Robotics

Authors and titles for August 2021

[151] arXiv:2108.06728 [pdf, other]

Title: Learning Dynamical System for Grasping Motion

Xiao Gao, Miao Li, Xiaohui Xiao

Comments: IEEE ICRA 2021 Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation II

Subjects: Robotics (cs.RO)

[152] arXiv:2108.06759 [pdf, other]

Title: A Morphing Quadrotor that Can Optimize Morphology for Transportation

Chanyoung Kim, Hyungyu Lee, Myeongwoo Jeong, Hyun Myung

Comments: 7 pages, Accepted at 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

Subjects: Robotics (cs.RO)

[153] arXiv:2108.06789 [pdf, other]

Title: Augmenting GRIPS with Heuristic Sampling for Planning Feasible Trajectories of a Car-Like Robot

Brian Angulo, Konstantin Yakovlev, Ivan Radionov

Comments: 6 pages, 6 figures

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

[154] arXiv:2108.06886 [pdf, other]

Title: Decentralized Multi-AGV Task Allocation based on Multi-Agent Reinforcement Learning with Information Potential Field Rewards

Mengyuan Li, Bin Guo, Jiangshan Zhang, Jiaqi Liu, Sicong Liu, Zhiwen Yu, Zhetao Li, Liyao Xiang

Subjects: Robotics (cs.RO)

[155] arXiv:2108.06887 [pdf, other]

Title: A Vision-based Irregular Obstacle Avoidance Framework via Deep Reinforcement Learning

Lingping Gao, Jianchuan Ding, Wenxi Liu, Haiyin Piao, Yuxin Wang, Xin Yang, Baocai Yin

Comments: IROS 2021

Subjects: Robotics (cs.RO)

[156] arXiv:2108.07085 [pdf, other]

Title: Smart Pointers and Shared Memory Synchronisation for Efficient Inter-process Communication in ROS on an Autonomous Vehicle

Costin Iordache, Stephen M. Fendyke, Mike J. Jones, Robert A. Buckley

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

Subjects: Robotics (cs.RO)

[157] arXiv:2108.07151 [pdf, other]

Title: Learning Friction Model for Tethered Capsule Robot

Yi Wang, Yuchen He, Xutian Deng, Ziwei Lei, Yiting Chen, Miao Li

Comments: ICRAE 2021 Conference paper

Subjects: Robotics (cs.RO)

[158] arXiv:2108.07206 [pdf, other]

Title: Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Stefan Escaida Navarro, Stephan Mühlbacher-Karrer, Hosam Alagi, Hubert Zangl, Keisuke Koyama, Björn Hein, Christian Duriez, Joshua R. Smith

Journal-ref: IEEE Transactions on Robotics 2021

Subjects: Robotics (cs.RO)

[159] arXiv:2108.07265 [pdf, other]

Title: The Integrated Probabilistic Data Association Filter Adapted to Lie Groups

Mark E. Petersen, Randal W. Beard

Comments: 21 pages, 10 figures, 1 table will be submitted

Subjects: Robotics (cs.RO)

[160] arXiv:2108.07514 [pdf, other]

Title: Monolithic vs. hybrid controller for multi-objective Sim-to-Real learning

Atakan Dag, Alexandre Angleraud, Wenyan Yang, Nataliya Strokina, Roel S. Pieters, Minna Lanz, Joni-Kristian Kamarainen

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

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

[161] arXiv:2108.07658 [pdf, other]

Title: Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays

Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti, Burak Cizmeci, Douwe Dresscher, Marco Hutter

Comments: Accepted as Contributed Paper at 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Best Paper Award Finalist

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

[162] arXiv:2108.07910 [pdf, other]

Title: An Empirical Testing of Autonomous Vehicle Simulator System for Urban Driving

John Seymour, Dac-Thanh-Chuong Ho, Quang-Hung Luu

Comments: 8 pages, 8 figures, 4 tables

Journal-ref: 2021 IEEE International Conference on Artificial Intelligence Testing (AITest)

Subjects: Robotics (cs.RO); Software Engineering (cs.SE)

[163] arXiv:2108.07983 [pdf, other]

Title: ARDOP: A Versatile Humanoid Robotic Research Platform

Sudarshan S Harithas, Harish V Mekali

Comments: Project page this https URL

Subjects: Robotics (cs.RO)

[164] arXiv:2108.07993 [pdf, other]

Title: EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments

Wenchao Ding, Lu Zhang, Jing Chen, Shaojie Shen

Comments: Accepted by the IEEE Transactions on Robotics (T-RO)

Subjects: Robotics (cs.RO)

[165] arXiv:2108.08015 [pdf, other]

Title: Navigating by Touch: Haptic Monte Carlo Localization via Geometric Sensing and Terrain Classification

Russell Buchanan, Jakub Bednarek, Marco Camurri, Michał R. Nowicki, Krzysztof Walas, Maurice Fallon

Comments: Autonomous Robots. arXiv admin note: substantial text overlap with arXiv:2005.01567

Journal-ref: Autonomous Robots 2021

Subjects: Robotics (cs.RO)

[166] arXiv:2108.08051 [pdf, other]

Title: Optimised Informed RRTs for Mobile Robot Path Planning

Bongani B. Maseko, Corné E. van Daalen, Johann Treurnicht

Comments: 6 pages, 3 figures, published in IFAC-PapersOnLine

Journal-ref: IFAC-PapersOnLine 54 (21), 157-162, 2021

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

[167] arXiv:2108.08092 [pdf, other]

Title: Trust, Acceptance and Social Cues in Human-Robot Interaction -- SCRITA 2021

Alessandra Rossi, Patrick Holthaus, Sílvia Moros, Marcus Scheunemann, Gabriella Lakatos

Comments: SCRITA 2021 workshop proceedings including 5 articles

Subjects: Robotics (cs.RO)

[168] arXiv:2108.08114 [pdf, other]

Title: Combining Local and Global Viewpoint Planning for Fruit Coverage

Tobias Zaenker, Chris Lehnert, Chris McCool, Maren Bennewitz

Comments: 7 pages, 7 figures, accepted at ECMR 2021. arXiv admin note: text overlap with arXiv:2011.00275

Subjects: Robotics (cs.RO)

[169] arXiv:2108.08243 [pdf, other]

Title: Design and Analysis of Modular Pipe Climber-III with a Multi-Output Differential Mechanism

Vishnu Kumar, Saharsh Agarwal, Rama Vadapalli, Nagamanikandan Govindan, Madhava Krishna

Comments: 6 pages and 10 figures

Subjects: Robotics (cs.RO)

[170] arXiv:2108.08289 [pdf, other]

Title: PerceMon: Online Monitoring for Perception Systems

Anand Balakrishnan, Jyotirmoy Deshmukh, Bardh Hoxha, Tomoya Yamaguchi, Georgios Fainekos

Subjects: Robotics (cs.RO)

[171] arXiv:2108.08325 [pdf, other]

Title: Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape

Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu, Giovanni Beltrame

Comments: 44 pages, 3 figures

Journal-ref: Field Robotics 2022

Subjects: Robotics (cs.RO)

[172] arXiv:2108.08449 [pdf, other]

Title: A cut-and-fold self-sustained compliant oscillator for autonomous actuation of origami-inspired robots

Wenzhong Yan, Ankur Mehta

Comments: 23 pages, 5 figures. This manuscript has been accepted for publication in Soft Robotics. Supplementary texts, movies, and figures are not uploaded

Journal-ref: Soft Robotics, 2021

Subjects: Robotics (cs.RO); Applied Physics (physics.app-ph)

[173] arXiv:2108.08494 [pdf, other]

Title: Towards a Multispectral RGB-IR-UV-D Vision System -- Seeing the Invisible in 3D

Tanhao Zhang, Luyin Hu, Lu Li, David Navarro-Alarcon

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

[174] arXiv:2108.08495 [pdf, other]

Title: Can a Tesla Turbine be Utilised as a Non-Magnetic Actuator for MRI-Guided Robotic Interventions?

David Navarro-Alarcon, Luiza Labazanova, Man Kiu Chow, Kwun Wang Ng, Derek Kwok

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

[175] arXiv:2108.08520 [pdf, other]

Title: Quad-cone-rotor: A Novel Tilt Quadrotor with Severe-fault-tolerant Ability

Zhe Shen, Yudong Ma, Takeshi Tsuchiya

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

[176] arXiv:2108.08570 [pdf, other]

Title: Monitoring weeder robots and anticipating their functioning by using advanced topological data analysis

Tarek Frahi, Abel Sancarlos, Matthieu Galle, Xavier Beaulieu, Anne Chambard, Antonio Falco, Elias Cueto, Francisco Chinesta

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

[177] arXiv:2108.08621 [pdf, other]

Title: Online Range Image-based Pole Extractor for Long-term LiDAR Localization in Urban Environments

Hao Dong, Xieyuanli Chen, Cyrill Stachniss

Comments: Accepted by ECMR 2021

Subjects: Robotics (cs.RO)

[178] arXiv:2108.08726 [pdf, other]

Title: Property-Based Testing in Simulation for Verifying Robot Action Execution in Tabletop Manipulation

Salman Omar Sohail, Alex Mitrevski, Nico Hochgeschwender, Paul G. Plöger

Comments: Accepted for publication at the 10th European Conference on Mobile Robots (ECMR 2021)

Subjects: Robotics (cs.RO)

[179] arXiv:2108.08789 [pdf, other]

Title: Resilient and consistent multirobot cooperative localization with covariance intersection

Tsang-Kai Chang, Kenny Chen, Ankur Mehta

Comments: 12 pages, 8 figures, to be published in IEEE Transactions on Robotics

Subjects: Robotics (cs.RO)

[180] arXiv:2108.08876 [pdf, other]

Title: Deep Learning-based Spacecraft Relative Navigation Methods: A Survey

Jianing Song, Duarte Rondao, Nabil Aouf

Comments: 41 pages; 17 figures; Submitted to Acta Astronautica, under review

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

[181] arXiv:2108.08935 [pdf, other]

Title: Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects

Alaa Khalifa, Gianluca Palli

Comments: 12 pages, 12 figures, journal paper

Subjects: Robotics (cs.RO)

[182] arXiv:2108.08957 [pdf, other]

Title: Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics

Weikun Zhen, Huai Yu, Yaoyu Hu, Sebastian Scherer

Comments: This paper has been submitted to ICRA 2022

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

[183] arXiv:2108.08966 [pdf, other]

Title: The Importance of Autonomous Driving Using 5G Technology

Yuanzhe Jin, Neelanshi Varia, Chixiang Wang

Subjects: Robotics (cs.RO); Signal Processing (eess.SP)

[184] arXiv:2108.09047 [pdf, other]

Title: AutoLay: Benchmarking amodal layout estimation for autonomous driving

Kaustubh Mani, N. Sai Shankar, Krishna Murthy Jatavallabhula, K. Madhava Krishna

Comments: published in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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

[185] arXiv:2108.09056 [pdf, other]

Title: Joint order assignment and picking station scheduling in KIVA warehouses with multiple stations

Xiying Yang, Guowei Hua, Li Zhang, T.C.E Cheng, Tsan Ming Choi

Subjects: Robotics (cs.RO)

[186] arXiv:2108.09117 [pdf, html, other]

Title: OpenStreetMap-based Autonomous Navigation With LiDAR Naive-Valley-Path Obstacle Avoidance

Miguel Angel Munoz-Banon, Edison Velasco-Sanchez, Francisco A. Candelas, Fernando Torres

Comments: This paper was published in the journal "IEEE Transactions on Intelligent Transportation Systems" (T-ITS)

Journal-ref: In IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 12, pp. 24428-24438, Dec. 2022

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

[187] arXiv:2108.09403 [pdf, other]

Title: Deadlock and Noise in Self-Organized Aggregation Without Computation

Joshua J. Daymude, Noble C. Harasha, Andréa W. Richa, Ryan Yiu

Comments: 17 pages, 11 figures

Subjects: Robotics (cs.RO); Distributed, Parallel, and Cluster Computing (cs.DC)

[188] arXiv:2108.09442 [pdf, other]

Title: A Geometric Kinematic Model for Flexible Voxel-Based Robots

Maryam Tebyani, Alex Spaeth, Nicholas Cramer, Mircea Teodorescu

Comments: 10 pages, 7 figures

Subjects: Robotics (cs.RO)

[189] arXiv:2108.09490 [pdf, other]

Title: Incrementally Stochastic and Accelerated Gradient Information mixed Optimization for Manipulator Motion Planning

Yichang Feng, Jin Wang, Haiyun Zhang, Guodong Lu

Journal-ref: IEEE Robotics and Automation Letters, 2022

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

[190] arXiv:2108.09608 [pdf, other]

Title: Geometric Perspectives on Fundamental Solutions in the Linearized Satellite Relative Motion Problem

Ethan Burnett, Hanspeter Schaub

Subjects: Robotics (cs.RO); Space Physics (physics.space-ph)

[191] arXiv:2108.09609 [pdf, other]

Title: Event-Triggered Control for Weight-Unbalanced Directed Networks

Juan D. Pabon, Gustavo A. Cardona, Nestor I. Ospina, Juan Calderon, Eduardo Mojica-Nava

Comments: 6 Pages, 4 Figures, IROS 2021

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

[192] arXiv:2108.09772 [pdf, other]

Title: UltraBot: Autonomous Mobile Robot for Indoor UV-C Disinfection

Stepan Perminov, Nikita Mikhailovskiy, Alexander Sedunin, Iaroslav Okunevich, Ivan Kalinov, Mikhail Kurenkov, Dzmitry Tsetserukou

Comments: Accepted to 17th International Conference on Automation Science and Engineering (CASE). 2021. IEEE copyright

Subjects: Robotics (cs.RO)

[193] arXiv:2108.09779 [pdf, other]

Title: Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger

Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg

Comments: International Conference on Intelligent Robots and Systems (IROS 2022)

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

[194] arXiv:2108.09792 [pdf, other]

Title: UltraBot: Autonomous Mobile Robot for Indoor UV-C Disinfection with Non-trivial Shape of Disinfection Zone

Nikita Mikhailovskiy, Alexander Sedunin, Stepan Perminov, Ivan Kalinov, Dzmitry Tsetserukou

Comments: Accepted to the 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA). 2021. IEEE copyright

Subjects: Robotics (cs.RO)

[195] arXiv:2108.09793 [pdf, other]

Title: From Agile Ground to Aerial Navigation: Learning from Learned Hallucination

Zizhao Wang, Xuesu Xiao, Alexander J Nettekoven, Kadhiravan Umasankar, Anika Singh, Sriram Bommakanti, Ufuk Topcu, Peter Stone

Comments: 6 pages, 5 figures, accepted in IROS 2021

Subjects: Robotics (cs.RO)

[196] arXiv:2108.09801 [pdf, other]

Title: APPLE: Adaptive Planner Parameter Learning from Evaluative Feedback

Zizhao Wang, Xuesu Xiao, Garrett Warnell, Peter Stone

Comments: 6 pages, 4 figures, accepted in IROS 2021. arXiv admin note: substantial text overlap with arXiv:2105.07620

Subjects: Robotics (cs.RO)

[197] arXiv:2108.09834 [pdf, other]

Title: Angular Velocity Estimation using Non-coplanar Accelerometer Array

Michael Maynard, Vishesh Vikas

Comments: 8 pages, IEEE Sensors Journal

Subjects: Robotics (cs.RO)

[198] arXiv:2108.09848 [pdf, other]

Title: CoMet: Modeling Group Cohesion for Socially Compliant Robot Navigation in Crowded Scenes

Adarsh Jagan Sathyamoorthy, Utsav Patel, Moumita Paul, Nithish K Sanjeev Kumar, Yash Savle, Dinesh Manocha

Comments: 10 pages, 6 figures

Subjects: Robotics (cs.RO)

[199] arXiv:2108.09895 [pdf, other]

Title: Burst Imaging for Light-Constrained Structure-From-Motion

Ahalya Ravendran, Mitch Bryson, Donald G. Dansereau

Comments: 8 pages, 8 figures, 2 tables, for associated project page, see: this https URL

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

[200] arXiv:2108.09986 [pdf, other]

Title: Indoor Path Planning for an Unmanned Aerial Vehicle via Curriculum Learning

Jongmin Park, Sooyoung Jang, Younghoon Shin

Comments: Submitted to ICCAS 2021

Journal-ref: 2021 21st International Conference on Control, Automation and Systems (ICCAS)

Subjects: Robotics (cs.RO)