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A Collaborative Paradigm for Human Workers and Multi-Robot Teams in Precision Agriculture Systems

Leistungen

KoM Report

This report will collect the complete outcome of the kickoff meeti

Specifications and KPIs for the two robot prototypes

A report will describe all the specifications and KPIs that will be defined during the development of the robotic prototypes Following the development of the robotic prototypes this report will be periodically updated during the project

VR Farming Environment Specification

This deliverable will collect the outcomes of Task 26 and will comprise a detailed description of the requirements to the VR environment

Requirements, Specifications and Benchmarks

This deliverable will collect the outcomes of Task 21 and will comprise the analysis of the requirements the functional specifications and the identification and dimensioning of appropriate performance indices for validating the project outcome

Risk Assessment and Contingency Plan

This deliverable will provide the detailed plan for the constant monitoring of proper synchronization of the partners contributions and of the project activities so to respect the project timeline and to assess actual risk and anticipate future criticalities by proposing adequate countermeasures and mitigationactions

Project Management Guidelines

Such guidelines will instruct all partners on the procedures to be followed for fully complying with the EC procedures on scientific technical and financial reporting

VR Mobile-Robot Component

This deliverable will be a report describing VR MobileRobot software module It will allow robots and humans to move in the virtual environments and the kinematic physics rules to apply in the scene

Dimensioning of the Real-World Scenario for Final Demo

This deliverable will collect the outcomes of Task 24 and will comprise a detailed description of the dimensioning of the tablegrape vineyard and of the agronomic operations to be considered for the final demo

Guidelines for the Integration of System Components

This deliverable will be composed of a Wiki page containing the guidelines to ensure the compatibility of softwarehardware components and related documentation

Project Website

This deliverable will consist in the publication of a website describing CANOPIES The website will be regularly updated with the progress and achievements of the project

Data Management Plan

A Data Management Plan DMP will be produced detailing what data the project will generate whether and how it will be exploited or made accessible for verification and reuse and how it will be curated and preserved A first version of the DMP will be issued at M06 and the plan will evolve during the lifetime of the project in order to present the status of the projects reflections on data management

Veröffentlichungen

An Adaptive Cooperative Manipulation Control Framework for Multi-Agent Disturbance Rejection

Autoren: Victor Aladele, Carlos R. De Cos, Dimos V. Dimarogonas, Seth Hutchinson
Veröffentlicht in: 2022 IEEE 61st Conference on Decision and Control (CDC), Issue 61st, 2022, Page(s) 100-106, ISBN 978-1-6654-6761-2
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/cdc51059.2022.9992478

Learning Geometric Representations of Objects via Interaction

Autoren: Alfredo Reichlin, Giovanni Luca Marchetti, Hang Yin, Anastasiia Varava, Danica Kragic
Veröffentlicht in: Machine Learning and Knowledge Discovery in Databases: Research Track. ECML PKDD 2023, Issue Lecture Notes in Computer Science(), vol 14172, 2023
Herausgeber: Springer, Cham
DOI: 10.1007/978-3-031-43421-1_37

Body gesture recognition to control a social mobile robot

Autoren: Javier Laplaza, Ramón Romero, Alberto Sanfeliu, Anaís Garrell
Veröffentlicht in: 2023 ACM/IEEE International Conference on Human-Robot Interaction, Issue 2023, 2023, Page(s) 456-460
Herausgeber: ACM/IEEE
DOI: 10.1145/3568294.3580126

DLO@Scale: A Large-scale Meta Dataset for Learning Non-rigid Object Pushing Dynamics

Autoren: Robert Gieselmann; Alberta Longhini; Alfredo Reichlin; Danica Kragic; Florian T. Pokorny
Veröffentlicht in: NeurIPS 2021 - Workshop on Physical Reasoning and Inductive Biases for the Real World, Issue Annual, 2021
Herausgeber: NeurIPS

Reactive and Human-in-the-Loop Planning and Control of Multi-Robot Systems under LTL Specifications in Dynamic Environments*

Autoren: Pian Yu, Gianmarco Fedeli, Dimos V. Dimarogonas
Veröffentlicht in: 2023 9th International Conference on Control, Decision and Information Technologies (CoDIT), Issue 9th, 2023, ISBN 979-8-3503-1140-2
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/codit58514.2023.10284378

A Preliminary Study on Virtual Reality Tools in Human-Robot Interaction

Autoren: Kaszuba, S., Leotta, F., Nardi, D.
Veröffentlicht in: De Paolis, L.T., Arpaia, P., Bourdot, P. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2021., Issue Lecture Notes in Computer Science(), vol 12980, 2021, Page(s) 81-90, ISBN 978-3-030-87594-7
Herausgeber: Springer
DOI: 10.1007/978-3-030-87595-4_7

Pseudo-Label Generation for Agricultural Robotics Applications

Autoren: Thomas A. Ciarfuglia, Ionut Marian Motoi, Leonardo Saraceni, Daniele Nardi;
Veröffentlicht in: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops,, 2022
Herausgeber: IEEE Xplore

Real-life experiment metrics for evaluating human-robot collaborative navigation tasks

Autoren: E. Repiso, A. Garrell Zulueta, A. Sanfeliu
Veröffentlicht in: IEEE International Symposium on Robot and Human Interactive Communication, Issue 32nd, 2023, ISBN 979-8-3503-3670-2
Herausgeber: IEEE
DOI: 10.1109/ro-man57019.2023.10309529

Classification of humans social relations within urban areas

Autoren: Oscar Castro, Ely Repiso, Anaís Garrell, Alberto Sanfeliu
Veröffentlicht in: Iberian Robotics Conference, Vol 589 Lecture Notes in Networks and Systems, Issue 5th, 2022, Page(s) 27-39, ISBN 978-3-031-21065-5
Herausgeber: Springer Nature
DOI: 10.1007/978-3-031-21065-5_3

Inference vs. explicitness. Do we really need the perfect predictor? The human-robot collaborative object transportation case

Autoren: J.E. Domínguez, A. Sanfeliu
Veröffentlicht in: IEEE International Symposium on Robot and Human Interactive Communication, Issue 32nd, 2023, ISBN 979-8-3503-3670-2
Herausgeber: IEEE
DOI: 10.1109/ro-man57019.2023.10309648

Perception-Intention-Action Cycle in Human-Robot Collaborative Tasks

Autoren: Dominguez-Vidal, J. E.; Rodriguez, Nicolas; Alquezar, Rene; Sanfeliu, Alberto
Veröffentlicht in: ACM/IEEE International Conference on Human-Robot Interaction, Issue 2023, 2023, Page(s) 567-571
Herausgeber: ACM/IEEE
DOI: 10.48550/arxiv.2206.00304

A Control Barrier Function Approach to Human-multi-robot Safe Interaction

Autoren: Martina Lippi; Alessandro Marino
Veröffentlicht in: 29th Mediterranean Conference on Control and Automation (MED), 2021, ISBN 978-1-6654-4660-0
Herausgeber: IEEE
DOI: 10.1109/med51440.2021.9480187

IVO Robot: a new social robot for human-robot collaboration

Autoren: Laplaza Galindo, Javier; Rodríguez Linares, Nicolás Adrián|||0000-0003-4834-223X; Domínguez Vidal, José Enrique; Herrero Cotarelo, Fernando|||0000-0003-4116-0265; Hernández Juan, Sergi; López Gestoso, Alejandro; Sanfeliu Cortés, Alberto|||0000-0003-3868-9678; Garrell Zulueta, Anais|||0000-0002-4629-0723
Veröffentlicht in: 2022 ACM/IEEE International Conference on Human-Robot Interaction, Issue 2022, 2022, Page(s) 860-864
Herausgeber: ACM/IEEE
DOI: 10.1109/hri53351.2022.9889458

Context and intention for 3D human motion prediction: Experimentation and user study in handover tasks

Autoren: Javier Laplaza, Anaís Garrell, Francesc Moreno-Noguer, Alberto Sanfeliu
Veröffentlicht in: IEEE International Symposium on Robot and Human Interactive Communication, Issue 31st, 2022, Page(s) 630-635, ISBN 978-1-7281-8859-1
Herausgeber: IEEE
DOI: 10.1109/ro-man53752.2022.9900743

Navigation in Time-Varying Densities: An Operator Theoretic Approach

Autoren: Shankar A. Deka, Umesh Vaidya, Dimos V. Dimarogonas
Veröffentlicht in: 2023 European Control Conference (ECC), 2023, ISBN 978-3-907144-08-4
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.23919/ecc57647.2023.10178189

A Mixed-Integer Linear Programming Formulation for Human Multi-Robot Task Allocation

Autoren: Martina Lippi; Alessandro Marino
Veröffentlicht in: 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, ISBN 978-1-7281-9078-5
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/ro-man50785.2021.9515362

Finite-Time Distributed Protocol for Tracking the Upper (Lower) Bound For a Set of Time-Varying Reference Signals

Autoren: Martina Lippi, Antonio Furchì, Alessandro Marino and Andrea Gasparri
Veröffentlicht in: 2022 30th Mediterranean Conference on Control and Automation (MED), 2022
Herausgeber: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/med54222.2022.9837239

Attention deep learning based model for predicting the 3D Human Body Pose using the Robot Human Handover Phases

Autoren: J. Laplaza, A. Pumarola, F. Moreno-Noguer and A. Sanfeliu
Veröffentlicht in: 2021 30th IEEE International Conference on Robot and Human Interactive Communication, 2021, Page(s) 161-166
Herausgeber: IEEE
DOI: 10.1109/ro-man50785.2021.9515402

On the Subspace Structure of Gradient-Based Meta-Learning

Autoren: Gustaf Tegnér, Alfredo Reichlin, Hang Yin, Mårten Björkman, Danica Kragic
Veröffentlicht in: International Conference on Machine Learning (ICML 2022), Issue 39th, 2022
Herausgeber: ACM
DOI: 10.48550/arxiv.2207.03804

Improving human-robot interaction effectiveness in human-robot collaborative object transportation using force prediction

Autoren: J.E. Domínguez, A. Sanfeliu
Veröffentlicht in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023
Herausgeber: IEEE
DOI: 10.1109/iros55552.2023.10342517

Back to the Manifold: Recovering from Out-of-Distribution States

Autoren: Alfredo Reichlin, Giovanni Luca Marchetti, Hang Yin, Ali Ghadirzadeh, Danica Kragic
Veröffentlicht in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.48550/arxiv.2207.08673

A Data-Driven Approach for Contact Detection, Classification and Reaction in Physical Human-Robot Collaboration

Autoren: Martina Lippi; Giuseppe Gillini; Alessandro Marino; Filippo Arrichiello
Veröffentlicht in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9078-5
Herausgeber: IEEE
DOI: 10.1109/icra48506.2021.9561827

Context attention: Human motion prediction using context information and deep learning attention models

Autoren: J. Laplaza, F. Moreno-Noguer, A. Sanfeliu
Veröffentlicht in: Iberian Robotics Conference, Issue 5th, 2022, Page(s) 102-112, ISBN 978-3-031-21064-8
Herausgeber: Springer
DOI: 10.1007/978-3-031-21065-5_9

Compatibility checking of multiple control barrier functions for input constrained systems

Autoren: Xiao Tan, Dimos V. Dimarogonas
Veröffentlicht in: 2022 IEEE 61st Conference on Decision and Control (CDC), Issue 61st, 2022, Page(s) 939-944, ISBN 978-1-6654-6761-2
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/cdc51059.2022.9993001

A ROS Package for Human-In-the-Loop Planning and Control under Linear Temporal Logic Tasks

Autoren: Robin Baran; Xiao Tan; Peter Varnai; Pian Yu; Sofie Ahlberg; Meng Guo; Wenceslao Shaw Cortez; Dimos V. Dimarogonas
Veröffentlicht in: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), Issue 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021, Page(s) 2182-2187, ISSN 2161-8089
Herausgeber: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/case49439.2021.9551648

Distributed barrier function-enabled human-in-the-loop control for multi-robot systems

Autoren: Victor Nan Fernandez-Ayala, Xiao Tan, Dimos V. Dimarogonas
Veröffentlicht in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, ISBN 979-8-3503-2365-8
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/icra48891.2023.10160974

Cooperative Object Manipulation Under Signal Temporal Logic Tasks and Uncertain Dynamics

Autoren: Mayank Sewlia, Christos K. Verginis, Dimos V. Dimarogonas
Veröffentlicht in: IEEE Robotics and Automation Letters, Issue Volume: 7, Issue: 4, October 2022, 2022, Page(s) 11561 - 11568, ISSN 2377-3766
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3200760

A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems

Autoren: Wenceslao Shaw Cortez; Xiao Tan; Dimos V. Dimarogonas
Veröffentlicht in: IEEE Control Systems Letters, Issue Volume: 6, 2021, Page(s) 1742-1747, ISSN 2475-1456
Herausgeber: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2021.3133418

A Control Architecture for Safe Trajectory Generation in Human–Robot Collaborative Settings

Autoren: Jozsef Palmieri; Paolo Di Lillo; Martina Lippi; Stefano Chiaverini; Alessandro Marino
Veröffentlicht in: A Control Architecture for Safe Trajectory Generation in Human–Robot Collaborative Settings, 2024, Page(s) 1-16, ISSN 1545-5955
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2024.3350976

2-D Directed Formation Control Based on Bipolar Coordinates

Autoren: Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx, Dimos V. Dimarogonas
Veröffentlicht in: IEEE Transactions on Automatic Control, Issue Volume: 68, Issue: 7, July 2023, 2023, Page(s) 4175 - 4190, ISSN 0018-9286
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2022.3206603

Event-based line SLAM in real-time

Autoren: William Oswaldo hamorro, Joan Solà, Juan Andrade-Cetto
Veröffentlicht in: IEEE Robotics and Automation Letters, Issue 7(3), 2022, Page(s) 8146-8153, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2022.3187266

Distributed Mode Computation in Open Multi-Agent Systems

Autoren: Zoreh Al Zahra Sanai Dashti; Gabriele Oliva; Carla Seatzu; Andrea Gasparri; Mauro Franceschelli
Veröffentlicht in: IEEE Control Systems Letters, Issue Volume 6, 2020, Page(s) 3481 - 3486, ISSN 2475-1456
Herausgeber: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3185419

Merging Global and Local Planners: Real-Time Replanning Algorithm of Redundant Robots Within a Task-Priority Framework

Autoren: Paolo Di Lillo; Daniele Di Vito; Gianluca Antonelli
Veröffentlicht in: IEEE Transactions on Automation Science and Engineering, 2022, ISSN 1545-5955
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2022.3178266

Human Multi-Robot Physical Interaction: a Distributed Framework

Autoren: Martina Lippi; Alessandro Marino
Veröffentlicht in: Journal of Intelligent & Robotic Systems, 2021, ISSN 0921-0296
Herausgeber: Kluwer Academic Publishers
DOI: 10.1007/s10846-020-01277-y

ACHORD: Communication-aware multi-robot coordination with intermittent connectivity

Autoren: M. Saboia Da Silva, L. Clark, V. Thangavelu, J. Edlund, K. Otsu, G.J. Correa, V.S. Varadharajan, A. Santamaria-Navarro, T. Touma, A. Bouman, H. Melikyan, T. Pailevanian, S. Kim, A. Archanian, T.S. Vaquero, G. Beltrame, N. Napp, G. Pessin and A. Agha-Mohammadi
Veröffentlicht in: IEEE Robotics and Automation Letters, Issue 7(4), 2022, Page(s) 10184-10191, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2022.3193240

An Adaptive Distributed Protocol for Finite-Time Infimum or Supremum Dynamic Consensus

Autoren: Martina Lippi, Antonio Furchì, Alessandro Marino and Andrea Gasparri
Veröffentlicht in: IEEE Control Systems Letters, Issue Volume 7, 2022, Page(s) 401 - 406, ISSN 2475-1456
Herausgeber: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2022.3188941

Supervised Learning of Lyapunov Functions Using Laplace Averages of Approximate Koopman Eigenfunctions

Autoren: Shankar A. Deka, Dimos V. Dimarogonas
Veröffentlicht in: IEEE Control Systems Letters, Issue Volume: 7, 2023, Page(s) 3072 - 3077, ISSN 2475-1456
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lcsys.2023.3291657

Accurate detection and depth estimation of table grapes and peduncles for robot harvesting, combining monocular depth estimation and CNN methods

Autoren: G. Coll, I.J. Torres, A. Grau, E. Guerra, A. Sanfeliu
Veröffentlicht in: Computers and Electronics in Agriculture, Issue 215, 2023, Page(s) 108362, ISSN 0168-1699
Herausgeber: Elsevier BV
DOI: 10.1016/j.compag.2023.108362

Social robot navigation tasks: Combining machine learning techniques and Social Force Model

Autoren: Oscar Gil, Anaís Garrell, Alberto Sanfeliu
Veröffentlicht in: Sensors, Issue 21 (7087), 2021, Page(s) 23, ISSN 1424-8220
Herausgeber: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21217087

Secure rendezvous and static containment in multi-agent systems with adversarial intruders

Autoren: Matteo Santilli, Mauro Franceschelli, and Andrea Gasparri
Veröffentlicht in: Automatica, Issue Volume 143, 2022, ISSN 0005-1098
Herausgeber: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2022.110456

High-order Barrier Functions: Robustness, Safety and Performance-Critical Control

Autoren: Xiao Tan; Wenceslao Shaw Cortez; Dimos V. Dimarogonas
Veröffentlicht in: IEEE Transactions on Automatic Control, Issue Volume: 67, Issue: 6, 2021, ISSN 0018-9286
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2021.3089639

Distributed Implementation of Control Barrier Functions for Multi-agent Systems

Autoren: Xiao Tan; Dimos V. Dimarogonas
Veröffentlicht in: IEEE Control Systems Letters, Issue Vol. 6, 2022, Page(s) 1879-1884, ISSN 2475-1456
Herausgeber: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2021.3133802

Efficient hand gesture recognition for human-robot interaction

Autoren: Marc Peral, Alberto Sanfeliu, Anaís Garrell
Veröffentlicht in: IEEE Robotics and Automation Letters, Issue 7(4), 2022, Page(s) 10272-10279, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2022.3193251

Enabling Visual Action Planning for Object Manipulation Through Latent Space Roadmap

Autoren: Martina Lippi; Petra Poklukar; Michael C. Welle; Anastasia Varava;Hang Yin; Alessandro Marino; Danica Kragic
Veröffentlicht in: IEEE Transactions on Robotics, 2022, ISSN 1552-3098
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3188163

Distributed Motion Coordination for Multirobot Systems Under LTL Specifications

Autoren: Pian Yu; Dimos V. Dimarogonas
Veröffentlicht in: IEEE Transactions on robotics, Issue Vol. 38, no 2, 2022, Page(s) 1047-1062, ISSN 1552-3098
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3088764

Time-Constrained Leader-Follower Multiagent Task Scheduling and Control Synthesis

Autoren: Pian Yu; Dimos V. Dimarogonas
Veröffentlicht in: IEEE Transactions on Control of Network Systems, Issue Vol. 9, no 1, 2022, Page(s) 367-379, ISSN 2325-5870
Herausgeber: IEEE CONTROL SYSTEMS SOCIETY
DOI: 10.1109/tcns.2021.3106452

Adaptive Cooperative Control for Human-Robot Load Manipulation

Autoren: Carlos Rodriguez de Cos; Dimos V. Dimarogonas
Veröffentlicht in: IEEE Robotics and Automation Letters, Issue Volume: 7, Issue: 2, April 2022, 2022, Page(s) 5623-5630, ISSN 1949-3045
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2022.3158435

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