Robotics

Authors and titles for August 2021

[101] arXiv:2108.04097 [pdf, other]

Title: Deep Learning for Embodied Vision Navigation: A Survey

Fengda Zhu, Yi Zhu, Vincent CS Lee, Xiaodan Liang, Xiaojun Chang

Comments: 20 pages

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

[102] arXiv:2108.04145 [pdf, other]

Title: Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances

Aidan Curtis, Xiaolin Fang, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Caelan Reed Garrett

Comments: The first two authors contributed equally and are listed in alphabetical order

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

[103] arXiv:2108.04531 [pdf, other]

Title: Serverless Architecture for Service Robot Management System

Kenji Nishimiya, Yuta Imai

Journal-ref: ICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xian, China

Subjects: Robotics (cs.RO)

[104] arXiv:2108.04537 [pdf, other]

Title: Time-Optimal Planning for Quadrotor Waypoint Flight

Philipp Foehn, Angel Romero, Davide Scaramuzza

Comments: Narrated video footage available at this https URL. Code available at this https URL. arXiv admin note: text overlap with arXiv:2007.06255

Journal-ref: Published in Science Robotics, 21 Jul 2021, Vol. 6, Issue 56

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

[105] arXiv:2108.04567 [pdf, html, other]

Title: Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control

Keyhan Kouhkiloui Babarahmati, Mohammadreza Kasaei, Carlo Tiseo, Michael Mistry, Sethu Vijayakumar

Subjects: Robotics (cs.RO)

[106] arXiv:2108.04629 [pdf, other]

Title: Roadside-assisted Cooperative Planning using Future Path Sharing for Autonomous Driving

Mai Hirata, Manabu Tsukada, Keisuke Okumura, Yasumasa Tamura, Hideya Ochiai, Xavier Défago

Comments: Accepted to IEEE 94th Vehicular Technology Conference (VTC2021-Fall)

Subjects: Robotics (cs.RO)

[107] arXiv:2108.04632 [pdf, other]

Title: MSTC*:Multi-robot Coverage Path Planning under Physical Constraints

Jingtao Tang, Chun Sun, Xinyu Zhang

Comments: To be appeared in ICRA 2021

Subjects: Robotics (cs.RO)

[108] arXiv:2108.04695 [pdf, other]

Title: Recognizing Orientation Slip in Human Demonstrations

Michael Hagenow, Bolun Zhang, Bilge Mutlu, Michael Gleicher, Michael Zinn

Comments: 2021 International Conference on Robotics and Automation (ICRA 2021)

Subjects: Robotics (cs.RO)

[109] arXiv:2108.04792 [pdf, other]

Title: Learning Autonomous Mobility Using Real Demonstration Data

Jiacheng Gu, Zhibin Li

Subjects: Robotics (cs.RO)

[110] arXiv:2108.04857 [pdf, other]

Title: An experimental study of two predictive reinforcement learning methods and comparison with model-predictive control

Dmitrii Dobriborsci, Pavel Osinenko

Subjects: Robotics (cs.RO); Dynamical Systems (math.DS)

[111] arXiv:2108.04867 [pdf, other]

Title: AuraSense: Robot Collision Avoidance by Full Surface Proximity Detection

Xiaoran Fan, Riley Simmons-Edler, Daewon Lee, Larry Jackel, Richard Howard, Daniel Lee

Comments: Accepted to IROS 2021

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Computer Vision and Pattern Recognition (cs.CV); Machine Learning (cs.LG); Sound (cs.SD)

[112] arXiv:2108.05013 [pdf, other]

Title: Elastic Tactile Simulation Towards Tactile-Visual Perception

Yikai Wang, Wenbing Huang, Bin Fang, Fuchun Sun, Chang Li

Comments: ACMMM 2021 (Oral). Code available at this https URL. arXiv admin note: substantial text overlap with arXiv:2011.11528

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

[113] arXiv:2108.05030 [pdf, other]

Title: DQ-GAT: Towards Safe and Efficient Autonomous Driving with Deep Q-Learning and Graph Attention Networks

Peide Cai, Hengli Wang, Yuxiang Sun, Ming Liu

Comments: Accepted to IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2022

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG); Systems and Control (eess.SY)

[114] arXiv:2108.05047 [pdf, other]

Title: Road Mapping and Localization using Sparse Semantic Visual Features

Wentao Cheng, Sheng Yang, Maomin Zhou, Ziyuan Liu, Yiming Chen, Mingyang Li

Comments: Published at IEEE ROBOTICS AND AUTOMATION LETTERS

Subjects: Robotics (cs.RO)

[115] arXiv:2108.05118 [pdf, other]

Title: Capture Uncertainties in Deep Neural Networks for Safe Operation of Autonomous Driving Vehicles

Liuhui Ding, Dachuan Li, Bowen Liu, Wenxing Lan, Bing Bai, Qi Hao, Weipeng Cao, Ke Pei

Comments: To appear in the 19th IEEE International Symposium on Parallel and Distributed Processing with Applications (IEEE ISPA 2021)

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

[116] arXiv:2108.05145 [pdf, other]

Title: Prioritized SIPP for Multi-Agent Path Finding With Kinematic Constraints

Zain Alabedeen Ali, Konstantin Yakovlev

Comments: 13 pages, 3 figures, ICR 2021

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

[117] arXiv:2108.05188 [pdf, other]

Title: Minimization of GNSS-Denied Inertial Navigation Errors for Fixed Wing Autonomous Unmanned Air Vehicles

Eduardo Gallo, Antonio Barrientos

Comments: 43 pages, 30 figures

Journal-ref: Aerospace Science and Technology 120 (2022) 107237

Subjects: Robotics (cs.RO)

[118] arXiv:2108.05218 [pdf, other]

Title: Estimation and Navigation Methods with Limited Information for Autonomous Urban Driving

Jordan Chipka

Comments: PhD dissertation

Subjects: Robotics (cs.RO)

[119] arXiv:2108.05322 [pdf, other]

Title: Mathematical modelling and virtual decomposition control of heavy-duty parallel$-$serial hydraulic manipulators

Goran R. Petrović, Jouni Mattila

Comments: 32 pages, 16 figures

Journal-ref: Mechanism and Machine Theory; Volume 170; 2022; 104680; ISSN 0094-114X

Subjects: Robotics (cs.RO)

[120] arXiv:2108.05457 [pdf, other]

Title: Low-level Pose Control of Tilting Multirotor for Wall Perching Tasks Using Reinforcement Learning

Hyungyu Lee, Myeongwoo Jeong, Chanyoung Kim, Hyungtae Lim, Changgue Park, Sungwon Hwang, Hyun Myung

Comments: 8page, IROS2021 contributed paper

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

[121] arXiv:2108.05505 [pdf, other]

Title: Agile Formation Control of Drone Flocking Enhanced with Active Vision-based Relative Localization

Peihan Zhang, Gang Chen, Yuzhu Li, Wei Dong

Subjects: Robotics (cs.RO)

[122] arXiv:2108.05518 [pdf, other]

Title: An Earthworm-Inspired Multi-Mode Underwater Locomotion Robot: Design, Modeling, and Experiments

Hongbin Fang, Zihan He, Jian Xu

Comments: 25 pages, 14 figures

Subjects: Robotics (cs.RO)

[123] arXiv:2108.05529 [pdf, other]

Title: Robotic Testbed for Rendezvous and Optical Navigation: Multi-Source Calibration and Machine Learning Use Cases

Tae Ha Park, Juergen Bosse, Simone D'Amico

Comments: Presented at 2021 AAS/AIAA Astrodynamics Specialist Conference, Big Sky, Virtual, August 9-11 (2021)

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

[124] arXiv:2108.05539 [pdf, other]

Title: Put the Bear on the Chair! Intelligent Robot Interaction with Previously Unseen Chairs via Robot Imagination

Hongtao Wu, Xin Meng, Sipu Ruan, Gregory Chirikjian

Comments: IEEE ICRA 2022. Video demos are available at this https URL

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

[125] arXiv:2108.05560 [pdf, other]

Title: Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor

Hyungtae Lim, Minho Oh, Hyun Myung

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

[126] arXiv:2108.05710 [pdf, other]

Title: Exploration of lane-changing duration for heavy vehicles and passenger cars: a survival analysis approach

Yang Li, Linbo Li, Daiheng Ni

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

[127] arXiv:2108.05711 [pdf, other]

Title: Hierarchical automatic lane-changing motion planning: from self-optimum to local-optimum

Yang Li, Linbo Li, Daiheng Ni, Wenxuang Wang

Comments: 24 pages 16 figures

Subjects: Robotics (cs.RO)

[128] arXiv:2108.05713 [pdf, other]

Title: Towards real-world navigation with deep differentiable planners

Shu Ishida, João F. Henriques

Comments: Published in CVPR 2022 (Conference on Computer Vision and Pattern Recognition)

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

[129] arXiv:2108.05756 [pdf, other]

Title: COVINS: Visual-Inertial SLAM for Centralized Collaboration

Patrik Schmuck, Thomas Ziegler, Marco Karrer, Jonathan Perraudin, Margarita Chli

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

[130] arXiv:2108.05792 [pdf, other]

Title: From market-ready ROVs to low-cost AUVs

Jonatan Scharff Willners, Ignacio Carlucho, Tomasz Łuczyński, Sean Katagiri, Chandler Lemoine, Joshua Roe, Dylan Stephens, Shida Xu, Yaniel Carreno, Èric Pairet, Corina Barbalata, Yvan Petillot, Sen Wang

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

[131] arXiv:2108.05814 [pdf, other]

Title: Decoder Fusion RNN: Context and Interaction Aware Decoders for Trajectory Prediction

Edoardo Mello Rella (1), Jan-Nico Zaech (1), Alexander Liniger (1), Luc Van Gool (1 and 2) ((1) Computer Vision Lab, ETH Züurich (2) PSI, KU Leuven)

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

[132] arXiv:2108.05868 [pdf, other]

Title: A Semi-Lagrangian Approach for the Minimal Exposure Path Problem in Wireless Sensor Networks

Armando Alves Neto, Víctor C. da Silva Campos, Douglas G. Macharet

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

[133] arXiv:2108.05875 [pdf, other]

Title: Distributional Depth-Based Estimation of Object Articulation Models

Ajinkya Jain, Stephen Giguere, Rudolf Lioutikov, Scott Niekum

Comments: In the proceedings of the 5th Annual Conference on Robot Learning (CoRL), 2021. Project webpage: this https URL . 18 pages, 10 figures, 4 tables

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

[134] arXiv:2108.05962 [pdf, other]

Title: DRQN-based 3D Obstacle Avoidance with a Limited Field of View

Yu'an Chen, Guangda Chen, Lifan Pan, Jun Ma, Yu Zhang, Yanyong Zhang, Jianmin Ji

Comments: 7 pages, 5 figures

Subjects: Robotics (cs.RO)

[135] arXiv:2108.05971 [pdf, other]

Title: Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization

Amir Yazdani, Roya Sabbagh Novin, Andrew Merryweather, Tucker Hermans

Comments: Presented at AI-HRI symposium as part of AAAI-FSS 2021 (arXiv:2109.10836)

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Human-Computer Interaction (cs.HC); Machine Learning (cs.LG)

[136] arXiv:2108.06038 [pdf, other]

Title: Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration

Chen Wang, Claudia Pérez-D'Arpino, Danfei Xu, Li Fei-Fei, C. Karen Liu, Silvio Savarese

Comments: CoRL 2021

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

[137] arXiv:2108.06056 [pdf, other]

Title: Package Delivery Using Autonomous Drones in Skyways

Woojin Lee, Balsam Alkouz, Babar Shahzaad, Athman Bouguettaya

Comments: 2 pages, 5 figures. This is an accepted demo paper and it is going to appear in the Proceedings of 2021 ACM International Joint Conference on Pervasive and Ubiquitous Computing (UbiComp21)

Subjects: Robotics (cs.RO)

[138] arXiv:2108.06078 [pdf, other]

Title: Piecewise Linear De-skewing for LiDAR Inertial Odometry

John Henawy, Zhengguo Li, Wei Yun Yau, Gerald Seet, Kong Wah Wan

Comments: 9 pages, 7 figures, Accepted for publication by IEEE Intelligent Transportation Systems Conference (ITSC 2021)

Subjects: Robotics (cs.RO)

[139] arXiv:2108.06105 [pdf, other]

Title: Image-Goal Navigation in Complex Environments via Modular Learning

Qiaoyun Wu, Jun Wang, Jing Liang, Xiaoxi Gong, Dinesh Manocha

Comments: 9 pages

Subjects: Robotics (cs.RO)

[140] arXiv:2108.06161 [pdf, other]

Title: Reinforcement Learning for Robot Navigation with Adaptive Forward Simulation Time (AFST) in a Semi-Markov Model

Yu'an Chen, Ruosong Ye, Ziyang Tao, Hongjian Liu, Guangda Chen, Jie Peng, Jun Ma, Yu Zhang, Jianmin Ji, Yanyong Zhang

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

[141] arXiv:2108.06266 [pdf, other]

Title: Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning

Lukas Brunke, Melissa Greeff, Adam W. Hall, Zhaocong Yuan, Siqi Zhou, Jacopo Panerati, Angela P. Schoellig (University of Toronto Institute for Aerospace Studies, University of Toronto Robotics Institute, Vector Institute for Artificial Intelligence)

Comments: 36 pages, 8 figures

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

[142] arXiv:2108.06442 [pdf, other]

Title: The Geometric Structure of Externally Actuated Planar Locomoting Systems in Ambient Media

Blake Buchanan, Tony Dear, Scott Kelly, Matthew Travers, Howie Choset

Subjects: Robotics (cs.RO); Chaotic Dynamics (nlin.CD)

[143] arXiv:2108.06478 [pdf, other]

Title: Sharing Cognition: Human Gesture and Natural Language Grounding Based Planning and Navigation for Indoor Robots

Gourav Kumar, Soumyadip Maity, Ruddra dev Roychoudhury, Brojeshwar Bhowmick

Subjects: Robotics (cs.RO)

[144] arXiv:2108.06532 [pdf, other]

Title: Data Generation for Learning to Grasp in a Bin-picking Scenario

Yiting Chen, Miao Li

Comments: 3 pages, workshop

Subjects: Robotics (cs.RO)

[145] arXiv:2108.06533 [pdf, other]

Title: Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian Belief Space Planning

Jianyu Chen, Yutaka Shimizu, Liting Sun, Masayoshi Tomizuka, Wei Zhan

Comments: IROS 2021

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

[146] arXiv:2108.06577 [pdf, other]

Title: Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers

Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond, Allison M. Okamura, Mac Schwager

Comments: Submitted to IEEE T-RO

Subjects: Robotics (cs.RO)

[147] arXiv:2108.06616 [pdf, other]

Title: Monocular visual autonomous landing system for quadcopter drones using software in the loop

Miguel Saavedra-Ruiz, Ana Mario Pinto-Vargas, Victor Romero-Cano

Comments: IEEE aerospace and electronic systems

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

[148] arXiv:2108.06618 [pdf, other]

Title: Adaptive Selection of Informative Path Planning Strategies via Reinforcement Learning

Taeyeong Choi, Grzegorz Cielniak

Comments: Published in the proceedings of ECMR 2021

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

[149] arXiv:2108.06652 [pdf, other]

Title: Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots

Shunpeng Yang, Hua Chen, Zhen Fu, Wei Zhang

Comments: IROS 2021, 8 pages

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

[150] arXiv:2108.06699 [pdf, other]

Title: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain

Jiunn-Kai Huang, Jessy W. Grizzle

Subjects: Robotics (cs.RO)