Enhancing Healthcare with Assistive Robotic Mobile Manipulation

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

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

Publicaciones

AcousticFusion: Fusing sound source localization to visual SLAM in dynamic environments

Autores: T. Zhang, H. Zhang, X. Li, J. Chen, T. L. Lam, S. Vijayakumar
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 2021, 2021, ISBN 978-1-6654-1714-3
Editor: IEEE
DOI: 10.1109/iros51168.2021.9636585

Task-oriented contact optimization for pushing manipulation with mobile robots

Autores: F. Bertoncelli, M. Selvaggio, F. Ruggiero, L. Sabattini
Publicado en: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edición 2022, 2022
Editor: IEEE
DOI: 10.1109/iros47612.2022.9982177

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

Autores: Namiko Saito, João Moura, Tetsuya Ogata, Marina Y. Aoyama, Shingo Murata, Shigeki Sugano, Sethu Vijayakumar
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/icra48891.2023.10161046

Visual place recognition using LiDAR intensity information

Autores: L. Di Giammarino, I. Aloise, C. Stachniss, G. Grisetti
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 2021, 2021, ISBN 978-1-6654-1714-3
Editor: IEEE
DOI: 10.1109/iros51168.2021.9636649

ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction

Autores: Christopher Mower, Theodoros Stouraitis, Joao Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles and Sethu Vijayakumar
Publicado en: The Conference on Robot Learning 2022 (CoRL 2022), Edición 2022, 2022
Editor: PMLR

PoseFusion2: Simultaneous background reconstruction and human shape recovery in real-time

Autores: H. Zhang, T. Zhang, T. L. Lam, S. Vijayakumar
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 2021, 2021, ISBN 978-1-6654-1714-3
Editor: IEEE
DOI: 10.1109/iros51168.2021.9636658

Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses

Autores: K. Blomqvist, J.J. Chung, L. Ott, and S. Roland
Publicado en: IEEE International Conference on Pattern Recognition, Edición 2022, 2022
Editor: IEEE
DOI: 10.1109/icpr56361.2022.9956263

Visual control through narrow passages for an omnidirectional wheeled robot

Autores: D. Morra, E. Cervera, L.R. Buonocore, J. Cacace, F. Ruggiero, V. Lippiello, M. Di Castro
Publicado en: 2022 30th Mediterranean Conference on Control and Automation, Edición 2022, 2022
Editor: IEEE
DOI: 10.1109/med54222.2022.9837221

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

Autores: Samuel Looper, Javier Rodriguez-Puigvert, Roland Siegwart, Cesar Cadena, Lukas Schmid
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/icra48891.2023.10161212

Current-Based Impedance Control for Interacting with Mobile Manipulators

Autores: Jelmer de Wolde, Luzia Knoedler, Gianluca Garafalo, Javier Alonso-Mora
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
Editor: IEEE

Online Multi-Robot Task Assignment with Stochastic Blockages

Autores: N. Wilde, J. Alonso-Mora
Publicado en: IEEE Conference on Decision and Control (CDC), Edición 2022, 2022
Editor: IEEE

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

Autores: Xingguang Zhong, Yue Pan, Jens Behley, Cyrill Stachniss
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/icra48891.2023.10160907

Learning Motor Skills of Reactive Reaching and Grasping of Objects

Autores: W. Hu, C. Yang, K. Yuan, Z. Li
Publicado en: IEEE International Conference on Robotics and Biomimetics (ROBIO), Edición 2021, 2021
Editor: IEEE

Panoptic multi-TSDFs: A flexible representation for online multi-resolution volumetric mapping and long-term dynamic scene consistency

Autores: L. M. Schmid, J. Delmerico, J. L. Schonberger, J. Nieto, M. Pollefeys, R. Siegwart, C. Cadena Lerma
Publicado en: IEEE International Conference on Robotics and Automation, Edición 2022, 2022
Editor: IEEE
DOI: 10.1109/icra46639.2022.9811877

Vision based adaptation to kernelized synergies for human inspired robotic manipulation

Autores: S. Katyara, F. Ficuciello, F. Chen, B. Siciliano, D. G. Caldwell
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), Edición 2021, 2021, ISBN 978-1-7281-9077-8
Editor: IEEE
DOI: 10.1109/icra48506.2021.9561046

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

Autores: Keyhan Kouhkiloui Babarahmati, Mohammadreza Kasaei, Carlo Tiseo, Michael Mistry, Sethu Vijayakumar
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Página(s) 17337-17343
Editor: IEEE
DOI: 10.1109/icra57147.2024.10610410

Robust Onboard Localization in Changing Environments Exploiting Text Spotting

Autores: N. Zimmerman, L. Wiesmann, T. Guadagnino, T. Läbe, J. Behley, and C. Stachniss
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems, Edición 2022, 2022
Editor: IEEE

RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects

Autores: Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Tin Lun Lam and Sethu Vijayakumar
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Edición 2022, 2022
Editor: IEEE

Mapping the static parts of dynamic scenes from 3D LiDAR point clouds exploiting ground segmentation

Autores: M. Arora, L. Wiesmann, X. Chen, C. Stachniss
Publicado en: European Conference on Mobile Robots (ECMR), Edición 2021, 2021, ISBN 978-1-6654-1213-1
Editor: IEEE
DOI: 10.1109/ecmr50962.2021.9568799

Poisson surface reconstruction for LiDAR odometry and mapping

Autores: I. Vizzo, X. Chen, N. Chebrolu, J. Behley, C. Stachniss
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), Edición 2021, 2021, ISBN 978-1-7281-9077-8
Editor: IEEE
DOI: 10.1109/icra48506.2021.9562069

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

Autores: Giulio Schiavi, Paula Wulkop, Giuseppe Rizzi, Lionel Ott, Roland Siegwart, Jen Jen Chung
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/icra48891.2023.10160747

Dual-arm object transportation via model predictive control and external disturbance estimation

Autores: M. Lei, M. Selvaggio, T. Wang, F. Ruggiero, C. Zhou, C. Yao, Y. Zheng
Publicado en: 2022 IEEE International Conference on Automation Science and Engineering, Edición 2022, 2022
Editor: IEEE
DOI: 10.1109/case49997.2022.9926627

Context-Awareness in Human-Robot Interaction: Approaches and Challenges

Autores: P. Chevalier, B. R. Schadenberg, A. Aly, A. Cangelosi, A. Tapus
Publicado en: Companion of the Human Robot Interaction Conference '22, Edición 2022, 2022
Editor: IEEE/ACM
DOI: 10.5555/3523760.3523992

Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks

Autores: B. Mersch, X. Chen, J. Behley, C. Stachniss
Publicado en: Conference on Robot Learning (CoRL), Edición 2021, 2021
Editor: PMLR

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

Autores: Buchanan, Russell; Röfer, Adrian; Moura, João; Valada, Abhinav; Vijayakumar, Sethu
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.48550/arxiv.2309.16343

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

Autores: Bob R. Schadenberg, Hideki Garcia Goo, Lena Nyman, Jesper Keisu, Vanessa Evers
Publicado en: Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction, 2024
Editor: ACM
DOI: 10.1145/3568294.3580157

Error-Bounded Approximation of Pareto Fronts in Robot Planning Problems

Autores: A. Botros, A. Sadeghi, N. Wilde, J. Alonso-Mora, and S. L. Smith
Publicado en: Workshop on the Algorithmic Foundations of Robotics, Edición 2022, 2022, ISBN 978-3-031-21089-1
Editor: Springer
DOI: 10.1007/978-3-031-21090-7_30

Online Range Image-based Pole Extractor for Long-term LiDAR Localization in Urban Environments

Autores: H. Dong, X. Chen, C. Stachniss
Publicado en: European Conference on Mobile Robots (ECMR), Edición 2021, 2021, ISBN 978-1-6654-1213-1
Editor: IEEE
DOI: 10.1109/ecmr50962.2021.9568850

Calibration of tactile/force sensors for grasping with the PRISMA Hand II

Autores: D. E. Canbay, P. Ferrentino, H. Liu, R. Moccia, S. Pirozzi, B. Siciliano, F. Ficuciello
Publicado en: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Edición 2021, 2021, ISBN 978-1-6654-4139-1
Editor: IEEE
DOI: 10.1109/aim46487.2021.9517508

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

Autores: Yucheng Xu, Nanbo Li, Arushi Goel, Zonghai Yao, Zijian Guo, Hamidreza Kasaei, Mohammadreza Kasaei, Zhibin Li
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), Edición 31, 2024, Página(s) 14645-14652
Editor: IEEE
DOI: 10.1109/icra57147.2024.10610149

Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints

Autores: J. Pousa De Moura, T. Stouraitis, S. Vijayakumar
Publicado en: IEEE International Conference on Robotics and Automation, Edición 2022, 2022
Editor: IEEE

Robust Double-Encoder Network for RGB-D Panoptic Segmentation

Autores: Matteo Sodano, Federico Magistri, Tiziano Guadagnino, Jens Behley, Cyrill Stachniss
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/icra48891.2023.10160315

Learning a guidance policy from humans for social navigation

Autores: L. Knoedler, B. Brito, M. Everett, J. P. How and J. Alonso-Mora
Publicado en: IEEE International Conference on Robotics and Automation Workshop on Social Robot Navigation: Advances and Evaluation (SEANavBench), Edición 2022, 2022
Editor: IEEE

Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration

Autores: Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Publicado en: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Editor: IEEE
DOI: 10.1109/iros55552.2023.10341629

Maneuver-based trajectory prediction for self-driving cars using spatio-temporal convolutional networks

Autores: B. Mersch, T. Höllen, K. Zhao, C. Stachniss, R. Roscher
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 2021, 2021, ISBN 978-1-6654-1714-3
Editor: IEEE
DOI: 10.1109/iros51168.2021.9636875

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

Autores: Yunke Ao, Le Chen, Florian Tschopp, Michel Breyer, Roland Siegwart, Andrei Cramariuc
Publicado en: 2022 International Conference on Robotics and Automation (ICRA), 2022
Editor: IEEE
DOI: 10.1109/icra46639.2022.9811629

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

Autores: Kasaei, Mohammadreza, Keyhan Kouhkiloui Babarahmati, Zhibin Li, and Mohsen Khadem
Publicado en: Conference on Robot Learning (CORL), 2023
Editor: PMLR

Unsupervised Continual Semantic Adaptation Through Neural Rendering

Autores: Zhizheng Liu, Francesco Milano, Jonas Frey, Roland Siegwart, Hermann Blum, Cesar Cadena
Publicado en: 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023
Editor: IEEE
DOI: 10.1109/cvpr52729.2023.00296

Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics

Autores: Saray Bakker, Luzia Knoedler, Max Spahn, Wendelin Böhmer, Javier Alonso-Mora
Publicado en: 2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2024
Editor: IEEE
DOI: 10.1109/mrs60187.2023.10416784

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

Autores: Tziafas, Georgios; Xu, Yucheng; Goel, Arushi; Kasaei, Mohammadreza; Li, Alex; Kasaei, Hamidreza
Publicado en: Conference on Robot Learning (CORL), 2023
Editor: PMLR
DOI: 10.48550/arxiv.2311.05779

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

Autores: Francesco Milano, Jen Jen Chung, Hermann Blum, Roland Siegwart, Lionel Ott
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024
Editor: IEEE

NeuralBlox: Real-time neural representation fusion for robust volumetric mapping

Autores: S. P. Lionar, L. M. Schmid, C. Cadena, R. Siegwart, A. Cramariuc
Publicado en: International Conference on 3D Vision, Edición 2021, 2021, ISBN 978-1-6654-2688-6
Editor: IEEE
DOI: 10.1109/3dv53792.2021.00135

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

Autores: Nicky Zimmerman, Matteo Sodano, Elias Marks, Jens Behley, Cyrill Stachniss
Publicado en: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Editor: IEEE
DOI: 10.1109/iros55552.2023.10341595

Simple but effective redundant odometry for autonomous vehicles

Autores: A. Reinke, X. Chen, C. Stachniss
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), Edición 2021, 2021, ISBN 978-1-7281-9077-8
Editor: IEEE
DOI: 10.1109/icra48506.2021.9562023

Improving monocular depth estimation by semantic pre-training

Autores: P. Rottmann, T. Posewsky, A. Milioto, C. Stachniss, J. Behley
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 2021, 2021, ISBN 978-1-6654-1714-3
Editor: IEEE
DOI: 10.1109/iros51168.2021.9636546

Agile and Versatile Robot Locomotion via Kernel-based Residual Learning

Autores: Milo Carroll, Zhaocheng Liu, Mohammadreza Kasaei, Zhibin Li
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.1109/icra48891.2023.10160704

Do we use the Right Measure? Challenges in Evaluating Reward Learning Algorithms

Autores: N. Wilde, J. Alonso-Mora
Publicado en: Conference on Robot Learning (CoRL), Edición 2022, 2022
Editor: PMLR

4D panoptic LiDAR segmentation

Autores: M. Aygün, A. Ošep, M. Weber, M. Maximov, C. Stachniss, J. Behley, L. Leal-Taixé
Publicado en: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Edición 2021, 2021, ISBN 978-1-6654-4509-2
Editor: IEEE/CVF
DOI: 10.1109/cvpr46437.2021.00548

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

Autores: Mohammadreza Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/icra48891.2023.10161275

TSDF++: A Multi-object Formulation for Dynamic Object Tracking and Reconstruction

Autores: M. Grinvald, F. Tombari, R. Siegwart, J. Nieto
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), Edición 2021, 2021, ISBN 978-1-7281-9077-8
Editor: IEEE
DOI: 10.1109/icra48506.2021.9560923

Open-World Semantic Segmentation Including Class Similarity

Autores: Matteo Sodano, Federico Magistri, Lucas Nunes, Jens Behley, Cyrill Stachniss
Publicado en: IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), 2024
Editor: IEEE

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

Autores: Xinyu Wang, Luzia Knoedler, Frederik Baymler Mathiesen, Javier Alonso-Mora
Publicado en: 2024 European Control Conference (ECC), 2024
Editor: IEEE
DOI: 10.23919/ecc64448.2024.10591251

Designing Heterogeneous Robot Fleets for Task Allocation and Sequencing

Autores: Nils Wilde, Javier Alonso-Mora
Publicado en: 2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2024
Editor: IEEE
DOI: 10.1109/mrs60187.2023.10416795

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

Autores: Christopher E. Mower, João Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren, Christos Bergeles
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/icra48891.2023.10161272

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

Autores: Nicolas Gorlo, Kenneth Blomqvist, Francesco Milano, Roland Siegwart
Publicado en: 2024 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2024
Editor: IEEE
DOI: 10.1109/wacv57701.2024.00433

Instance-wise Grasp Synthesis for Robotic Grasping

Autores: Yucheng Xu, Mohammadreza Kasaei, Hamidreza Kasaei, Zhibin Li
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/icra48891.2023.10161149

VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data

Autores: I. Vizzo, T. Guadagnino, J. Behley, and C. Stachniss
Publicado en: Sensors, Edición 2022, 2022, ISSN 1424-8220
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s22031296

A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift

Autores: L. Schmid, V. Reijgwart, L. Ott, J. Nieto, R. Siegwart, C. Cadena Lerma
Publicado en: IEEE Robotics and Automation Letters (RA-L), Edición 6(3), 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3068954

A Robotic Cognitive Control Framework for Collaborative Task Execution and Learning

Autores: R. Caccavale, A. Finzi
Publicado en: Topics in Cognitive Science, Edición 2022, 2022, ISSN 1756-8765
Editor: Wiley

Statistically Distinct Plans for Multiobjective Task Assignment

Autores: Nils Wilde, Javier Alonso-Mora
Publicado en: IEEE Transactions on Robotics, Edición 40, 2024, Página(s) 2217-2232, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3359530

Autonomy in physical human-robot interaction: A brief survey

Autores: M. Selvaggio, M. Cognetti, S. Nikolaidis, S. Ivaldi, B. Siciliano
Publicado en: IEEE Robotics and Automation Letters (RA-L), Edición 6(4), 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3100603

Long-Term Localization using Semantic Cues in Floor Plan Maps

Autores: N. Zimmerman, T. Guadagnino, X. Chen, J. Behley, and C. Stachniss
Publicado en: IEEE Robotics and Automation Letters, Edición 2022, 2022, ISSN 2377-3766
Editor: IEEE

A rapidly-exploring random trees approach to combined task and motion planning

Autores: R. Caccavale, A. Finzi
Publicado en: Robotics and Autonomous Systems, 2022, ISSN 0921-8890
Editor: Elsevier BV

Moving object segmentation in 3D LiDAR data: A learning-based approach exploiting sequential data

Autores: X. Chen, S. Li, B. Mersch, L. Wiesmann, J. Gall, J. Behley, C. Stachniss
Publicado en: IEEE Robotics and Automation Letters (RA-L), Edición 6(4), 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3093567

Continual Adaptation of Semantic Segmentation Using Complementary 2D-3D Data Representations

Autores: J. Frey, H. Blum, F. Milano, R. Siegwart, and C. Cadena
Publicado en: IEEE Robotics and Automation Letters, Edición 2022, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3203812

Combining human guidance and structured task execution during physical human-robot collaboration

Autores: J. Cacace, R. Caccavale R., A. Finzi, R. Grieco
Publicado en: Journal of Intelligent Manufacturing, Edición 2022, 2022, ISSN 0956-5515
Editor: Kluwer Academic Publishers
DOI: 10.1007/s10845-022-01989-y

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

Autores: Benedikt Mersch, Xieyuanli Chen, Ignacio Vizzo, Lucas Nunes, Jens Behley, Cyrill Stachniss
Publicado en: IEEE Robotics and Automation Letters, Edición 7, 2024, Página(s) 7503-7510, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3183245

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

Autores: Quentin Rouxel, Kai Yuan, Ruoshi Wen, Zhibin Li
Publicado en: IEEE/ASME Transactions on Mechatronics, Edición 27, 2024, Página(s) 4188-4198, ISSN 1083-4435
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2022.3152844

Residual force polytope: Admissible task-space forces of dynamic trajectories

Autores: H. Ferrolho, W. Merkt, C. Tiseo, S. Vijayakumar
Publicado en: Robotics and Autonomous Systems (RAS), Edición 142, 2021, ISSN 0921-8890
Editor: Elsevier BV
DOI: 10.1016/j.robot.2021.103814

Panoptic Vision-Language Feature Fields

Autores: Haoran Chen, Kenneth Blomqvist, Francesco Milano, Roland Siegwart
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, Página(s) 2144-2151, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2024.3354624

Where to go next: Learning a Subgoal Recommendation Policy for Navigation in Dynamic Environments

Autores: B. Brito, M. Everett, J. P. How, J. Alonso-Mora
Publicado en: IEEE Robotics and Automation Letters (RA-L), Edición 6(3), 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3068662

DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments

Autores: L. Wiesmann, T. Guadagnino, I. Vizzo, G. Grisetti, J. Behley, and C. Stachniss
Publicado en: IEEE Robotics and Automation Letters, Edición 2022, 2022, ISSN 2377-3766
Editor: IEEE

Leveraging kernelized synergies on shared subspace for precision grasp and dexterous manipulation

Autores: S. Katyara, F. Ficuciello, D. G. Caldwell, B. Siciliano, F. Chen
Publicado en: IEEE Transactions on Cognitive and Development Systems, 2021, ISSN 2379-8939
Editor: IEEE
DOI: 10.1109/tcds.2021.3110406

IR-MCL: Implicit Representation-Based Online Global Localization

Autores: Haofei Kuang, Xieyuanli Chen, Tiziano Guadagnino, Nicky Zimmerman, Jens Behley, Cyrill Stachniss
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2024, Página(s) 1627-1634, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3239318

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

Autores: Rodrigo Marcuzzi, Lucas Nunes, Louis Wiesmann, Elias Marks, Jens Behley, Cyrill Stachniss
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2024, Página(s) 7487-7494, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3320020

Optimizing Task Waiting Times in Dynamic Vehicle Routing

Autores: Alexander Botros, Barry Gilhuly, Nils Wilde, Armin Sadeghi, Javier Alonso-Mora, Stephen L. Smith
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2023, Página(s) 5520-5527, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3295251

Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery

Autores: Z. Chen, J. Alonso-Mora, X. Bai, D. D. Harabor, P. J. Stuckey
Publicado en: IEEE Robotics and Automation Letters (RA-L), Edición 6(3), 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3074883

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

Autores: Rajesh Subburaman, Mario Selvaggio, Fabio Ruggiero
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2024, Página(s) 3581-3588, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3268594

Automatic Labeling to Generate Training Data for Online LiDAR-Based Moving Object Segmentation

Autores: X. Chen, B. Mersch, L. Nunes, R. Marcuzzi, I. Vizzo, J. Behley, and C. Stachniss
Publicado en: IEEE Robotics and Automation Letters, Edición 2022, 2022, ISSN 2377-3766
Editor: IEEE

Scalarizing Multi-Objective Robot Planning Problems Using Weighted Maximization

Autores: Nils Wilde, Stephen L. Smith, Javier Alonso-Mora
Publicado en: IEEE Robotics and Automation Letters, Edición 9, 2024, Página(s) 2503-2510, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2024.3357313

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

Autores: Mehul Arora, Louis Wiesmann, Xieyuanli Chen, Cyrill Stachniss
Publicado en: Robotics and Autonomous Systems, Edición 159, 2024, Página(s) 104287, ISSN 0921-8890
Editor: Elsevier BV
DOI: 10.1016/j.robot.2022.104287

Adaptive Robust Kernels for Non-Linear Least Squares Problems

Autores: N. Chebrolu, T. Läbe, O. Vysotska, J. Behley, C. Stachniss
Publicado en: IEEE Robotics and Automation Letters (RA-L), Edición 6(2), 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3061331

Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models

Autores: C. Rauch, R. Long, V. Ivan, S Vijayakumar
Publicado en: IEEE Robotics and Automation Letters, Edición 2022, 2022, ISSN 2377-3766
Editor: 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

Autores: F. Ficuciello, A. Villani, T. Lisini Baldi, D. Prattichizzo
Publicado en: Frontiers in Robotics and AI, Edición 8, 2021, ISSN 2296-9144
Editor: Frontiers
DOI: 10.3389/frobt.2021.741807

Improving pedestrian prediction models with self-supervised continual learning

Autores: L. Knoedler, C. Salmi, H. Zhu, B. Brito, J. Alonso-Mora
Publicado en: IEEE Robotics and Automation Letters, Edición 2022, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3148475

Learning Adaptive Grasping From Human Demonstrations

Autores: S. Wang, W. Hu, L. Sun, X. Wang, Z. Li
Publicado en: IEEE/ASME Transactions on Mechatronics, Edición 2022, 2022, ISSN 1083-4435
Editor: Institute of Electrical and Electronics Engineers

A shared-control teleoperation architecture for nonprehensile object transportation

Autores: M. Selvaggio, J. Cacace, C. Pacchierotti, F. Ruggiero, P. Robuffo Giordano
Publicado en: IEEE Transactions on Robotics (T-RO), 2021, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3086773

Group-based distributed auction algorithms for multi-robot task assignment

Autores: X. Bai, A. Fielbaum, M. Kronmüller, L. Knoedler and J. Alonso-Mora
Publicado en: IEEE Transactions on Automation Science and Engineering, Edición 2022, 2022, ISSN 1545-5955
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2022.3175040

LocNDF: Neural Distance Field Mapping for Robot Localization

Autores: Louis Wiesmann, Tiziano Guadagnino, Ignacio Vizzo, Nicky Zimmerman, Yue Pan, Haofei Kuang, Jens Behley, Cyrill Stachniss
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2023, Página(s) 4999-5006, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3291274

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

Autores: Benedikt Mersch, Tiziano Guadagnino, Xieyuanli Chen, Ignacio Vizzo, Jens Behley, Cyrill Stachniss
Publicado en: IEEE Robotics and Automation Letters, Edición 8, 2023, Página(s) 5180-5187, ISSN 2377-3766
Editor: 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

Autores: E. Triantafyllidis, W. Hu, C. McGreavy, Z. Li
Publicado en: IEEE Robotics & Automation Magazine (RAM), 2021, ISSN 1070-9932
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3090070

Inter-Object Affordance Prediction

Autores: D. Helm, P. Wulkop, J. Förster, R. Siegwart
Publicado en: 2022
Editor: ETH Zürich

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