Robotics

Authors and titles for August 2021

[51] arXiv:2108.01802 [pdf, other]

Title: Deformation Recovery Control and Post-Impact Trajectory Replanning for Collision-Resilient Mobile Robots

Zhouyu Lu, Zhichao Liu, Konstantinos Karydis

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

[52] arXiv:2108.01884 [pdf, other]

Title: Adaptive Path Planning for UAV-based Multi-Resolution Semantic Segmentation

Felix Stache, Jonas Westheider, Federico Magistri, Marija Popović, Cyrill Stachniss

Comments: 6 pages, submission to European Conference on Mobile Robots (ECMR) 2021

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

[53] arXiv:2108.02028 [pdf, other]

Title: Incorporating Learnt Local and Global Embeddings into Monocular Visual SLAM

Huaiyang Huang, Haoyang Ye, Yuxiang Sun, Lujia Wang, Ming Liu

Comments: Autonomous Robots; 14 pages, 9 figures; project homepage: this https URL

Subjects: Robotics (cs.RO)

[54] arXiv:2108.02162 [pdf, other]

Title: Mechatronic Investigation of Wound Healing Process by Using Micro Robot

Abdurrahim Yilmaz, Ali Anil Demircali, Serra Ozkasap, Leyla Yorgancioglu, Huseyin Uvet, Gizem Aydemir

Comments: 4 pages, 5 figures

Subjects: Robotics (cs.RO)

[55] arXiv:2108.02174 [pdf, other]

Title: Knowledge-Grounded Dialogue Flow Management for Social Robots and Conversational Agents

Lucrezia Grassi, Carmine Tommaso Recchiuto, Antonio Sgorbissa

Comments: 21 pages, 20 figures

Journal-ref: Int J of Soc Robotics 14, 1273-1293 (2022)

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

[56] arXiv:2108.02267 [pdf, other]

Title: A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots

Zhenhua Yu, S.M.Hadi Sadati, Hasitha Wegiriya, Peter Childs, Thrishantha Nanayakkara,

Subjects: Robotics (cs.RO)

[57] arXiv:2108.02274 [pdf, other]

Title: LEO: Learning Energy-based Models in Factor Graph Optimization

Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess

Comments: Accepted to Conference on Robot Learning (CoRL) 2021. 19 pages, 13 figures

Subjects: Robotics (cs.RO)

[58] arXiv:2108.02303 [pdf, other]

Title: Tolerance-Guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion

Boshen Niu, Chenxi Wang, Changliu Liu

Subjects: Robotics (cs.RO)

[59] arXiv:2108.02379 [pdf, other]

Title: Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Muhammad Shoaib, Ehsan Asadi, Joono Cheong, Alireza Bab-Hadiashar

Comments: 26 pages, 4 figures, accepted at IEEE access

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

[60] arXiv:2108.02403 [pdf, other]

Title: Criticality Metrics for Automated Driving: A Review and Suitability Analysis of the State of the Art

Lukas Westhofen, Christian Neurohr, Tjark Koopmann, Martin Butz, Barbara Schütt, Fabian Utesch, Birte Kramer, Christian Gutenkunst, Eckard Böde

Journal-ref: Archives of Computational Methods in Engineering (2022) 1886-1784

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

[61] arXiv:2108.02420 [pdf, other]

Title: Reachability-based Safe Planning for Multi-Vehicle Systems withMultiple Targets

Jennifer C. Shih, Laurent El Ghaoui

Comments: American Control Conference 2021, corrected reference [20] in the original paper

Subjects: Robotics (cs.RO)

[62] arXiv:2108.02425 [pdf, other]

Title: Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation

Yiming Li, Tao Kong, Ruihang Chu, Yifeng Li, Peng Wang, Lei Li

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

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

[63] arXiv:2108.02439 [pdf, other]

Title: Learning to Design and Construct Bridge without Blueprint

Yunfei Li, Tao Kong, Lei Li, Yifeng Li, Yi Wu

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

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

[64] arXiv:2108.02513 [pdf, other]

Title: User modeling for social and affective robots

Cristina Gena, Federica Cena, Marco Botta, Claudio Mattutino

Comments: 2 pages, paper presented at I-RIM 2020, Seconda Conferenza di Robotica e Macchine Intelligenti 2020

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

[65] arXiv:2108.02530 [pdf, other]

Title: Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles

Josiah P. Hanna, Arrasy Rahman, Elliot Fosong, Francisco Eiras, Mihai Dobre, John Redford, Subramanian Ramamoorthy, Stefano V. Albrecht

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

Subjects: Robotics (cs.RO)

[66] arXiv:2108.02555 [pdf, other]

Title: DeepScanner: a Robotic System for Automated 2D Object Dataset Collection with Annotations

Valery Ilin, Ivan Kalinov, Pavel Karpyshev, Dzmitry Tsetserukou

Comments: Accepted to 26th International Conference on Emerging Technologies and Factory Automation (ETFA) 2021, IEEE copyright, 8 pages, 10 figures

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

[67] arXiv:2108.02590 [pdf, other]

Title: REAL: Rapid Exploration with Active Loop-Closing toward Large-Scale 3D Mapping using UAVs

Eungchang Mason Lee, Junho Choi, Hyungtae Lim, Hyun Myung

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

Subjects: Robotics (cs.RO)

[68] arXiv:2108.02665 [pdf, other]

Title: Deep Reinforcement Learning for Continuous Docking Control of Autonomous Underwater Vehicles: A Benchmarking Study

Mihir Patil, Bilal Wehbe, Matias Valdenegro-Toro

Comments: Global Oceans 2021 Camera ready, 7 pages, 11 figures

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

[69] arXiv:2108.02718 [pdf, other]

Title: LIDAUS: Localization of IoT Device via Anchor UAV SLAM

Yue Sun, Deqiang Xu, Zhuoming Huang, Honggang Zhang, Xiaohui Liang

Comments: IPCCC2020 Best Paper Award

Subjects: Robotics (cs.RO)

[70] arXiv:2108.02773 [pdf, other]

Title: An Interleaved Approach to Trait-Based Task Allocation and Scheduling

Glen Neville, Andrew Messing, Harish Ravichandar, Seth Hutchinson, Sonia Chernova

Comments: Accepted for IROS 2021

Subjects: Robotics (cs.RO)

[71] arXiv:2108.02906 [pdf, other]

Title: Co-design Optimization for Underwater Vehicle Docking Systems

Jonathan Wallen, Maddyson Jeske, Zhuoyuan Song

Comments: 7 pages, 6 figures

Subjects: Robotics (cs.RO)

[72] arXiv:2108.02930 [pdf, other]

Title: An Efficient Egocentric Regulator for Continuous Targeting Problems of the Underactuated Quadrotor

Ziying Lin, Wei Dong, Sensen Liu, Xinjun Sheng, Xiangyang Zhu

Journal-ref: IEEE/ASME Transactions on Mechatronics, vol. 28, no. 1, pp. 116-127, Feb. 2023

Subjects: Robotics (cs.RO)

[73] arXiv:2108.02976 [pdf, other]

Title: On Bundle Adjustment for Multiview PointCloud Registration

Huaiyang Huang, Yuxiang Sun, Jin Wu, Jiaohao Jiao, Xiangcheng Hu, Linwei Zheng, Lujia Wang, Ming Liu

Comments: IEEE Robotics and Automation Letters 2021

Subjects: Robotics (cs.RO)

[74] arXiv:2108.03045 [pdf, other]

Title: External Human-Machine Interface on Delivery Robots: Expression of Navigation Intent of the Robot

Shyam Sundar Kannan, Ahreum Lee, Byung-Cheol Min

Comments: Accepted at 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2021)

Subjects: Robotics (cs.RO)

[75] arXiv:2108.03150 [pdf, other]

Title: Attainment Regions in Feature-Parameter Space for High-Level Debugging in Autonomous Robots

Simón C. Smith, Subramanian Ramamoorthy

Comments: 6 pages, 3 figures. To be published in the International Conference on Intelligent Robots and Systems, IROS, 2021

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

[76] arXiv:2108.03180 [pdf, other]

Title: Dynamic Semantic Occupancy Mapping using 3D Scene Flow and Closed-Form Bayesian Inference

Aishwarya Unnikrishnan, Joey Wilson, Lu Gan, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari

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

[77] arXiv:2108.03191 [pdf, other]

Title: Probabilistic motion planning for non-Euclidean and multi-vehicle problems

Anton Lukyanenko, Damoon Soudbakhsh

Comments: 12 pages, 8 figures. Substantial revisions

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

[78] arXiv:2108.03212 [pdf, other]

Title: Differentiable Moving Horizon Estimation for Robust Flight Control

Bingheng Wang, Zhengtian Ma, Shupeng Lai, Lin Zhao, Tong Heng Lee

Comments: This paper was accepted for presentation at the 60th IEEE Conference on Decision and Control (CDC2021). The extended version here contains the experiment results and an appendix with brief proofs for the two lemmas

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

[79] arXiv:2108.03222 [pdf, other]

Title: A Study on Dense and Sparse (Visual) Rewards in Robot Policy Learning

Abdalkarim Mohtasib, Gerhard Neumann, Heriberto Cuayahuitl

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

[80] arXiv:2108.03272 [pdf, other]

Title: iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, Silvio Savarese

Comments: Accepted at Conference on Robot Learning (CoRL) 2021. Project website: this http URL

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

[81] arXiv:2108.03298 [pdf, other]

Title: What Matters in Learning from Offline Human Demonstrations for Robot Manipulation

Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, Roberto Martín-Martín

Comments: CoRL 2021 (Oral)

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

[82] arXiv:2108.03318 [pdf, other]

Title: OHPL: One-shot Hand-eye Policy Learner

Changjae Oh, Yik Lung Pang, Andrea Cavallaro

Comments: Camera-ready version. Paper accepted to IROS 2021. 7 pages, 7 figures, 2 tables

Subjects: Robotics (cs.RO)

[83] arXiv:2108.03332 [pdf, other]

Title: BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments

Sanjana Srivastava, Chengshu Li, Michael Lingelbach, Roberto Martín-Martín, Fei Xia, Kent Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, C. Karen Liu, Silvio Savarese, Hyowon Gweon, Jiajun Wu, Li Fei-Fei

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

[84] arXiv:2108.03344 [pdf, other]

Title: Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles

Shuxiao Chen, Xiangyu Wu, Mark W. Mueller, Koushil Sreenath

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

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

[85] arXiv:2108.03368 [pdf, other]

Title: Multi-Robot Path Planning in Complex Environments via Graph Embedding

Xifeng Gao, Zherong Pan, Ruiqi Ni

Subjects: Robotics (cs.RO)

[86] arXiv:2108.03402 [pdf, other]

Title: Arduino Controlled Spy Robo Car using Wireless Camera With live Streaming

Muhammad Ayoub Kamal

Subjects: Robotics (cs.RO); Programming Languages (cs.PL)

[87] arXiv:2108.03477 [pdf, other]

Title: A Tool for Organizing Key Characteristics of Virtual, Augmented, and Mixed Reality for Human-Robot Interaction Systems: Synthesizing VAM-HRI Trends and Takeaways

Thomas R. Groechel, Michael E. Walker, Christine T. Chang, Eric Rosen, Jessica Zosa Forde

Comments: Accepted to Robotics and Automation Magazine Special Issue on Extended Reality in Robotics

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

[88] arXiv:2108.03554 [pdf, other]

Title: Semantic-Based Explainable AI: Leveraging Semantic Scene Graphs and Pairwise Ranking to Explain Robot Failures

Devleena Das, Sonia Chernova

Comments: Accepted to IROS 2021

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

[89] arXiv:2108.03592 [pdf, other]

Title: Situated Live Programming for Human-Robot Collaboration

Emmanuel Senft, Michael Hagenow, Robert Radwin, Michael Zinn, Michael Gleicher, Bilge Mutlu

Comments: Accepted at UIST 2021, October 10-14, 2021, Virtual Event, USA

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

[90] arXiv:2108.03661 [pdf, other]

Title: Global-Position Tracking Control of 3-D Bipedal Walking via Virtual Constraint Design and Multiple Lyapunov Analysis

Yan Gu, Yuan Gao, Bin Yao, C. S. George Lee

Comments: 16 pages

Subjects: Robotics (cs.RO)

[91] arXiv:2108.03779 [pdf, other]

Title: Organization and Understanding of a Tactile Information Dataset TacAct During Physical Human-Robot Interactions

Peng Wang, Jixiao Liu, Funing Hou, Dicai Chen, Zihou Xia, Shijie Guo

Comments: 6 pages, 10 figures

Subjects: Robotics (cs.RO); Databases (cs.DB)

[92] arXiv:2108.03794 [pdf, other]

Title: Design and Experimental Evaluation of a Hierarchical Controller for an Autonomous Ground Vehicle with Large Uncertainties

Juncheng Li, Maopeng Ran, Lihua Xie

Comments: Accepted for publication in IEEE Transactions on Control Systems Technology

Subjects: Robotics (cs.RO)

[93] arXiv:2108.03807 [pdf, other]

Title: Model-free online motion adaptation for energy efficient flights of multicopters

Xiangyu Wu, Jun Zeng, Andrea Tagliabue, Mark W. Mueller

Comments: 11 pages + appendix

Subjects: Robotics (cs.RO)

[94] arXiv:2108.03826 [pdf, other]

Title: Dynamic Balancing of Humanoid Robot Walker3 with Proprioceptive Actuation: Systematic Design of Algorithm, Software and Hardware

Yan Xie, Jiajun Wang, Hao Dong, Xiaoyu Ren, Liqun Huang, Mingguo Zhao

Comments: journal

Subjects: Robotics (cs.RO)

[95] arXiv:2108.03862 [pdf, other]

Title: Safe Vessel Navigation Visually Aided by Autonomous Unmanned Aerial Vehicles in Congested Harbors and Waterways

Jonas le Fevre Sejersen, Rui Pimentel de Figueiredo, Erdal Kayacan

Comments: Accepted by "International Conference on Automation Science and Engineering" - Case 2021, waiting for publishment

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

[96] arXiv:2108.03863 [pdf, other]

Title: Utilizing the RRT*-Algorithm for Collision Avoidance in UAV Photogrammetry Missions

Lars Killian, Jan Backhaus

Subjects: Robotics (cs.RO)

[97] arXiv:2108.03866 [pdf, other]

Title: Mapless Humanoid Navigation Using Learned Latent Dynamics

Andre Brandenburger, Diego Rodriguez, Sven Behnke

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

Subjects: Robotics (cs.RO)

[98] arXiv:2108.03936 [pdf, other]

Title: 3D Human Reconstruction in the Wild with Collaborative Aerial Cameras

Cherie Ho, Andrew Jong, Harry Freeman, Rohan Rao, Rogerio Bonatti, Sebastian Scherer

Comments: 7 pages, 11 figures, IROS 2021

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

[99] arXiv:2108.04015 [pdf, other]

Title: Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace

Prajval Kumar Murali, Michael Gentner, Mohsen Kaboli

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

Subjects: Robotics (cs.RO)

[100] arXiv:2108.04021 [pdf, other]

Title: Unknown Object Segmentation through Domain Adaptation

Yiting Chen, Chenguang Yang, Miao Li

Comments: 6 pages

Subjects: Robotics (cs.RO)