Robotics

Authors and titles for August 2021

[251] arXiv:2108.13606 [pdf, other]

Title: BotNet: A Simulator for Studying the Effects of Accurate Communication Models on Multi-agent and Swarm Control

Mark Selden, Jason Zhou, Felipe Campos, Nathan Lambert, Daniel Drew, Kristofer S. J. Pister

Comments: 9 pages, 8 figures

Subjects: Robotics (cs.RO)

[252] arXiv:2108.13619 [pdf, other]

Title: A review of mobile robot motion planning methods: from classical motion planning workflows to reinforcement learning-based architectures

Lu Dong, Zichen He, Chunwei Song, Changyin Sun

Subjects: Robotics (cs.RO)

[253] arXiv:2108.13648 [pdf, other]

Title: Autonomous Rollator: A Case Study in the Agebots Project

Jonas Frei, Anina Havelka, Markus Wüst, Einar Nielsen, Andreas Ziltener, Katrin S. Lohan

Subjects: Robotics (cs.RO)

[254] arXiv:2108.13664 [pdf, other]

Title: Lane level context and hidden space characterization for autonomous driving

Corentin Sanchez, Philippe Xu, Alexandre Armand, Philippe Bonnifait

Journal-ref: 31st IEEE Intelligent Vehicles Symposium (IV 2020), Oct 2020, Las Vegas, United States. pp.144-149

Subjects: Robotics (cs.RO)

[255] arXiv:2108.13680 [pdf, other]

Title: Learning Practically Feasible Policies for Online 3D Bin Packing

Hang Zhao, Chenyang Zhu, Xin Xu, Hui Huang, Kai Xu

Comments: Science China Information Sciences

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

[256] arXiv:2108.13720 [pdf, other]

Title: Riemannian Optimization for Distance-Geometric Inverse Kinematics

Filip Marić, Matthew Giamou, Adam W. Hall, Soroush Khoubyarian, Ivan Petrović, Jonathan Kelly

Comments: 20 pages, 14 figures

Journal-ref: IEEE Transactions on Robotics (T-RO), Vol. 38, No. 3, pp. 1703-1722, Jun. 2022

Subjects: Robotics (cs.RO)

[257] arXiv:2108.13803 [pdf, other]

Title: Manipulation of Camera Sensor Data via Fault Injection for Anomaly Detection Studies in Verification and Validation Activities For AI

Alim Kerem Erdogmus, Mustafa Karaca, Assist. Ugur Yayan

Comments: 7 pages, 9 figures, Provided by Inovasyon Muhendislik

Subjects: Robotics (cs.RO)

[258] arXiv:2108.13838 [pdf, other]

Title: The Interaction Flow Editor: A New Human-Robot Interaction Rapid Prototyping Interface

Matthew Huggins, Anastasia K. Ostrowski, Andrew Rapo, Eric Woudenberg, Cynthia Breazeal, Hae Won Park

Comments: 8 pages, 4 figures

Subjects: Robotics (cs.RO)

[259] arXiv:2108.13889 [pdf, other]

Title: Robotic Lime Picking by Considering Leaves as Permeable Obstacles

Heramb Nemlekar, Ziang Liu, Suraj Kothawade, Sherdil Niyaz, Barath Raghavan, Stefanos Nikolaidis

Comments: 7 pages, 6 figures, Conference: 2021 International Conference on Intelligent Robots and Systems, Supplementary video: this https URL

Subjects: Robotics (cs.RO)

[260] arXiv:2108.00105 (cross-list from cs.CV) [pdf, other]

Title: Deep Feature Tracker: A Novel Application for Deep Convolutional Neural Networks

Mostafa Parchami, Saif Iftekar Sayed

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

[261] arXiv:2108.00138 (cross-list from cs.LG) [pdf, other]

Title: Learning to Control DC Motor for Micromobility in Real Time with Reinforcement Learning

Bibek Poudel, Thomas Watson, Weizi Li

Comments: 7 pages, 3 figures

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

[262] arXiv:2108.00202 (cross-list from cs.CV) [pdf, other]

Title: HiFT: Hierarchical Feature Transformer for Aerial Tracking

Ziang Cao, Changhong Fu, Junjie Ye, Bowen Li, Yiming Li

Comments: 2021 IEEE International Conference on Computer Vision (ICCV)

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

[263] arXiv:2108.00397 (cross-list from cs.CV) [pdf, other]

Title: BORM: Bayesian Object Relation Model for Indoor Scene Recognition

Liguang Zhou, Jun Cen, Xingchao Wang, Zhenglong Sun, Tin Lun Lam, Yangsheng Xu

Comments: 8 pages, 5 figures, conference, Accepted by IROS2021

Journal-ref: IROS2021

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

[264] arXiv:2108.00485 (cross-list from cs.DC) [pdf, other]

Title: Webots.HPC: A Parallel Robotics Simulation Pipeline for Autonomous Vehicles on High Performance Computing

Matt Franchi

Comments: 34 pages, 4 figures

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

[265] arXiv:2108.00505 (cross-list from cs.LG) [pdf, other]

Title: DeepTrack: Lightweight Deep Learning for Vehicle Path Prediction in Highways

Vinit Katariya, Mohammadreza Baharani, Nichole Morris, Omidreza Shoghli, Hamed Tabkhi

Comments: Published in IEEE Transactions on Intelligent Transportation Systems

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

[266] arXiv:2108.00516 (cross-list from cs.CV) [pdf, other]

Title: BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models

Bowen Wen, Kostas Bekris

Subjects: Computer Vision and Pattern Recognition (cs.CV); Artificial Intelligence (cs.AI); Graphics (cs.GR); Robotics (cs.RO)

[267] arXiv:2108.00552 (cross-list from cs.CV) [pdf, other]

Title: PSE-Match: A Viewpoint-free Place Recognition Method with Parallel Semantic Embedding

Peng Yin, Lingyun Xu, Ziyue Feng, Anton Egorov, Bing Li

Comments: 12 pages, 12 figures, accepted by IEEE Transactions on Intelligent Transportation Systems

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

[268] arXiv:2108.00695 (cross-list from cs.CV) [pdf, other]

Title: PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time

Huayan Zhang, Tianwei Zhang, Tin Lun Lam, Sethu Vijayakumar

Comments: Accepted by IROS-2021

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

[269] arXiv:2108.00737 (cross-list from cs.CV) [pdf, other]

Title: Active Perception for Ambiguous Objects Classification

Evgenii Safronov, Nicola Piga, Michele Colledanchise, Lorenzo Natale

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

Journal-ref: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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

[270] arXiv:2108.00916 (cross-list from eess.SY) [pdf, other]

Title: 2-D Directed Formation Control Based on Bipolar Coordinates

Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx, Dimos V. Dimarogonas

Comments: Submitted to IEEE TAC

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

[271] arXiv:2108.00978 (cross-list from cs.AI) [pdf, other]

Title: Constrained Shortest Path Search with Graph Convolutional Neural Networks

Kevin Osanlou, Christophe Guettier, Andrei Bursuc, Tristan Cazenave, Eric Jacopin

Journal-ref: AAAI - ICML / IJCAI / AAMAS 2018 Workshop on Planning and Learning (PAL-18). Stockholm, Sweden 2018

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

[272] arXiv:2108.01021 (cross-list from cs.AI) [pdf, other]

Title: Learning off-road maneuver plans for autonomous vehicles

Kevin Osanlou

Comments: PhD thesis

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

[273] arXiv:2108.01036 (cross-list from cs.AI) [pdf, other]

Title: Optimal Solving of Constrained Path-Planning Problems with Graph Convolutional Networks and Optimized Tree Search

Kevin Osanlou, Andrei Bursuc, Christophe Guettier, Tristan Cazenave, Eric Jacopin

Comments: Published as a conference paper at IROS 2019

Journal-ref: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 3519-3525

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

[274] arXiv:2108.01066 (cross-list from cs.CV) [pdf, other]

Title: Forward-Looking Sonar Patch Matching: Modern CNNs, Ensembling, and Uncertainty

Arka Mallick, Paul Plöger, Matias Valdenegro-Toro

Comments: Global Oceans 2021 Camera ready, 7 pages, 8 figures

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

[275] arXiv:2108.01068 (cross-list from cs.AI) [pdf, other]

Title: Time-based Dynamic Controllability of Disjunctive Temporal Networks with Uncertainty: A Tree Search Approach with Graph Neural Network Guidance

Kevin Osanlou, Jeremy Frank, J. Benton, Andrei Bursuc, Christophe Guettier, Eric Jacopin, Tristan Cazenave

Journal-ref: International Conference on Automated Planning and Scheduling 2020. Workshop on Bridging the Gap Between AI Planning and Reinforcement Learning (PRL)

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

[276] arXiv:2108.01080 (cross-list from cs.AI) [pdf, other]

Title: Learning-based Preference Prediction for Constrained Multi-Criteria Path-Planning

Kevin Osanlou, Christophe Guettier, Andrei Bursuc, Tristan Cazenave, Eric Jacopin

Comments: arXiv admin note: text overlap with arXiv:2108.00978

Journal-ref: International Conference on Automated Planning and Scheduling 2019, Workshop SPARK

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

[277] arXiv:2108.01111 (cross-list from cs.CV) [pdf, other]

Title: Pre-trained Models for Sonar Images

Matias Valdenegro-Toro, Alan Preciado-Grijalva, Bilal Wehbe

Comments: Global Oceans 2021, Camera ready, 8 pages, 9 figures

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

[278] arXiv:2108.01200 (cross-list from cs.CV) [pdf, other]

Title: Multispectral Vineyard Segmentation: A Deep Learning approach

T. Barros, P. Conde, G. Gonçalves, C. Premebida, M. Monteiro, C.S.S. Ferreira, U.J. Nunes

Comments: Accepted in Computer and Electronics in Agriculture journal

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

[279] arXiv:2108.01316 (cross-list from cs.CV) [pdf, other]

Title: RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecasting

Jiachen Li, Fan Yang, Hengbo Ma, Srikanth Malla, Masayoshi Tomizuka, Chiho Choi

Comments: ICCV 2021 (Project website: this https URL)

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

[280] arXiv:2108.01518 (cross-list from cs.CV) [pdf, other]

Title: Non-local Graph Convolutional Network for joint Activity Recognition and Motion Prediction

Dianhao Zhang, Ngo Anh Vien, Mien Van, Sean McLoone

Comments: Accepted to IROS 2021

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

[281] arXiv:2108.01593 (cross-list from cs.HC) [pdf, other]

Title: SwarmPlay: Interactive Tic-tac-toe Board Game with Swarm of Nano-UAVs driven by Reinforcement Learning

Ekaterina Karmanova, Valerii Serpiva, Stepan Perminov, Aleksey Fedoseev, Dzmitry Tsetserukou

Comments: Accepted to the 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). 2021. IEEE copyright. arXiv admin note: substantial text overlap with arXiv:2108.00488

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

[282] arXiv:2108.01781 (cross-list from math.OC) [pdf, other]

Title: Lifted contact dynamics for efficient optimal control of rigid body systems with contacts

Sotaro Katayama, Toshiyuki Ohtsuka

Comments: 8 pages, 4 figures. This work has been accepted to be presented at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)

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

[283] arXiv:2108.01828 (cross-list from cs.LG) [pdf, other]

Title: Emergent Discrete Communication in Semantic Spaces

Mycal Tucker, Huao Li, Siddharth Agrawal, Dana Hughes, Katia Sycara, Michael Lewis, Julie Shah

Subjects: Machine Learning (cs.LG); Computation and Language (cs.CL); Multiagent Systems (cs.MA); Robotics (cs.RO)

[284] arXiv:2108.01846 (cross-list from cs.LG) [pdf, other]

Title: Learning Barrier Certificates: Towards Safe Reinforcement Learning with Zero Training-time Violations

Yuping Luo, Tengyu Ma

Comments: NeurIPS 2021. Source code at this https URL

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

[285] arXiv:2108.01851 (cross-list from cs.LG) [pdf, other]

Title: Risk Conditioned Neural Motion Planning

Xin Huang, Meng Feng, Ashkan Jasour, Guy Rosman, Brian Williams

Comments: Accepted at IROS'21. Author version with 7 pages, 5 figures, 2 tables, and 1 algorithm

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

[286] arXiv:2108.02128 (cross-list from cs.LG) [pdf, other]

Title: Parallelized Reverse Curriculum Generation

Zih-Yun Chiu, Yi-Lin Tuan, Hung-yi Lee, Li-Chen Fu

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

[287] arXiv:2108.02238 (cross-list from cs.CV) [pdf, other]

Title: The Impact of Machine Learning on 2D/3D Registration for Image-guided Interventions: A Systematic Review and Perspective

Mathias Unberath, Cong Gao, Yicheng Hu, Max Judish, Russell H Taylor, Mehran Armand, Robert Grupp

Subjects: Computer Vision and Pattern Recognition (cs.CV); Robotics (cs.RO); Medical Physics (physics.med-ph)

[288] arXiv:2108.02393 (cross-list from eess.SY) [pdf, other]

Title: Online Model-Free Reinforcement Learning for the Automatic Control of a Flexible Wing Aircraft

Mohammed Abouheaf, Wail Gueaieb, Frank Lewis

Journal-ref: IET Control Theory & Applications, vol. 14, no. 1, January 2020, pages 73-84

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

[289] arXiv:2108.02448 (cross-list from cs.CV) [pdf, other]

Title: MFuseNet: Robust Depth Estimation with Learned Multiscopic Fusion

Weihao Yuan, Rui Fan, Michael Yu Wang, Qifeng Chen

Comments: IEEE International Conference on Robotics and Automation (ICRA) + IEEE Robotics and Automation Letters (RA-L). arXiv admin note: substantial text overlap with arXiv:2001.08212

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

[290] arXiv:2108.02522 (cross-list from cs.CV) [pdf, other]

Title: Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisation

Yuhang Ming, Xingrui Yang, Andrew Calway

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

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

[291] arXiv:2108.02753 (cross-list from eess.SY) [pdf, other]

Title: Safe Motion Planning against Multimodal Distributions based on a Scenario Approach

Heejin Ahn, Colin Chen, Ian M. Mitchell, Maryam Kamgarpour

Comments: Published in IEEE Control Systems Letters

Journal-ref: in IEEE Control Systems Letters, vol. 6, pp. 1142-1147, 2022

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

[292] arXiv:2108.02846 (cross-list from cs.AI) [pdf, other]

Title: Communicative Learning with Natural Gestures for Embodied Navigation Agents with Human-in-the-Scene

Qi Wu, Cheng-Ju Wu, Yixin Zhu, Jungseock Joo

Comments: To appear in IROS 2021

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

[293] arXiv:2108.02957 (cross-list from cs.CV) [pdf, other]

Title: Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization

Antoni Rosinol, Luca Carlone

Comments: 8 pages

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

[294] arXiv:2108.03120 (cross-list from eess.SY) [pdf, other]

Title: Stochastic Deep Model Reference Adaptive Control

Girish Joshi, Girish Chowdhary

Comments: Accepted in IEEE CDC 2021

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

[295] arXiv:2108.03122 (cross-list from cs.NI) [pdf, other]

Title: Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems

Vishrant Tripathi, Luca Ballotta, Luca Carlone, Eytan Modiano

Comments: accepted at WiOpt 2021

Subjects: Networking and Internet Architecture (cs.NI); Robotics (cs.RO)

[296] arXiv:2108.03169 (cross-list from eess.SP) [pdf, other]

Title: Responding to Illegal Activities Along the Canadian Coastlines Using Reinforcement Learning

Mohammed Abouheaf, Shuzheng Qu, Wail Gueaieb, Rami Abielmona, Moufid Harb

Journal-ref: IEEE Instrumentation & Measurement Magazine, vol. 24, no. 2, pp. 118-126, April 2021

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

[297] arXiv:2108.03227 (cross-list from cs.CV) [pdf, other]

Title: Bird's-Eye-View Panoptic Segmentation Using Monocular Frontal View Images

Nikhil Gosala, Abhinav Valada

Comments: 17 pages, 13 figures, Accepted for publication in the IEEE Robotics and Automation Letters (RA-L)

Journal-ref: IEEE Robotics and Automation Letters, Volume 7, Issue 2, April 2022, pp. 1968-1975

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

[298] arXiv:2108.03383 (cross-list from cs.AI) [pdf, other]

Title: Artificial Intelligence-Driven Customized Manufacturing Factory: Key Technologies, Applications, and Challenges

Jiafu Wan, Xiaomin Li, Hong-Ning Dai, Andrew Kusiak, Miguel Martínez-García, Di Li

Comments: 21 pages, 12 figures

Journal-ref: Proceedings of the IEEE, 2021

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

[299] arXiv:2108.03457 (cross-list from cs.CV) [pdf, other]

Title: Stereo Waterdrop Removal with Row-wise Dilated Attention

Zifan Shi, Na Fan, Dit-Yan Yeung, Qifeng Chen

Comments: IROS 2021

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

[300] arXiv:2108.03507 (cross-list from cs.CV) [pdf, other]

Title: ContinuityLearner: Geometric Continuity Feature Learning for Lane Segmentation

Haoyu Fang, Jing Zhu, Yi Fang

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