Enhancing Healthcare with Assistive Robotic Mobile Manipulation

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Autonomous model acquisition

Socially aware motion planner in object-rich environment

Validated set of motion behaviours from results of user tests

Initial communication and dissemination plan

Few-shot learning for grasping novel objects

Validated multimodal universal dictionary of robot intent locomotion behaviours

Scenario specifications update

Formal description of system architecture

Change detection for long-term mapping

Harmony SLAM system

Industry guidelines on mobile manipulators

Evaluation of risks associated with the use of mobile manipulator robots in hospitals

Designs of controllers for dexterous coordinated manipulation tasks

Final evaluation report

Semantic and instance segmentation system for robotics in real-time

Specification of scenarios requirements

Field study results: User response to robot prototypes

Cooperative planner

Localisation using an object-centred representation

First integrated hardware/software system

Validated set of multimodal social robot intent behaviours and whole-body behaviours

Distributed multi-robot task assignment method

Compliant whole-body motion control

Multi-robot manipulation method

Sensor suite first prototype

Sensor specifications

Local motion planner for dynamic environments

Complete integrated system

Human-robot social implications of learning from demonstration

Longitudinal study results

Variable impedance control strategy for safe whole-body interaction

First evaluation report

Learning from demonstration framework

Multimodal object database

Object database with contextual information

Compliant control and embodiment for grasping and manipulation

Whole-body motion planning module for mobile manipulation

Immersive multimodal interface for providing user grasping demonstrations

Data management plan

Project website

Publications

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

Structured Motion Generation with Predictive Learning: Proposing Subgoal for Long-Horizon Manipulation

Author(s): Namiko Saito, João Moura, Tetsuya Ogata, Marina Y. Aoyama, Shingo Murata, Shigeki Sugano, Sethu Vijayakumar
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10161046

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

3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs

Author(s): Samuel Looper, Javier Rodriguez-Puigvert, Roland Siegwart, Cesar Cadena, Lukas Schmid
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10161212

Current-Based Impedance Control for Interacting with Mobile Manipulators

Author(s): Jelmer de Wolde, Luzia Knoedler, Gianluca Garafalo, Javier Alonso-Mora
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
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

SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations

Author(s): Xingguang Zhong, Yue Pan, Jens Behley, Cyrill Stachniss
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10160907

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 and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control

Author(s): Keyhan Kouhkiloui Babarahmati, Mohammadreza Kasaei, Carlo Tiseo, Michael Mistry, Sethu Vijayakumar
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 17337-17343
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610410

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

Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects

Author(s): Giulio Schiavi, Paula Wulkop, Giuseppe Rizzi, Lionel Ott, Roland Siegwart, Jen Jen Chung
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10160747

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

Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing

Author(s): Buchanan, Russell; Röfer, Adrian; Moura, João; Valada, Abhinav; Vijayakumar, Sethu
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.48550/arxiv.2309.16343

The Views of Hospital Laboratory Workers on Augmenting Laboratory Testing with Robots

Author(s): Bob R. Schadenberg, Hideki Garcia Goo, Lena Nyman, Jesper Keisu, Vanessa Evers
Published in: Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction, 2024
Publisher: ACM
DOI: 10.1145/3568294.3580157

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

TiV-ODE: A Neural ODE-based Approach for Controllable Video Generation From Text-Image Pairs

Author(s): Yucheng Xu, Nanbo Li, Arushi Goel, Zonghai Yao, Zijian Guo, Hamidreza Kasaei, Mohammadreza Kasaei, Zhibin Li
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), Issue 31, 2024, Page(s) 14645-14652
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610149

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

Robust Double-Encoder Network for RGB-D Panoptic Segmentation

Author(s): Matteo Sodano, Federico Magistri, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10160315

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

Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration

Author(s): Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Published in: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Publisher: IEEE
DOI: 10.1109/iros55552.2023.10341629

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

Unified Data Collection for Visual-Inertial Calibration via Deep Reinforcement Learning

Author(s): Yunke Ao, Le Chen, Florian Tschopp, Michel Breyer, Roland Siegwart, Andrei Cramariuc
Published in: 2022 International Conference on Robotics and Automation (ICRA), 2022
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9811629

A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators

Author(s): Kasaei, Mohammadreza, Keyhan Kouhkiloui Babarahmati, Zhibin Li, and Mohsen Khadem
Published in: Conference on Robot Learning (CORL), 2023
Publisher: PMLR

Unsupervised Continual Semantic Adaptation Through Neural Rendering

Author(s): Zhizheng Liu, Francesco Milano, Jonas Frey, Roland Siegwart, Hermann Blum, Cesar Cadena
Published in: 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023
Publisher: IEEE
DOI: 10.1109/cvpr52729.2023.00296

Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics

Author(s): Saray Bakker, Luzia Knoedler, Max Spahn, Wendelin Böhmer, Javier Alonso-Mora
Published in: 2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2024
Publisher: IEEE
DOI: 10.1109/mrs60187.2023.10416784

Language-guided Robot Grasping: CLIP-based Referring Grasp Synthesis in Clutter

Author(s): Tziafas, Georgios; Xu, Yucheng; Goel, Arushi; Kasaei, Mohammadreza; Li, Alex; Kasaei, Hamidreza
Published in: Conference on Robot Learning (CORL), 2023
Publisher: PMLR
DOI: 10.48550/arxiv.2311.05779

NeuSurfEmb: A Complete Pipeline for Dense Correspondence-based 6D Object Pose Estimation without CAD Models

Author(s): Francesco Milano, Jen Jen Chung, Hermann Blum, Roland Siegwart, Lionel Ott
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
Publisher: IEEE

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

Constructing Metric-Semantic Maps Using Floor Plan Priors for Long-Term Indoor Localization

Author(s): Nicky Zimmerman, Matteo Sodano, Elias Marks, Jens Behley, Cyrill Stachniss
Published in: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Publisher: IEEE
DOI: 10.1109/iros55552.2023.10341595

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

Agile and Versatile Robot Locomotion via Kernel-based Residual Learning

Author(s): Milo Carroll, Zhaocheng Liu, Mohammadreza Kasaei, Zhibin Li
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10160704

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

Data-efficient Non-parametric Modelling and Control of an Extensible Soft Manipulator

Author(s): Mohammadreza Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10161275

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

Open-World Semantic Segmentation Including Class Similarity

Author(s): Matteo Sodano, Federico Magistri, Lucas Nunes, Jens Behley, Cyrill Stachniss
Published in: IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), 2024
Publisher: IEEE

Simultaneous Synthesis and Verification of Neural Control Barrier Functions Through Branch-and-Bound Verification-in-the-Loop Training

Author(s): Xinyu Wang, Luzia Knoedler, Frederik Baymler Mathiesen, Javier Alonso-Mora
Published in: 2024 European Control Conference (ECC), 2024
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10591251

Designing Heterogeneous Robot Fleets for Task Allocation and Sequencing

Author(s): Nils Wilde, Javier Alonso-Mora
Published in: 2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2024
Publisher: IEEE
DOI: 10.1109/mrs60187.2023.10416795

OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control

Author(s): Christopher E. Mower, João Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren, Christos Bergeles
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10161272

ISAR: A Benchmark for Single- and Few-Shot Object Instance Segmentation and Re-Identification

Author(s): Nicolas Gorlo, Kenneth Blomqvist, Francesco Milano, Roland Siegwart
Published in: 2024 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2024
Publisher: IEEE
DOI: 10.1109/wacv57701.2024.00433

Instance-wise Grasp Synthesis for Robotic Grasping

Author(s): Yucheng Xu, Mohammadreza Kasaei, Hamidreza Kasaei, Zhibin Li
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Publisher: IEEE
DOI: 10.1109/icra48891.2023.10161149

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

Statistically Distinct Plans for Multiobjective Task Assignment

Author(s): Nils Wilde, Javier Alonso-Mora
Published in: IEEE Transactions on Robotics, Issue 40, 2024, Page(s) 2217-2232, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3359530

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

Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions

Author(s): Benedikt Mersch, Xieyuanli Chen, Ignacio Vizzo, Lucas Nunes, Jens Behley, Cyrill Stachniss
Published in: IEEE Robotics and Automation Letters, Issue 7, 2024, Page(s) 7503-7510, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3183245

Multicontact Motion Retargeting Using Whole-Body Optimization of Full Kinematics and Sequential Force Equilibrium

Author(s): Quentin Rouxel, Kai Yuan, Ruoshi Wen, Zhibin Li
Published in: IEEE/ASME Transactions on Mechatronics, Issue 27, 2024, Page(s) 4188-4198, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2022.3152844

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

Panoptic Vision-Language Feature Fields

Author(s): Haoran Chen, Kenneth Blomqvist, Francesco Milano, Roland Siegwart
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, Page(s) 2144-2151, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2024.3354624

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

IR-MCL: Implicit Representation-Based Online Global Localization

Author(s): Haofei Kuang, Xieyuanli Chen, Tiziano Guadagnino, Nicky Zimmerman, Jens Behley, Cyrill Stachniss
Published in: IEEE Robotics and Automation Letters, Issue 8, 2024, Page(s) 1627-1634, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3239318

Mask4D: End-to-End Mask-Based 4D Panoptic Segmentation for LiDAR Sequences

Author(s): Rodrigo Marcuzzi, Lucas Nunes, Louis Wiesmann, Elias Marks, Jens Behley, Cyrill Stachniss
Published in: IEEE Robotics and Automation Letters, Issue 8, 2024, Page(s) 7487-7494, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3320020

Optimizing Task Waiting Times in Dynamic Vehicle Routing

Author(s): Alexander Botros, Barry Gilhuly, Nils Wilde, Armin Sadeghi, Javier Alonso-Mora, Stephen L. Smith
Published in: IEEE Robotics and Automation Letters, Issue 8, 2023, Page(s) 5520-5527, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3295251

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

A Non-Prehensile Object Transportation Framework With Adaptive Tilting Based on Quadratic Programming

Author(s): Rajesh Subburaman, Mario Selvaggio, Fabio Ruggiero
Published in: IEEE Robotics and Automation Letters, Issue 8, 2024, Page(s) 3581-3588, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3268594

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

Scalarizing Multi-Objective Robot Planning Problems Using Weighted Maximization

Author(s): Nils Wilde, Stephen L. Smith, Javier Alonso-Mora
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, Page(s) 2503-2510, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2024.3357313

Static map generation from 3D LiDAR point clouds exploiting ground segmentation

Author(s): Mehul Arora, Louis Wiesmann, Xieyuanli Chen, Cyrill Stachniss
Published in: Robotics and Autonomous Systems, Issue 159, 2024, Page(s) 104287, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2022.104287

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

LocNDF: Neural Distance Field Mapping for Robot Localization

Author(s): Louis Wiesmann, Tiziano Guadagnino, Ignacio Vizzo, Nicky Zimmerman, Yue Pan, Haofei Kuang, Jens Behley, Cyrill Stachniss
Published in: IEEE Robotics and Automation Letters, Issue 8, 2023, Page(s) 4999-5006, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3291274

Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation

Author(s): Benedikt Mersch, Tiziano Guadagnino, Xieyuanli Chen, Ignacio Vizzo, Jens Behley, Cyrill Stachniss
Published in: IEEE Robotics and Automation Letters, Issue 8, 2023, Page(s) 5180-5187, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3292583

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

Inter-Object Affordance Prediction

Author(s): D. Helm, P. Wulkop, J. Förster, R. Siegwart
Published in: 2022
Publisher: ETH Zürich

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