Deliverables Documents, reports (16) Initial communication and dissemination plan Formal description of system architecture Evaluation of risks associated with the use of mobile manipulator robots in hospitals Semantic and instance segmentation system for robotics in real-time Specification of scenarios requirements Field study results: User response to robot prototypes Localisation using an object-centred representation First integrated hardware/software system Distributed multi-robot task assignment method Sensor suite first prototype Sensor specifications Local motion planner for dynamic environments Learning from demonstration framework Multimodal object database Compliant control and embodiment for grasping and manipulation Immersive multimodal interface for providing user grasping demonstrations Open Research Data Pilot (1) Data management plan Websites, patent fillings, videos etc. (1) Project website Publications Conference proceedings (31) AcousticFusion: Fusing sound source localization to visual SLAM in dynamic environments Author(s): T. Zhang, H. Zhang, X. Li, J. Chen, T. L. Lam, S. Vijayakumar Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2021, 2021, ISBN 978-1-6654-1714-3 Publisher: IEEE DOI: 10.1109/iros51168.2021.9636585 Task-oriented contact optimization for pushing manipulation with mobile robots Author(s): F. Bertoncelli, M. Selvaggio, F. Ruggiero, L. Sabattini Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue 2022, 2022 Publisher: IEEE DOI: 10.1109/iros47612.2022.9982177 Visual place recognition using LiDAR intensity information Author(s): L. Di Giammarino, I. Aloise, C. Stachniss, G. Grisetti Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2021, 2021, ISBN 978-1-6654-1714-3 Publisher: IEEE DOI: 10.1109/iros51168.2021.9636649 ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction Author(s): Christopher Mower, Theodoros Stouraitis, Joao Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles and Sethu Vijayakumar Published in: The Conference on Robot Learning 2022 (CoRL 2022), Issue 2022, 2022 Publisher: PMLR PoseFusion2: Simultaneous background reconstruction and human shape recovery in real-time Author(s): H. Zhang, T. Zhang, T. L. Lam, S. Vijayakumar Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2021, 2021, ISBN 978-1-6654-1714-3 Publisher: IEEE DOI: 10.1109/iros51168.2021.9636658 Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses Author(s): K. Blomqvist, J.J. Chung, L. Ott, and S. Roland Published in: IEEE International Conference on Pattern Recognition, Issue 2022, 2022 Publisher: IEEE DOI: 10.1109/icpr56361.2022.9956263 Visual control through narrow passages for an omnidirectional wheeled robot Author(s): D. Morra, E. Cervera, L.R. Buonocore, J. Cacace, F. Ruggiero, V. Lippiello, M. Di Castro Published in: 2022 30th Mediterranean Conference on Control and Automation, Issue 2022, 2022 Publisher: IEEE DOI: 10.1109/med54222.2022.9837221 Unified data collection for visual-inertial calibration via deep reinforcement learning Author(s): Y. Ao, L. Chen, F. Tschopp, M. Breyer, A. Cramariuc, R. Siegwart Published in: IEEE International Conference on Robotics and Automation, Issue 2022, 2022 Publisher: IEEE Online Multi-Robot Task Assignment with Stochastic Blockages Author(s): N. Wilde, J. Alonso-Mora Published in: IEEE Conference on Decision and Control (CDC), Issue 2022, 2022 Publisher: IEEE Learning Motor Skills of Reactive Reaching and Grasping of Objects Author(s): W. Hu, C. Yang, K. Yuan, Z. Li Published in: IEEE International Conference on Robotics and Biomimetics (ROBIO), Issue 2021, 2021 Publisher: IEEE Panoptic multi-TSDFs: A flexible representation for online multi-resolution volumetric mapping and long-term dynamic scene consistency Author(s): L. M. Schmid, J. Delmerico, J. L. Schonberger, J. Nieto, M. Pollefeys, R. Siegwart, C. Cadena Lerma Published in: IEEE International Conference on Robotics and Automation, Issue 2022, 2022 Publisher: IEEE DOI: 10.1109/icra46639.2022.9811877 Vision based adaptation to kernelized synergies for human inspired robotic manipulation Author(s): S. Katyara, F. Ficuciello, F. Chen, B. Siciliano, D. G. Caldwell Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 2021, 2021, ISBN 978-1-7281-9077-8 Publisher: IEEE DOI: 10.1109/icra48506.2021.9561046 Robust Onboard Localization in Changing Environments Exploiting Text Spotting Author(s): N. Zimmerman, L. Wiesmann, T. Guadagnino, T. Läbe, J. Behley, and C. Stachniss Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue 2022, 2022 Publisher: IEEE RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects Author(s): Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Tin Lun Lam and Sethu Vijayakumar Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Issue 2022, 2022 Publisher: IEEE Mapping the static parts of dynamic scenes from 3D LiDAR point clouds exploiting ground segmentation Author(s): M. Arora, L. Wiesmann, X. Chen, C. Stachniss Published in: European Conference on Mobile Robots (ECMR), Issue 2021, 2021, ISBN 978-1-6654-1213-1 Publisher: IEEE DOI: 10.1109/ecmr50962.2021.9568799 Poisson surface reconstruction for LiDAR odometry and mapping Author(s): I. Vizzo, X. Chen, N. Chebrolu, J. Behley, C. Stachniss Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 2021, 2021, ISBN 978-1-7281-9077-8 Publisher: IEEE DOI: 10.1109/icra48506.2021.9562069 Dual-arm object transportation via model predictive control and external disturbance estimation Author(s): M. Lei, M. Selvaggio, T. Wang, F. Ruggiero, C. Zhou, C. Yao, Y. Zheng Published in: 2022 IEEE International Conference on Automation Science and Engineering, Issue 2022, 2022 Publisher: IEEE DOI: 10.1109/case49997.2022.9926627 Context-Awareness in Human-Robot Interaction: Approaches and Challenges Author(s): P. Chevalier, B. R. Schadenberg, A. Aly, A. Cangelosi, A. Tapus Published in: Companion of the Human Robot Interaction Conference '22, Issue 2022, 2022 Publisher: IEEE/ACM DOI: 10.5555/3523760.3523992 Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks Author(s): B. Mersch, X. Chen, J. Behley, C. Stachniss Published in: Conference on Robot Learning (CoRL), Issue 2021, 2021 Publisher: PMLR Error-Bounded Approximation of Pareto Fronts in Robot Planning Problems Author(s): A. Botros, A. Sadeghi, N. Wilde, J. Alonso-Mora, and S. L. Smith Published in: Workshop on the Algorithmic Foundations of Robotics, Issue 2022, 2022, ISBN 978-3-031-21089-1 Publisher: Springer DOI: 10.1007/978-3-031-21090-7_30 Online Range Image-based Pole Extractor for Long-term LiDAR Localization in Urban Environments Author(s): H. Dong, X. Chen, C. Stachniss Published in: European Conference on Mobile Robots (ECMR), Issue 2021, 2021, ISBN 978-1-6654-1213-1 Publisher: IEEE DOI: 10.1109/ecmr50962.2021.9568850 Calibration of tactile/force sensors for grasping with the PRISMA Hand II Author(s): D. E. Canbay, P. Ferrentino, H. Liu, R. Moccia, S. Pirozzi, B. Siciliano, F. Ficuciello Published in: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Issue 2021, 2021, ISBN 978-1-6654-4139-1 Publisher: IEEE DOI: 10.1109/aim46487.2021.9517508 Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints Author(s): J. Pousa De Moura, T. Stouraitis, S. Vijayakumar Published in: IEEE International Conference on Robotics and Automation, Issue 2022, 2022 Publisher: IEEE Learning a guidance policy from humans for social navigation Author(s): L. Knoedler, B. Brito, M. Everett, J. P. How and J. Alonso-Mora Published in: IEEE International Conference on Robotics and Automation Workshop on Social Robot Navigation: Advances and Evaluation (SEANavBench), Issue 2022, 2022 Publisher: IEEE Maneuver-based trajectory prediction for self-driving cars using spatio-temporal convolutional networks Author(s): B. Mersch, T. Höllen, K. Zhao, C. Stachniss, R. Roscher Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2021, 2021, ISBN 978-1-6654-1714-3 Publisher: IEEE DOI: 10.1109/iros51168.2021.9636875 NeuralBlox: Real-time neural representation fusion for robust volumetric mapping Author(s): S. P. Lionar, L. M. Schmid, C. Cadena, R. Siegwart, A. Cramariuc Published in: International Conference on 3D Vision, Issue 2021, 2021, ISBN 978-1-6654-2688-6 Publisher: IEEE DOI: 10.1109/3dv53792.2021.00135 Simple but effective redundant odometry for autonomous vehicles Author(s): A. Reinke, X. Chen, C. Stachniss Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 2021, 2021, ISBN 978-1-7281-9077-8 Publisher: IEEE DOI: 10.1109/icra48506.2021.9562023 Improving monocular depth estimation by semantic pre-training Author(s): P. Rottmann, T. Posewsky, A. Milioto, C. Stachniss, J. Behley Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2021, 2021, ISBN 978-1-6654-1714-3 Publisher: IEEE DOI: 10.1109/iros51168.2021.9636546 Do we use the Right Measure? Challenges in Evaluating Reward Learning Algorithms Author(s): N. Wilde, J. Alonso-Mora Published in: Conference on Robot Learning (CoRL), Issue 2022, 2022 Publisher: PMLR 4D panoptic LiDAR segmentation Author(s): M. Aygün, A. Ošep, M. Weber, M. Maximov, C. Stachniss, J. Behley, L. Leal-Taixé Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Issue 2021, 2021, ISBN 978-1-6654-4509-2 Publisher: IEEE/CVF DOI: 10.1109/cvpr46437.2021.00548 TSDF++: A Multi-object Formulation for Dynamic Object Tracking and Reconstruction Author(s): M. Grinvald, F. Tombari, R. Siegwart, J. Nieto Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 2021, 2021, ISBN 978-1-7281-9077-8 Publisher: IEEE DOI: 10.1109/icra48506.2021.9560923 Peer reviewed articles (23) VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data Author(s): I. Vizzo, T. Guadagnino, J. Behley, and C. Stachniss Published in: Sensors, Issue 2022, 2022, ISSN 1424-8220 Publisher: Multidisciplinary Digital Publishing Institute (MDPI) DOI: 10.3390/s22031296 A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift Author(s): L. Schmid, V. Reijgwart, L. Ott, J. Nieto, R. Siegwart, C. Cadena Lerma Published in: IEEE Robotics and Automation Letters (RA-L), Issue 6(3), 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3068954 A Robotic Cognitive Control Framework for Collaborative Task Execution and Learning Author(s): R. Caccavale, A. Finzi Published in: Topics in Cognitive Science, Issue 2022, 2022, ISSN 1756-8765 Publisher: Wiley Autonomy in physical human-robot interaction: A brief survey Author(s): M. Selvaggio, M. Cognetti, S. Nikolaidis, S. Ivaldi, B. Siciliano Published in: IEEE Robotics and Automation Letters (RA-L), Issue 6(4), 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3100603 Long-Term Localization using Semantic Cues in Floor Plan Maps Author(s): N. Zimmerman, T. Guadagnino, X. Chen, J. Behley, and C. Stachniss Published in: IEEE Robotics and Automation Letters, Issue 2022, 2022, ISSN 2377-3766 Publisher: IEEE A rapidly-exploring random trees approach to combined task and motion planning Author(s): R. Caccavale, A. Finzi Published in: Robotics and Autonomous Systems, 2022, ISSN 0921-8890 Publisher: Elsevier BV Moving object segmentation in 3D LiDAR data: A learning-based approach exploiting sequential data Author(s): X. Chen, S. Li, B. Mersch, L. Wiesmann, J. Gall, J. Behley, C. Stachniss Published in: IEEE Robotics and Automation Letters (RA-L), Issue 6(4), 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3093567 Continual Adaptation of Semantic Segmentation Using Complementary 2D-3D Data Representations Author(s): J. Frey, H. Blum, F. Milano, R. Siegwart, and C. Cadena Published in: IEEE Robotics and Automation Letters, Issue 2022, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3203812 Combining human guidance and structured task execution during physical human-robot collaboration Author(s): J. Cacace, R. Caccavale R., A. Finzi, R. Grieco Published in: Journal of Intelligent Manufacturing, Issue 2022, 2022, ISSN 0956-5515 Publisher: Kluwer Academic Publishers DOI: 10.1007/s10845-022-01989-y Residual force polytope: Admissible task-space forces of dynamic trajectories Author(s): H. Ferrolho, W. Merkt, C. Tiseo, S. Vijayakumar Published in: Robotics and Autonomous Systems (RAS), Issue 142, 2021, ISSN 0921-8890 Publisher: Elsevier BV DOI: 10.1016/j.robot.2021.103814 Where to go next: Learning a Subgoal Recommendation Policy for Navigation in Dynamic Environments Author(s): B. Brito, M. Everett, J. P. How, J. Alonso-Mora Published in: IEEE Robotics and Automation Letters (RA-L), Issue 6(3), 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3068662 DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments Author(s): L. Wiesmann, T. Guadagnino, I. Vizzo, G. Grisetti, J. Behley, and C. Stachniss Published in: IEEE Robotics and Automation Letters, Issue 2022, 2022, ISSN 2377-3766 Publisher: IEEE Leveraging kernelized synergies on shared subspace for precision grasp and dexterous manipulation Author(s): S. Katyara, F. Ficuciello, D. G. Caldwell, B. Siciliano, F. Chen Published in: IEEE Transactions on Cognitive and Development Systems, 2021, ISSN 2379-8939 Publisher: IEEE DOI: 10.1109/tcds.2021.3110406 Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery Author(s): Z. Chen, J. Alonso-Mora, X. Bai, D. D. Harabor, P. J. Stuckey Published in: IEEE Robotics and Automation Letters (RA-L), Issue 6(3), 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3074883 Automatic Labeling to Generate Training Data for Online LiDAR-Based Moving Object Segmentation Author(s): X. Chen, B. Mersch, L. Nunes, R. Marcuzzi, I. Vizzo, J. Behley, and C. Stachniss Published in: IEEE Robotics and Automation Letters, Issue 2022, 2022, ISSN 2377-3766 Publisher: IEEE Adaptive Robust Kernels for Non-Linear Least Squares Problems Author(s): N. Chebrolu, T. Läbe, O. Vysotska, J. Behley, C. Stachniss Published in: IEEE Robotics and Automation Letters (RA-L), Issue 6(2), 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3061331 Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models Author(s): C. Rauch, R. Long, V. Ivan, S Vijayakumar Published in: IEEE Robotics and Automation Letters, Issue 2022, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3200177 A Human Gesture Mapping Method to Control a Multi‐Functional Hand for Robot‐Assisted Laparoscopic Surgery: The MUSHA Case Author(s): F. Ficuciello, A. Villani, T. Lisini Baldi, D. Prattichizzo Published in: Frontiers in Robotics and AI, Issue 8, 2021, ISSN 2296-9144 Publisher: Frontiers DOI: 10.3389/frobt.2021.741807 Improving pedestrian prediction models with self-supervised continual learning Author(s): L. Knoedler, C. Salmi, H. Zhu, B. Brito, J. Alonso-Mora Published in: IEEE Robotics and Automation Letters, Issue 2022, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3148475 Learning Adaptive Grasping From Human Demonstrations Author(s): S. Wang, W. Hu, L. Sun, X. Wang, Z. Li Published in: IEEE/ASME Transactions on Mechatronics, Issue 2022, 2022, ISSN 1083-4435 Publisher: Institute of Electrical and Electronics Engineers A shared-control teleoperation architecture for nonprehensile object transportation Author(s): M. Selvaggio, J. Cacace, C. Pacchierotti, F. Ruggiero, P. Robuffo Giordano Published in: IEEE Transactions on Robotics (T-RO), 2021, ISSN 1552-3098 Publisher: Institute of Electrical and Electronics Engineers DOI: 10.1109/tro.2021.3086773 Group-based distributed auction algorithms for multi-robot task assignment Author(s): X. Bai, A. Fielbaum, M. Kronmüller, L. Knoedler and J. Alonso-Mora Published in: IEEE Transactions on Automation Science and Engineering, Issue 2022, 2022, ISSN 1545-5955 Publisher: Institute of Electrical and Electronics Engineers DOI: 10.1109/tase.2022.3175040 Metrics for 3D Object Pointing and Manipulation in Virtual Reality: The Introduction and Validation of a Novel Approach in Measuring Human Performance Author(s): E. Triantafyllidis, W. Hu, C. McGreavy, Z. Li Published in: IEEE Robotics & Automation Magazine (RAM), 2021, ISSN 1070-9932 Publisher: Institute of Electrical and Electronics Engineers DOI: 10.1109/mra.2021.3090070 Thesis and dissertations (1) Inter-Object Affordance Prediction Author(s): D. Helm, P. Wulkop, J. Förster, R. Siegwart Published in: 2022 Publisher: ETH Zürich Searching for OpenAIRE data... There was an error trying to search data from OpenAIRE No results available