Robotics

Authors and titles for August 2021

[201] arXiv:2108.10153 [pdf, other]

Title: Automatic Centralized Control of Underactuated Large-scale Multi-robot Systems using a Generalized Coordinate Transformation

Babak Salamat, Christopher Johannes Starck, Heiko Hamann

Subjects: Robotics (cs.RO)

[202] arXiv:2108.10392 [pdf, other]

Title: A generalized stacked reinforcement learning method for sampled systems

Pavel Osinenko, Dmitrii Dobriborsci, Grigory Yaremenko, Georgiy Malaniya

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

[203] arXiv:2108.10456 [pdf, other]

Title: Long-Term, in-the-Wild Study of Feedback about Speech Intelligibility for K-12 Students Attending Class via a Telepresence Robot

Matthew Rueben, Mohammad Syed, Emily London, Mark Camarena, Eunsook Shin, Yulun Zhang, Timothy S. Wang, Thomas R. Groechel, Rhianna Lee, Maja J. Matarić

Journal-ref: Proceedings of the 2021 International Conference on Multimodal Interaction (ICMI '21), October 18-22, 2021, Montreal, QC, Canada. ACM, New York, NY, USA, 10 pages

Subjects: Robotics (cs.RO); Human-Computer Interaction (cs.HC)

[204] arXiv:2108.10470 [pdf, other]

Title: Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning

Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, Gavriel State

Comments: tech report on isaac-gym

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

[205] arXiv:2108.10585 [pdf, other]

Title: Learning Spatiotemporal Occupancy Grid Maps for Lifelong Navigation in Dynamic Scenes

Hugues Thomas, Matthieu Gallet de Saint Aurin, Jian Zhang, Timothy D. Barfoot

Subjects: Robotics (cs.RO)

[206] arXiv:2108.10634 [pdf, other]

Title: Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies

Yoojin Oh, Marc Toussaint, Jim Mainprice

Subjects: Robotics (cs.RO)

[207] arXiv:2108.10810 [pdf, other]

Title: Design and integration of end-effector for 3D printing of novel UV-curable shape memory polymers with a collaborative robotic system

Luis Velazquez, Genevieve Palardy, Corina Barbalata

Subjects: Robotics (cs.RO)

[208] arXiv:2108.10819 [pdf, other]

Title: Next-generation perception system for automated defects detection in composite laminates via polarized computational imaging

Yuqi Ding, Jinwei Ye, Corina Barbalata, James Oubre, Chandler Lemoine, Jacob Agostinho, Genevieve Palardy

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

[209] arXiv:2108.10829 [pdf, other]

Title: HapticBots: Distributed Encountered-type Haptics for VR with Multiple Shape-changing Mobile Robots

Ryo Suzuki, Eyal Ofek, Mike Sinclair, Daneil Leithinger, Mar Gonzalez-Franco

Comments: UIST 2021

Subjects: Robotics (cs.RO); Human-Computer Interaction (cs.HC)

[210] arXiv:2108.11092 [pdf, html, other]

Title: INVIGORATE: Interactive Visual Grounding and Grasping in Clutter

Hanbo Zhang, Yunfan Lu, Cunjun Yu, David Hsu, Xuguang Lan, Nanning Zheng

Comments: 12 pages, full version

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

[211] arXiv:2108.11253 [pdf, other]

Title: On Reciprocally Rotating Magnetic Actuation of a Robotic Capsule in Unknown Tubular Environments

Yangxin Xu, Keyu Li, Ziqi Zhao, Max Q.-H. Meng

Journal-ref: IEEE Transactions on Medical Robotics and Bionics (2021)

Subjects: Robotics (cs.RO)

[212] arXiv:2108.11256 [pdf, other]

Title: Adaptive Simultaneous Magnetic Actuation and Localization for WCE in a Tubular Environment

Yangxin Xu, Keyu Li, Ziqi Zhao, Max Q.-H. Meng

Journal-ref: IEEE Transactions on Robotics (2022)

Subjects: Robotics (cs.RO)

[213] arXiv:2108.11355 [pdf, other]

Title: FogROS: An Adaptive Framework for Automating Fog Robotics Deployment

Kaiyuan (Eric)Chen, Yafei Liang, Nikhil Jha, Jeffrey Ichnowski, Michael Danielczuk, Joseph Gonzalez, John Kubiatowicz, Ken Goldberg

Comments: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE). 8 pages

Subjects: Robotics (cs.RO)

[214] arXiv:2108.11420 [pdf, other]

Title: Model-based Decision Making with Imagination for Autonomous Parking

Ziyue Feng, Yu Chen, Shitao Chen, Nanning Zheng

Comments: Published by IEEE IV 2018

Journal-ref: 2018 IEEE Intelligent Vehicles Symposium (IV) (pp. 2216-2223). IEEE

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

[215] arXiv:2108.11456 [pdf, other]

Title: Vision-based Autonomous Disinfection of High Touch Surfaces in Indoor Environments

Sean Roelofs, Benoit Landry, Myra Kurosu Jalil, Adrian Martin, Saisneha Koppaka, Sindy K.Y.Tang, Marco Pavone

Subjects: Robotics (cs.RO)

[216] arXiv:2108.11471 [pdf, other]

Title: Productive Multitasking for Industrial Robots

D. Wuthier (1), F. Rovida (2), M. Fumagalli (1), V. Krüger (3) ((1) Technical University of Denmark, (2) RiACT ApS, (3) Lund University)

Comments: To appear in the proceedings of the 2021 IEEE international conference on robotics and automation (ICRA). This research was supported by the European Commission's Horizon 2020 Programme under grant agreement no.~723658 (ScalABLE 4.0) and by the Wallenberg Autonomous Systems Program (WASP) of Sweden

Subjects: Robotics (cs.RO)

[217] arXiv:2108.11557 [pdf, other]

Title: Design of a Flying Humanoid Robot Based on Thrust Vector Control

Yuhang Li, Yuhao Zhou, Junbin Huang, Zijun Wang, Shunjie Zhu, Kairong Wu, Li Zheng, Jiajin Luo, Rui Cao, Yun Zhang, Zhifeng Huang

Comments: The article has been submitted to IEEE Robotics and Automation Letters (RA-L) with ICRA 2022 conference option. Supporting video: this https URL

Journal-ref: IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 4590-4597, April 2022

Subjects: Robotics (cs.RO)

[218] arXiv:2108.11597 [pdf, other]

Title: Multi-Robot Task Planning under Individual and Collaborative Temporal Logic Specifications

Ruofei Bai, Ronghao Zheng, Meiqin Liu, Senlin Zhang

Comments: 8 pages, 4 figures, to be presented at 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

Subjects: Robotics (cs.RO)

[219] arXiv:2108.11608 [pdf, other]

Title: Improving HRI through robot architecture transparency

Lukas Hindemith, Anna-Lisa Vollmer, Christiane B. Wiebel-Herboth, Britta Wrede

Comments: 24 pages, 10 figures, 5 tables, submitted to Frontiers in Robotics and AI

Subjects: Robotics (cs.RO)

[220] arXiv:2108.11620 [pdf, other]

Title: Trajectory Following Strategies for Wireless Capsule Endoscopy under Reciprocally Rotating Magnetic Actuation in a Tubular Environment

Yangxin Xu, Keyu Li, Ziqi Zhao, Max Q.-H. Meng

Subjects: Robotics (cs.RO)

[221] arXiv:2108.11775 [pdf, other]

Title: Parallelised Diffeomorphic Sampling-based Motion Planning

Tin Lai, Weiming Zhi, Tucker Hermans, Fabio Ramos

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

[222] arXiv:2108.11824 [pdf, other]

Title: Magnetic Field Sensing for Pedestrian and Robot Indoor Positioning

Leonid Antsfeld, Boris Chidlovskii

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

[223] arXiv:2108.11860 [pdf, other]

Title: Auxiliary Heuristics for Frontier Based Planners

Arsh Tangri, Dhruv Joshi, Ashalatha Nayak

Subjects: Robotics (cs.RO)

[224] arXiv:2108.11885 [pdf, other]

Title: Human operator cognitive availability aware Mixed-Initiative control

Giannis Petousakis, Manolis Chiou, Grigoris Nikolaou, Rustam Stolkin

Comments: 4 pages

Journal-ref: 2020 IEEE International Conference on Human-Machine Systems (ICHMS)

Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Human-Computer Interaction (cs.HC); Multiagent Systems (cs.MA)

[225] arXiv:2108.11945 [pdf, other]

Title: SASRA: Semantically-aware Spatio-temporal Reasoning Agent for Vision-and-Language Navigation in Continuous Environments

Muhammad Zubair Irshad, Niluthpol Chowdhury Mithun, Zachary Seymour, Han-Pang Chiu, Supun Samarasekera, Rakesh Kumar

Comments: 10 pages, 4 figures

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

[226] arXiv:2108.11983 [pdf, other]

Title: Robust Motion Planning in the Presence of Estimation Uncertainty

Lars Lindemann, Matthew Cleaveland, Yiannis Kantaros, George J. Pappas

Comments: Accepted at the Conference on Decision and Control 2021

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

[227] arXiv:2108.12007 [pdf, other]

Title: Dual-arm Coordinated Manipulation for Object Twisting with Human Intelligence

Weibang Bai, Ningshan Zhang, Baoru Huang, Ziwei Wang, Francesco Cursi, Ya-Yen Tsai, Bo Xiao, Eric Yeatman

Comments: Accepted by IEEE SMC 2021, 7 pages, 7 figures

Subjects: Robotics (cs.RO)

[228] arXiv:2108.12062 [pdf, other]

Title: Predicting Stable Configurations for Semantic Placement of Novel Objects

Chris Paxton, Chris Xie, Tucker Hermans, Dieter Fox

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

[229] arXiv:2108.12114 [pdf, other]

Title: Identification of Vehicle Dynamics Parameters Using Simulation-based Inference

Ali Boyali, Simon Thompson, David Robert Wong

Comments: Presented at the Autoware Workshop of IEEE Intelligent Vehicle Symposium IV2021

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

[230] arXiv:2108.12166 [pdf, other]

Title: UNICEF Guidance on AI for Children: Application to the Design of a Social Robot For and With Autistic Children

Séverin Lemaignan, Nigel Newbutt, Louis Rice, Joe Daly, Vicky Charisi

Comments: 7 pages, 3 figures, submission to the 'Achieving UN Sustainable Goals' workshop, IROS 2021 this http URL

Subjects: Robotics (cs.RO)

[231] arXiv:2108.12285 [pdf, other]

Title: OpenFish: Biomimetic Design of a Soft Robotic Fish for High Speed Locomotion

Sander C. van den Berg, Rob B.N. Scharff, Zoltán Rusák, Jun Wu

Journal-ref: HardwareX, 2022, e00320, ISSN 2468-0672, (https://www.sciencedirect.com/science/article/pii/S2468067222000657)

Subjects: Robotics (cs.RO)

[232] arXiv:2108.12307 [pdf, other]

Title: Lower-limb kinematics and kinetics during continuously varying human locomotion

Emma Reznick, Kyle R. Embry, Ross Neuman, Edgar Bolívar-Nieto, Nicholas P. Fey, Robert D. Gregg

Subjects: Robotics (cs.RO)

[233] arXiv:2108.12358 [pdf, other]

Title: Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction

Yash Vyas, Mike Allenspach, Christian Lanegger, Roland Siegwart, Marco Tognon

Comments: To be published in The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, 4-5/10/2021

Subjects: Robotics (cs.RO)

[234] arXiv:2108.12537 [pdf, other]

Title: An Anytime Hierarchical Approach for Stochastic Task and Motion Planning

Naman Shah, Siddharth Srivastava

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

[235] arXiv:2108.12571 [pdf, other]

Title: An implementation of ROS Autonomous Navigation on Parallax Eddie platform

Hafiq Anas, Wee Hong Ong

Comments: 12 pages, 23 figures, 9 tables, 24 equations

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

[236] arXiv:2108.12616 [pdf, other]

Title: A Predictive Application Offloading Algorithm Using Small Datasets for Cloud Robotics

Manoj Penmetcha, Shyam Sundar Kannan, Byung-Cheol Min

Subjects: Robotics (cs.RO)

[237] arXiv:2108.12770 [pdf, other]

Title: Risk Assessment, Prediction, and Avoidance of Collision in Autonomous Drones

Anamta Khan

Comments: Editor: Marcello Cinque. 17th European Dependable Computing Conference (EDCC 2021), September 13-16, 2021, Munich, Germany. Student Forum Proceedings- EDCC 2021

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

[238] arXiv:2108.12780 [pdf, other]

Title: An Experimental Validation and Comparison of Reaching Motion Models for Unconstrained Handovers: Towards Generating Humanlike Motions for Human-Robot Handovers

Wesley P. Chan, Tin Tran, Sara Sheikholeslami, Elizabeth Croft

Comments: Accepted at Humanoids 2020, "The 2020 IEEE-RAS International Conference on Humanoid Robots"; 6 pages, 7 figures, 1 table

Subjects: Robotics (cs.RO)

[239] arXiv:2108.12809 [pdf, other]

Title: The rUNSWift SPL Field Segmentation Dataset

Wentao Lu

Subjects: Robotics (cs.RO)

[240] arXiv:2108.12820 [pdf, other]

Title: A Hybrid Rule-Based and Data-Driven Approach to Driver Modeling through Particle Filtering

Raunak Bhattacharyya, Soyeon Jung, Liam Kruse, Ransalu Senanayake, Mykel Kochenderfer

Comments: arXiv admin note: text overlap with arXiv:2005.02597

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

[241] arXiv:2108.12869 [pdf, other]

Title: Flying Through a Narrow Gap Using End-to-end Deep Reinforcement Learning Augmented with Curriculum Learning and Sim2Real

Chenxi Xiao, Peng Lu, Qizhi He

Subjects: Robotics (cs.RO)

[242] arXiv:2108.12934 [pdf, other]

Title: Distributed Swarm Collision Avoidance Based on Angular Calculations

SeyedZahir Qazavi, Samaneh Hosseini Semnani

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

[243] arXiv:2108.13035 [pdf, other]

Title: SurRoL: An Open-source Reinforcement Learning Centered and dVRK Compatible Platform for Surgical Robot Learning

Jiaqi Xu, Bin Li, Bo Lu, Yun-Hui Liu, Qi Dou, Pheng-Ann Heng

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

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

[244] arXiv:2108.13105 [pdf, other]

Title: COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations

Björn Lindqvist, Christoforos Kanellakis, Sina Sharif Mansouri, Ali-akbar Agha-mohammadi, George Nikolakopoulos

Comments: 27 pages, 21 figures

Subjects: Robotics (cs.RO)

[245] arXiv:2108.13205 [pdf, other]

Title: Model Predictive Contouring Control for Time-Optimal Quadrotor Flight

Angel Romero, Sihao Sun, Philipp Foehn, Davide Scaramuzza

Comments: 17 pages, 16 figures. Video: this https URL This paper has been accepted for publication in the IEEE Transactions on Robotics (T-RO), 2022

Subjects: Robotics (cs.RO)

[246] arXiv:2108.13268 [pdf, other]

Title: Sensor-Based Navigation Using Hierarchical Reinforcement Learning

Christopher Gebauer, Nils Dengler, Maren Bennewitz

Comments: Accepted at IAS22

Subjects: Robotics (cs.RO)

[247] arXiv:2108.13354 [pdf, other]

Title: RoboRun: A Robot Runtime to Exploit Spatial Heterogeneity

Behzad Boroujerdian, Radhika Ghosal, Jonathan Cruz, Brian Plancher, Vijay Janapa Reddi

Comments: will be published in Design Automation Conference (DAC) 2021

Subjects: Robotics (cs.RO)

[248] arXiv:2108.13515 [pdf, other]

Title: SURENA IV: Towards A Cost-effective Full-size Humanoid Robot for Real-world Scenarios

Aghil Yousefi-Koma, Behnam Maleki, Hessam Maleki, Amin Amani, Mohammad Ali Bazrafshani, Hossein Keshavarz, Ala Iranmanesh, Alireza Yazdanpanah, Hamidreza Alai, Sahel Salehi, Mahyar Ashkvari, Milad Mousavi, Milad Shafiee Ashtiani

Journal-ref: 2020 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS)

Subjects: Robotics (cs.RO)

[249] arXiv:2108.13580 [pdf, other]

Title: Planning for Dexterous Ungrasping: Secure Ungrasping through Dexterous Manipulation

Chung Hee Kim, Ka Hei Mak, Jungwon Seo

Comments: This work has been submitted to the IEEE for possible publication

Subjects: Robotics (cs.RO)

[250] arXiv:2108.13599 [pdf, other]

Title: Through the Looking Glass: Diminishing Occlusions in Robot Vision Systems with Mirror Reflections

Kentaro Yoshioka, Hidenori Okuni, Tuan Thanh Ta, Akihide Sai

Comments: Accepted to IROS 2021

Subjects: Robotics (cs.RO)