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IEEE Robotics and Automation Society Information
Year: 2024 | Volume: 9 | Issue: 3
STAGP: Spatio-Temporal Adaptive Graph Pooling Network for Pedestrian Trajectory Prediction
Zhening Liu;Li He;Liang Yuan;Kai Lv;Runhao Zhong;Yaohua Chen
Publication Year: 2024,Page(s):2001 - 2007
Cited by: Papers (5)
Predicting how pedestrians will move in the future is crucial for robot navigation, autonomous driving, and video surveillance. The complex interactions among pedestrians make it difficult to predict their future trajectory. Previous studies have primarily focused on modeling the interaction features of all pedestrians in the scene. However, this approach often results in an abundance of irrelevan...Show More
PKU-GoodsAD: A Supermarket Goods Dataset for Unsupervised Anomaly Detection and Segmentation
Publication Year: 2024,Page(s):2008 - 2015
Cited by: Papers (1)
Visual anomaly detection is essential and commonly used for many tasks in the field of robotic vision. Recent anomaly detection datasets mainly focus on industrial automated inspection, medical image analysis and video surveillance. With the development of unmanned supermarkets, anomaly detection plays an important role in the inspection of the production and sale of goods and the automatic replac...Show More
A Soft Continuum Robot With Self-Controllable Variable Curvature
Xinran Wang;Qiujie Lu;Dongmyoung Lee;Zhongxue Gan;Nicolas Rojas
Publication Year: 2024,Page(s):2016 - 2023
Cited by: Papers (1)
This letter introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine elements, or whose variable curvature capabilities are discrete—depending on the number of locking mechanisms and segments. The ability to have a variable curva...Show More
Car-Studio: Learning Car Radiance Fields From Single-View and Unlimited In-the-Wild Images
Publication Year: 2024,Page(s):2024 - 2031
Cited by: Papers (2)
Compositional neural scene graph studies have shown that radiance fields can be an efficient tool in an editable autonomous driving simulator. However, previous studies learned within a sequence of autonomous driving datasets, resulting in unsatisfactory blurring when rotating the car in the simulator. In this letter, we propose a pipeline for learning unconstrained images and building a dataset f...Show More
On the Effectiveness of Retrieval, Alignment, and Replay in Manipulation
Publication Year: 2024,Page(s):2032 - 2039
Cited by: Papers (3)
Imitation learning with visual observations is notoriously inefficient when addressed with end-to-end behavioural cloning methods. In this letter, we explore an alternative paradigm which decomposes reasoning into three phases. First, a retrieval phase, which informs the robot what it can do with an object. Second, an alignment phase, which informs the robot where to interact with the object. And ...Show More
On the Effectiveness of Retrieval, Alignment, and Replay in Manipulation
Year: 2024 | Volume: 9 | Issue: 3
The Continuous Jump Control of a Locust-Inspired Robot With Omnidirectional Trajectory Adjustment
Yongzun Yang;Zhiyuan Feng;Songsong Ma;Lingqi Tang;Cheng Jin;Yao Li
Publication Year: 2024,Page(s):2040 - 2047
Cited by: Papers (1)
Jumping is an effective way for small robots to overcome obstacles. After years of development, many miniature jumping robots have been proposed with various mechanisms, and they have achieved jump trajectory control, fall recovery, and even continuous jumps. However, most miniature jumping robots do not have enough actuators to accurately regulate the robot's jumping trajectory, which limits the ...Show More
Reactive Base Control for On-the-Move Mobile Manipulation in Dynamic Environments
Ben Burgess-Limerick;Jesse Haviland;Chris Lehnert;Peter Corke
Publication Year: 2024,Page(s):2048 - 2055
Cited by: Papers (3)
We present a reactive base control method that enables high performance mobile manipulation on-the-move in real-world environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can significantly decrease the time required to perform multi-step tasks, as well as improve the gracefulness of the robot's motion. Existing approaches to manipula...Show More
Safe Control for Navigation in Cluttered Space Using Multiple Lyapunov-Based Control Barrier Functions
Publication Year: 2024,Page(s):2056 - 2063
Cited by: Papers (7)
Control barrier functions (CBFs) are powerful tools for ensuring safety in controlled systems, commonly employed through the construction of a safety filter using quadratic programming (QP), known as CBF-QP. However, synthesizing a CBF specifically for the navigation tasks of mobile robots, where safety is crucial, poses challenges due to the complexity of the operating environments. In addition t...Show More
A Distributed Pipeline for Collaborative Pursuit in the Target Guarding Problem
Yansong Chen;Yuchen Wu;Helei Yang;Junjie Cao;Qinqin Wang;Yong Liu
Publication Year: 2024,Page(s):2064 - 2071
Cited by: Papers (2)
The target guarding problem (TGP) is a classical combat game where pursuers aim to capture evaders to protect a territory from intrusion. This paper proposes a distributed pipeline for multi-pursuer multi-evader TGP with the capability to accommodate varying numbers of evaders and criteria for successful pursuit. The pipeline integrates a cooperative encirclement-oriented distributed model predict...Show More
Learning the Ego-Motion of an Underwater Imaging Sonar: A Comparative Experimental Evaluation of Novel CNN and RCNN Approaches
Publication Year: 2024,Page(s):2072 - 2079
Cited by: Papers (2)
This research addresses the challenge of estimating the ego-motion of a forward-looking sonar (FLS) through deep neural networks (DNNs) and their application in autonomous underwater robots. Over the last two decades, analytical methods have been developed to perform odometry estimation using FLS data. While these methods can be effective, they are often computationally intensive, complex to imple...Show More
EV-Planner: Energy-Efficient Robot Navigation via Event-Based Physics-Guided Neuromorphic Planner
Publication Year: 2024,Page(s):2080 - 2087
Cited by: Papers (2)
Vision-based object tracking is an essential precursor to performing autonomous aerial navigation in order to avoid obstacles. Biologically inspired neuromorphic event cameras are emerging as a powerful alternative to frame-based cameras, due to their ability to asynchronously detect varying intensities (even in poor lighting conditions), high dynamic range, and robustness to motion blur. Spiking ...Show More
Learning-To-Rank Approach for Identifying Everyday Objects Using a Physical-World Search Engine
Kanta Kaneda;Shunya Nagashima;Ryosuke Korekata;Motonari Kambara;Komei Sugiura
Publication Year: 2024,Page(s):2088 - 2095
Cited by: Papers (4)
Domestic service robots offer a solution to the increasing demand for daily care and support. A human-in-the-loop approach that combines automation and operator intervention is considered to be a realistic approach to their use in society. Therefore, we focus on the task of retrieving target objects from open-vocabulary user instructions in a human-in-the-loop setting, which we define as the learn...Show More
Speed Planning Based on Terrain-Aware Constraint Reinforcement Learning in Rugged Environments
Publication Year: 2024,Page(s):2096 - 2103
Cited by: Papers (1)
Speed planning in rugged terrain poses challenges due to various constraints, such as traverse efficiency, dynamics, safety, and smoothness. This letter introduces a framework based on Constrained Reinforcement Learning (CRL) that considers all these constraints. In addition, extracting the terrain information as a constraint to be added to the CRL is also a barrier. In this letter, a terrain cons...Show More
Robustification of Bayesian-Inference-Based Gait Estimation for Lower-Limb Wearable Robots
Publication Year: 2024,Page(s):2104 - 2111
Cited by: Papers (1)
Lower-limb wearable robots designed to assist people in everyday activities must reliably recover from any momentary confusion about what the user is doing. Such confusion might arise from momentary sensor failure, collision with an obstacle, losing track of gait due to an out-of-distribution stride, etc. Systems that infer a user's walking condition from angle measurements using Bayesian filters ...Show More
Whole-Body Intuitive Physical Human-Robot Interaction With Flexible Robots Using Non-Collocated Proprioceptive Sensing
Publication Year: 2024,Page(s):2112 - 2119
This letter presents a method enabling intuitive physical human-robot interaction (pHRI) with flexible robots using an end-point sensing device. The device is a passive serial chain of encoders and lightweight links, mounted in parallel with the manipulator. By measuring the deflection of the end-effector relative to the base, the whole body of the manipulator becomes a potential interaction inter...Show More
Peristaltic Pump-Based Palm-Sized Multi-Mode Pressure Supply System for Soft Robots
Publication Year: 2024,Page(s):2120 - 2127
Cited by: Papers (1)
Soft robots have garnered considerable interest in recent years in terms of structure and functionality, while commercially viable pressure supply systems with various pressure supply modes for soft robots remain slow to progress. Hence, in this work, a palm-sized multi-mode pressure supply system based on a peristaltic pump is proposed for the first time, and precise pneumatic pressure control is...Show More
LinK3D: Linear Keypoints Representation for 3D LiDAR Point Cloud
Yunge Cui;Yinlong Zhang;Jiahua Dong;Haibo Sun;Xieyuanli Chen;Feng Zhu
Publication Year: 2024,Page(s):2128 - 2135
Cited by: Papers (26)
Feature extraction and matching are the basic parts of many robotic vision tasks, such as 2D or 3D object detection, recognition, and registration. As is known, 2D feature extraction and matching have already achieved great success. Unfortunately, in the field of 3D, the current methods may fail to support the extensive application of 3D LiDAR sensors in robotic vision tasks due to their poor desc...Show More
Distributed Simultaneous Localisation and Auto-Calibration Using Gaussian Belief Propagation
Riku Murai;Ignacio Alzugaray;Paul H.J. Kelly;Andrew J. Davison
Publication Year: 2024,Page(s):2136 - 2143
Cited by: Papers (3)
We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each other while simultaneously calibrating their sensors and markers extrinsic using Gaussian Belief Propagation. In the presented experiments, we show how our method...Show More
Panoptic Vision-Language Feature Fields
Haoran Chen;Kenneth Blomqvist;Francesco Milano;Roland Siegwart
Publication Year: 2024,Page(s):2144 - 2151
Cited by: Papers (2)
Recently, methods have been proposed for 3D open-vocabulary semantic segmentation. Such methods are able to segment scenes into arbitrary classes based on text descriptions provided during runtime. In this letter, we propose to the best of our knowledge the first algorithm for open-vocabulary panoptic segmentation in 3D scenes. Our algorithm, Panoptic Vision-Language Feature Fields (PVLFF), learns...Show More
Panoptic Vision-Language Feature Fields
Haoran Chen;Kenneth Blomqvist;Francesco Milano;Roland Siegwart
Year: 2024 | Volume: 9 | Issue: 3
Attentiveness Map Estimation for Haptic Teleoperation of Mobile Robot Obstacle Avoidance and Approach
Publication Year: 2024,Page(s):2152 - 2159
Cited by: Papers (1)
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable when the operator is unaware of the obstacle but undesirable when the movement is intentional, such as when the operator wishes to inspect or manipulate an object...Show More
Optimal Initialization Strategies for Range-Only Trajectory Estimation
Abhishek Goudar;Frederike Dümbgen;Timothy D. Barfoot;Angela P. Schoellig
Publication Year: 2024,Page(s):2160 - 2167
Cited by: Papers (2)
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The non-convex nature of the range measurement model results in a cost function with possible local minima. In the absence of a good initial guess, commonly used iterative solvers ca...Show More
A Frequency-Modulated Tripedal Soft Magnetic Robot With Diverse Motion Modalities for Ingestible Applications
Publication Year: 2024,Page(s):2168 - 2175
Cited by: Papers (1)
Soft robots driven by the external magnetic field can be widely applied in medical areas to realize noninvasive diagnosis and treatment. These robots gain advantages in flexibility, untethered remote control, and safe human interaction. Thus, they can achieve functions such as endo-imaging, drug delivery, and biopsy. However, developing a multi-functional magnetic-driven soft robot to carry out va...Show More
Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles Using Dubins Set Classification
Publication Year: 2024,Page(s):2176 - 2183
Cited by: Papers (2)
Time-optimal path planning in high winds for a turning-rate constrained Uncrewed Aerial Vehicle is a challenging problem to solve and is important for deployment and field operations. Previous works have used trochoidal path segments comprising straight and maximum-rate turn segments, as optimal extremal paths in uniform wind conditions. Current methods iterate over all candidate trochoidal trajec...Show More
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