Autonomous Vehicles

Shane Parr, Ishan Khatri, Justin Svegliato, Shlomo Zilberstein

Comments: To appear in IROS 2021

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Multiagent Systems (cs.MA)

[11] arXiv:2108.00380 [pdf, other]

Title: 3D Reactive Control and Frontier-Based Exploration for Unstructured Environments

Shakeeb Ahmad, Andrew B. Mills, Eugene R. Rush, Eric W. Frew, J. Sean Humbert

Comments: Accepted to appear at 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic (8 pages, 9 figures)

Subjects: Robotics (cs.RO); Systems and Control (eess.SY)

[12] arXiv:2108.00385 [pdf, html, other]

Title: Transformer-based deep imitation learning for dual-arm robot manipulation

Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi

Comments: 8 pages. Accepted in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[13] arXiv:2108.00515 [pdf, other]

Title: Powerline Tracking with Event Cameras

Alexander Dietsche, Giovanni Cioffi, Javier Hidalgo-Carrio, Davide Scaramuzza

Comments: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, 2021

Subjects: Robotics (cs.RO)

[14] arXiv:2108.00677 [pdf, other]

Title: Shared-Control Teleoperation Paradigms on a Soft Growing Robot Manipulator

Fabio Stroppa, Mario Selvaggio, Nathaniel Agharese, MingLuo, Laura H. Blumenschein, Elliot W. Hawkes, Allison M. Okamura

Comments: 15 pages, 14 figures

Journal-ref: J Intell Robot Syst 109, 30 (2023)

Subjects: Robotics (cs.RO)

[15] arXiv:2108.00710 [pdf, other]

Title: Multi-Objective Path-Based D* Lite

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset

Comments: 8 pages

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[16] arXiv:2108.00716 [pdf, other]

Title: Orientation-Aware Planning for Parallel Task Execution of Omni-Directional Mobile Robot

Cheng Gong, Zirui Li, Xingyu Zhou, Jiachen Li, Jianwei Gong, Junhui Zhou

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[17] arXiv:2108.00745 [pdf, other]

Title: Multi-objective Conflict-based Search Using Safe-interval Path Planning

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset

Comments: 8 pages

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[18] arXiv:2108.00753 [pdf, other]

Title: Non-linear stiffness modeling of multi-link compliant serial manipulator composed of multiple tensegrity segments

Wanda Zhao (LS2N, ReV), Anatol Pashkevich (LS2N, ReV, IMT Atlantique), Damien Chablat (ReV, LS2N)

Journal-ref: IEEE 2021 International Conference on Automation Science and Engineering, Aug 2021, Lyon, France

Subjects: Robotics (cs.RO)

[19] arXiv:2108.00759 [pdf, other]

Title: Image-based scene recognition for robot navigation considering traversable plants and its manual annotation-free training

Shigemichi Matsuzaki, Hiroaki Masuzawa, Jun Miura

Comments: Accepted by IEEE Access

Subjects: Robotics (cs.RO)

[20] arXiv:2108.00762 [pdf, other]

Title: Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment

Wanda Zhao (LS2N, ReV), Anatol Pashkevich (LS2N, ReV, IMT Atlantique), Damien Chablat (ReV, LS2N)

Journal-ref: 60th Advances in production management systems, APMS 2021, Sep 2021, Nantes, France

Subjects: Robotics (cs.RO)

[21] arXiv:2108.00980 [pdf, other]

Title: Neuromechanical model-based adaptive control of bi-lateral ankle exoskeletons: biological joint torque and electromyogram reduction across walking conditions

Guillaume Durandau, Wolfgang Rampeltshammer, Herman van der Kooij, Massimo Sartori

Comments: 16 pages, 12 figures, 1 table

Subjects: Robotics (cs.RO); Systems and Control (eess.SY)

[22] arXiv:2108.00998 [pdf, other]

Title: "Robot Steganography"?: Opportunities and Challenges

Martin Cooney, Eric Järpe, Alexey Vinel

Subjects: Robotics (cs.RO)

[23] arXiv:2108.01012 [pdf, other]

Title: Rapidly-Exploring Random Graph Next-Best View Exploration for Ground Vehicles

Marco Steinbrink, Philipp Koch, Bernhard Jung, Stefan May

Comments: 7 pages, 6 figures, accepted for the 10th European Conference on Mobile Robots (ECMR 2021), see open-sourced code here: this https URL

Subjects: Robotics (cs.RO)

[24] arXiv:2108.01034 [pdf, other]

Title: An Efficient Image-to-Image Translation HourGlass-based Architecture for Object Pushing Policy Learning

Marco Ewerton, Angel Martínez-González, Jean-Marc Odobez

Comments: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)

[25] arXiv:2108.01067 [pdf, other]

Title: Co-Design of Assistive Robotics with Additive Manufacturing and Cyber-Physical Modularity to Improve Trust

Alexandre Colle, Ronnie Smith, Scott Macleod, Mauro Dragone

Comments: 4 pages workshop paper, REDOUBLE 2021 Roman-2021 August 8th 2021

Subjects: Robotics (cs.RO)

[26] arXiv:2108.01069 [pdf, other]

Title: Self-Supervised Disentangled Representation Learning for Third-Person Imitation Learning

Jinghuan Shang, Michael S. Ryoo

Comments: Preprint. 8 pages. Accepted at IROS 2021

Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV); Machine Learning (cs.LG)

[27] arXiv:2108.01176 [pdf, other]

Title: Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks

Zachary Ravichandran, Lisa Peng, Nathan Hughes, J. Daniel Griffith, Luca Carlone

Comments: Accepted by the International Conference on Robotics and Automation (ICRA) 2022

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[28] arXiv:2108.01225 [pdf, other]

Title: A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM

Jiahui Fu, Qiangqiang Huang, Kevin Doherty, Yue Wang, John J. Leonard

Comments: 8 pages, 8 figures, and 1 table. Accepted to The IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) 2021

Subjects: Robotics (cs.RO)

[29] arXiv:2108.01227 [pdf, other]

Title: Predictive Runtime Monitoring for Mobile Robots using Logic-Based Bayesian Intent Inference

Hansol Yoon, Sriram Sankaranarayanan

Comments: Presented at ICRA 2021

Subjects: Robotics (cs.RO)

[30] arXiv:2108.01233 [pdf, other]

Title: Design and Evaluation of a Hair Combing System Using a General-Purpose Robotic Arm

Nathaniel Dennler, Eura Shin, Maja Matarić, Stefanos Nikolaidis

Comments: Accepted to International Conference on Intelligent Robots and Systems (IROS 2021). 8 pages, 8 figures

Subjects: Robotics (cs.RO)

[31] arXiv:2108.01235 [pdf, other]

Title: Interpretable Trade-offs Between Robot Task Accuracy and Compute Efficiency

Bineet Ghosh, Sandeep Chinchali, Parasara Sridhar Duggirala

Comments: Accepted at IROS 2021

Subjects: Robotics (cs.RO)

[32] arXiv:2108.01246 [pdf, other]

Title: AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments

Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam, Sethu Vijayakumar

Comments: Accepted by IROS-2021

Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

[33] arXiv:2108.01254 [pdf, other]

Title: Desk Organization: Effect of Multimodal Inputs on Spatial Relational Learning

Ryan Rowe, Shivam Singhal, Daqing Yi, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa

Comments: 8 pages, 7 figures

Journal-ref: 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) (pp. 1-8). IEEE

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[34] arXiv:2108.01259 [pdf, other]

Title: Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective

Ziyuan Jiao, Zeyu Zhang, Weiqi Wang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

Comments: 7 pages, 6 figures; IROS 2021

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[35] arXiv:2108.01262 [pdf, other]

Title: SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots

Alexander Schperberg, Stephanie Tsuei, Stefano Soatto, Dennis Hong

Comments: Accepted to IEEE Robotics and Automation Letters (RA-L) 2021. Pre-print version. The video link of the paper is: this https URL

Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV); Machine Learning (cs.LG); Multiagent Systems (cs.MA); Systems and Control (eess.SY)

[36] arXiv:2108.01264 [pdf, other]

Title: Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations

Ziyuan Jiao, Zeyu Zhang, Xin Jiang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

Comments: 7 pages, 6 figures; IROS 2021

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[37] arXiv:2108.01291 [pdf, other]

Title: A Non-uniform Sampling Approach for Fast and Efficient Path Planning

James P. Wilson, Zongyuan Shen, Shalabh Gupta

Subjects: Robotics (cs.RO); Systems and Control (eess.SY)

[38] arXiv:2108.01294 [pdf, other]

Title: An Analysis of Human-Robot Information Streams to Inform Dynamic Autonomy Allocation

Christopher X. Miller, Temesgen Gebrekristos, Michael Young, Enid Montague, Brenna Argall

Comments: 7 pages, 4 figures, IROS 2021 Preprint

Subjects: Robotics (cs.RO)

[39] arXiv:2108.01320 [pdf, other]

Title: Optimization Based Collision Avoidance for Multi-Agent DynamicalSystems in Goal Reaching Task

Adarsh Patnaik, Ashish Ranjan Hota

Comments: 7 pages, 5 figures

Subjects: Robotics (cs.RO); Systems and Control (eess.SY)

[40] arXiv:2108.01338 [pdf, other]

Title: Position Control and Variable-Height Trajectory Tracking of a Soft Pneumatic Legged Robot

Zhichao Liu, Konstantinos Karydis

Comments: 8 pages, 15 figures, accepted to IROS 2021

Subjects: Robotics (cs.RO)

[41] arXiv:2108.01383 [pdf, other]

Title: On the descriptive power of LiDAR intensity images for segment-based loop closing in 3-D SLAM

Jan Wietrzykowski, Piotr Skrzypczyński

Comments: Accepted for publication at IROS 2021

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[42] arXiv:2108.01477 [pdf, other]

Title: ODIP: Towards Automatic Adaptation for Object Detection by Interactive Perception

Tung-I Chen, Jen-Wei Wang, Winston H. Hsu

Journal-ref: IROS 2021

Subjects: Robotics (cs.RO)

[43] arXiv:2108.01481 [pdf, other]

Title: Impact Mitigation for Dynamic Legged Robots with Steel Wire Transmission Using Nonlinear Active Compliance Control

Junjie Yang, Hao sun, Hao An, Changhong Wang

Subjects: Robotics (cs.RO)

[44] arXiv:2108.01483 [pdf, other]

Title: Research Challenges and Progress in Robotic Grasping and Manipulation Competitions

Yu Sun, Joe Falco, Maximo A. Roa, Berk Calli

Comments: Accepted for publication by IEEE Robotics and Automation Letters

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)

[45] arXiv:2108.01495 [pdf, other]

Title: Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Study

Timm Linder, Narunas Vaskevicius, Robert Schirmer, Kai O. Arras

Comments: Accepted for publication at 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

[46] arXiv:2108.01527 [pdf, other]

Title: Double-Dot Network for Antipodal Grasp Detection

Yao Wang, Yangtao Zheng, Boyang Gao, Di Huang

Comments: Preprint. 8 pages. Accepted at IROS 2021

Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV); Machine Learning (cs.LG)

[47] arXiv:2108.01572 [pdf, other]

Title: Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot

Gustavo A. Cardona, Diego S. D'Antonio, Cristian-Ioan Vasile, David Saldaña

Comments: Accepted as Contributed Paper at IROS 2021 Video: this https URL

Subjects: Robotics (cs.RO)

[48] arXiv:2108.01626 [pdf, other]

Title: CPPNet: A Coverage Path Planning Network

Zongyuan Shen, Palash Agrawal, James P. Wilson, Ryan Harvey, Shalabh Gupta

Subjects: Robotics (cs.RO); Systems and Control (eess.SY)

[49] arXiv:2108.01654 [pdf, other]

Title: Comparison of modern open-source visual SLAM approaches

Dinar Sharafutdinov, Mark Griguletskii, Pavel Kopanev, Mikhail Kurenkov, Gonzalo Ferrer, Aleksey Burkov, Aleksei Gonnochenko, Dzmitry Tsetserukou

Comments: Preprint, 19 pages

Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

[50] arXiv:2108.01797 [pdf, other]

Title: Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent

Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti

Subjects: Robotics (cs.RO)