Dynamic Agile Production Robots That Learn and Optimise Knowledge and Operations

Project Information

DARKO

Grant agreement ID: 101017274

DOI

10.3030/101017274

Project closed

EC signature date 3 December 2020

Start date 1 January 2021

End date 30 June 2025

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost

€ 6 997 841,25

EU contribution

€ 6 997 841,25

Coordinated by

OREBRO UNIVERSITY
Sweden

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

Other (8)

System architecture

Overall system architecture that will be used throughout the project. The implementation will include mock-up modules in lieu of functionalities still to be developed. The deliverable document will detail guidelines on using the software architecture, on deployment of components, and on testing procedures, also using the simulation environment. This document will be mainly for internal use. See also MS1 description in Sec. 3.2.2 (Annex 1, Part B).

Prototype implementation of mapping system

The initial implementation of functionalities for tasks T3.1, T3.2 and T3.3.

Preliminary robot control for dynamic throwing of objects

Preliminary report and benchmark on the developed machine learning and robot control algorithms for the throwing task.

Implementation of the complete mapping system

The complete implementation of functionalities for tasks T3.1, T3.2 and T3.3.

Preliminary planning and control algorithms for safe manipulation

Preliminary software deliverable to provide a controller that guarantees safety and stability of task execution according to the safe velocity from risk- and human-aware SMU and kinematic constraints based on risk factors.

Preliminary planning and control software developments for efficient manipulation

Preliminary software development on efficient planning and control algorithms for picking of objects in relative motion w.r.t. the manipulator and placing objects in moving boxes.

Prototype implementation of map quality assessment and localisation assessment tools

The first implementation of functionalities for tasks T3.4.

Communication plan

-

Documents, reports (15)

Planning and control algorithms for safe manipulation

Finalised report for describing the developed controller and adaptions made for generating safe and stable motion during Phase B (elastic manipulator on top of the mobile base).

Final DARKO elastic manipulator

This deliverable will describe how the elastic manipulator has been developed including the elastic joints, building the prototype, the final set of sensors and integration with the general-purpose gripper from T1.2. The metrics and the database of elastic joint will be presented to show the superiority of the proposed elastic actuator compared to existing systems.

Final mapping report

Report on the final version of DARKO mapping system. Including advanced functionalities for tasks T3.1, T3.2, T3.3, T3.4.

Final report on perception in DARKO

This deliverable will report on the final perception system developed in DARKO, covering more challenging scenarios and providing all required functionality for a successful final demonstration. We will further assess whether the success measures described below have been met, and how the research within work package WP2 has contributed to the overall objectives of the project outlined in Sec. 1.1.

Report on system for communication of robot intent

This deliverable will report on the final system for communication of robot intent developed in T5.2, including its scientific evaluation and the final software prototype (the first prototypes will be available in M24).

Initial report on perception in DARKO

This deliverable will report on initial research results of this work package, including novel scenario-specific datasets for training and evaluation. We will provide basic functionality for the more general tasks T2.1–T2.3, and report final results for the more specialized tasks T2.4 and T2.5.

Report on prediction of human motion and intents

The deliverable will report on the system for prediction of human motion and intents developed in T5.1, including its scientific results and an initial software prototype that will be providing input to other components in DARKO (e.g. motion planning and control in WP6).

Report on techniques for predictive local planning

This deliverable will report on scientific results obtained by the predictive planning techniques developed in T6.1 and their integration aspects into the DARKO motion planning system showed in deliverable D6.3.

Risk-space modelling and assessment metrics.

This deliverable will formalise the definition of a multi-dimensional risk space, its composing factors and how they relate to the variables defining the state of a robot.

Report on risk-aware planning and control

Report on motion planning and control strategies developed in T6.2 for limiting external risk factors.

Representations and reasoning algorithms for HRSI

The deliverable consists of a report presenting the final implementation and evaluation of the solutions developed in T5.3 and T5.4 for HRSI.

Robot control for dynamic throwing of objects

Final report on the applied robot control and learning algorithm for the throwing task.

Adaptation and finalised DARKO mobile platform

This deliverable will report the efforts to integrate the elastic manipulator with the mobile base and adaptation based on the feedback from partners.

Planning and control algorithms for efficient manipulation

Finalised report on the developed efficient planning and control algorithms for picking of objects in relative motion w.r.t. the manipulator and placing objects in moving boxes.

Report on safe dynamic mobile platform planning

The deliverable will describe the results of T6.4. More specifically, the concept of vSMU and the calculation of reflected inertia will be presented and we demonstrate how the knowledge about risks, human position and intention trigger vSMU implementation to increase the efficiency.

Demonstrators, pilots, prototypes (6)

Second intermediate demonstration

See MS3 description in Sec. 3.2.2 (Annex 1, Part B). As an additional demonstration show-case contributing to O3 and O5, we will present a user interface to facilitate easy deployment of robots in intralogistics settings, which leverages some of the key results of T2.1, T2.5, T5.1 and T5.2 by allowing the user to easily define pick-up/drop-off points through pointing his hands to areas/objects of interest.

Final demonstration

See MS4 description in Sec. 3.2.2 (Annex 1, Part B).

Final DARKO end-effector

Finalised version of the gripper to be used in the DARKO platform.

Preliminary DARKO end-effector

Preliminary version of the gripper to be used in the DARKO platform.

Initial DARKO mobile dynamic manipulation platform

The deliverable demonstrates the the initial (phase A) DARKO’s platform, which will be operational and available for the partners’ use by the end of the third month of the project, and describes the customisation efforts.

First demonstration

See MS2 description in Sec. 3.2.2 (Annex 1, Part B).

Publications

Conference proceedings (79)

Enhancing Causal Discovery from Robot Sensor Data in Dynamic Scenarios

Author(s): Castri, Luca; Mghames, Sariah; Hanheide, Marc; Bellotto, Nicola
Published in: Issue 3, 2023
Publisher: Clear Conference

Benchmarking Multi-Robot Coordination in Realistic, Unstructured Human-Shared Environments

Author(s): Lukas Heuer, Luigi Palmieri, Anna Mannucci, Sven Koenig, Martin Magnusson
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 14541-14547
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10611005

Voting and Attention-based Pose Relation Learning for Object Pose Estimation from 3D Point Clouds

Author(s): Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Published in: IEEE Robotics and Automation Letters, Issue 5, 2022
Publisher: IEEE

Causal discovery of dynamic models for predicting human spatial interactions

Author(s): Luca Castri, Sariah Mghames, Marc Hanheide, and Nicola Bellotto
Published in: 2022
Publisher: Springer
DOI: 10.48550/arxiv.2210.16535

Fast yet predictable braking manoeuvers for real-time robot control

Author(s): Mazin Hamad; Jesus Gutierrez-Moreno; Hugo T.M. Kussaba; Nico Mansfeld; Saeed Abdolshah; Abdalla Swikir; Wolfram Burgard; Sami Haddadin
Published in: Crossref, Issue 1, 2023
Publisher: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2023.10.711

A technical integration framework for human-like motion generation in symmetric dual arm picking of large objects

Author(s): Marco Baracca, Luca Morello, Matteo Bianchi
Published in: 2025 IEEE/SICE International Symposium on System Integration (SII), 2025, Page(s) 984-989
Publisher: IEEE
DOI: 10.1109/sii59315.2025.10871061

A Concise Overview of Safety Aspects in Human-Robot Interaction

Author(s): Hamad, Mazin; Nertinger, Simone; Kirschner, Robin J.; Figueredo, Luis; Naceri, Abdeldjallil; Haddadin, Sami
Published in: Issue 1, 2023
Publisher: Human-Friendly Robotics 2023: 16th International Workshop
DOI: 10.48550/arxiv.2309.09936

Atlas: a Benchmarking Tool for Human Motion Prediction Algorithms

Author(s): Andrey Rudenko, Wanting Huang, Luigi Palmieri, and Kai O. Arras
Published in: 2021
Publisher: RSS Foundation

THOR-Magni: Comparative Analysis of Deep Learning Models for Role-Conditioned Human Motion Prediction

Author(s): Tiago Rodrigues de Almeida, Andrey Rudenko, Tim Schreiter, Yufei Zhu, Eduardo Gutierrez Maestro, Lucas Morillo-Mendez, Tomasz P Kucner, Oscar Martinez Mozos, Martin Magnusson, Luigi Palmieri, Kai O Arras, Achim J Lilienthal
Published in: Proceedings of the IEEE/CVF International Conference on Computer Vision, 2023
Publisher: IEEE

Lang3DSG: Language-based contrastive pre-training for 3D scene graph prediction

Author(s): Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Published in: 2023
Publisher: 2024 International Conference on 3D Vision (3DV)

A Data-Efficient Approach for Long-Term Human Motion Prediction Using Maps of Dynamics

Author(s): Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Lilienthal, Achim J.; Magnusson, Martin
Published in: 2023
Publisher: 5th LHMP Workshop held in conjunction with 40th IEEE International Conference on Robotics and Automation (ICRA)
DOI: 10.48550/arxiv.2306.03617

3QFP: Efficient neural implicit surface reconstruction using Tri-Quadtrees and Fourier feature Positional encoding

Author(s): Shuo Sun, Malcolm Mielle, Achim J. Lilienthal, Martin Magnusson
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 4036-4044
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610338

Insights on Oscillations and Impulses in Variable Impedance Control

Author(s): Simonini, Giorgio; Colomba, Rachele Nebbia; Sammarco, Chiara; Angelini, Franco; Bicchi, Antonio; Pollayil, Mathew Jose
Published in: Issue 1, 2022
Publisher: I-RIM
DOI: 10.5281/zenodo.7531348

An MPC Framework For Planning Safe & Trustworthy Robot Motions

Author(s): Moritz Eckhoff, and Robin Jeanne Kirschner, and Elena Kern, and Saeed Abdolshah and Sami Haddadin
Published in: 2022
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9812160

Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction

Author(s): Thomas Steinecker, and Alexander Kurdas, and Nico Mansfeld, and Mazin Hamad, and Robin Jeanne Kirschner, Saeed Abdolshah and Sami Haddadin
Published in: 2022
Publisher: IEEE

A Neuro-Symbolic Approach for Enhanced Human Motion Prediction

Author(s): Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Published in: 2023
Publisher: IJCNN
DOI: 10.48550/arxiv.2304.11740

Semantically Informed MPC for Context-Aware Robot Exploration

Author(s): Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Kai Oliver Arras, Cyrill Stachniss
Published in: 2023
Publisher: IEEE

The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized

Author(s): Tim Schreiter, Tiago Rodrigues de Almeida, Yufei Zhu, Martin Magnusson, Eduardo Gutíerrez Maestro, Lucas Morillo-Mendez, Andrey Rudenko, Luigi Palmieri, Kai Arras, Tomasz Kucner, Oscar Martinez Mozos, and Achim J. Lilienthal
Published in: 2022
Publisher: IEEE

KEA: Keeping Exploration Alive by Proactively Coordinating Exploration Strategies

Author(s): Shih-Min Yang, Martin Magnusson, Johannes A. Stork and Todor Stoyanov
Published in: 2025
Publisher: International Conference on Machine Learning
DOI: 10.48550/arxiv.2503.18234

Robust cartesian kinematics estimation for task-space control systems

Author(s): Baradaran Birjandi, Seyed Ali and Dehio, Niels and Haddadin, Sami and Abderrahmane Kheddar
Published in: 2022
Publisher: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver

Author(s): Tim Schreiter, Lucas Morillo-Mendez, Ravi T. Chadalavada, Andrey Rudenko, Erik Billing, Martin Magnusson, Kai O. Arras, Achim J. Lilienthal
Published in: Proceedings of the Ro-man Conference 2023, 2023
Publisher: IEEE
DOI: 10.48550/arxiv.2307.00841

Risk space modelling for human-robot collaboration in a shared intralogistics scenario

Author(s): Stracca, Elena; Grioli, Giorgio; Pallottino, Lucia; Salaris, Paolo
Published in: Issue 1, 2022
Publisher: I-RIM
DOI: 10.5281/zenodo.7531408

From Human Perception and Action Recognition to Causal Understanding of Human-Robot Interaction in Industrial Environments

Author(s): Stefano Ghidoni, Matteo Terreran, Daniele Evangelista, Emanuele Menegatti, Christian Eitzinger, Enrico Villagrossi, Nicola Pedrocchi, Nicola Castaman, Marcin Malecha, Sariah Mghames, Luca Castri, Marc Hanheide and Nicola Bellotto
Published in: Ital-IA 2022, 2022
Publisher: Consorzio Interuniversitario Nazionale per l’Informatica (CINI).

Towards Self-SupervisedPre-Training of 3DETR for Label-Efficient 3D Object Detection

Author(s): Rishabh Jain, Narunas Vaskevicius, and Thomas Brox
Published in: 2022
Publisher: IEEE

Considerations on possible approaches to measure risk for obstacle avoidance

Author(s): Paiola, Lorenzo; Grioli, Giorgio; Bicchi, Antonio
Published in: Issue 1, 2022
Publisher: I-RIM
DOI: 10.5281/zenodo.7531256

Estimation of Whole-Body Muscular Activation from an Optimal Set of Scarce Electromyographic Recordings

Author(s): Marco Baracca; Giuseppe Averta; Matteo Bianchi
Published in: Human-Friendly Robotics 2022 ISBN: 9783031227301, Issue 1, 2022
Publisher: International Workshop on Human-Friendly Robotics
DOI: 10.1007/978-3-031-22731-8_9

Efficient 2D LIDAR-Based Map Updating For Long-Term Operations in Dynamic Environments

Author(s): Elisa Stefanini; Enrico Ciancolini; Alessandro Settimi; Lucia Pallottino
Published in: Crossref, Issue 1, 2022
Publisher: I-RIM
DOI: 10.1109/iros47612.2022.9982047

From Continual Learning to Causal Discovery in Robotics

Author(s): Castri, Luca; Mghames, Sariah; Bellotto, Nicola
Published in: Issue 3, 2023
Publisher: PMLR

THÖR-Magni: Comparative Analysis of Deep Learning Models for Role-conditioned Human Motion Prediction

Author(s): Tiago Rodrigues de Almeida, Andrey Rudenko, Tim Schreiter, Yufei Zhu, Eduardo Gutierrez Maestro, Lucas Morillo-Mendez, Tomasz P. Kucner, Oscar Martinez Mozos, Martin Magnusson, Luigi Palmieri, Kai O. Arras, Achim J. Lilienthal
Published in: 2023 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW), 2024, Page(s) 2192-2201
Publisher: IEEE
DOI: 10.1109/iccvw60793.2023.00234

BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots

Author(s): Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah and Sami Haddadin
Published in: 2022
Publisher: IEEE

A Novel Variable Stiffness Suspension System for Improved Stability and Control of Tactile Mobile Manipulators

Author(s): Sebastian Kuhn, Mehmet C. Yildirim, Edmundo Pozo Fortunić, Kübra Karacan, Abdalla Swikir, Sami Haddadin
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 3682-3689
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10802223

The Atlas Benchmark: an Automated Evaluation Framework for HumanMotion Prediction

Author(s): Andrey Rudenko, Luigi Palmieri, Wanting Huang, Achim J Lilienthal, and Kai O. Arras
Published in: 2022
Publisher: IEEE

High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization

Author(s): Shuo Sun, Malcolm Mielle, Achim J. Lilienthal, Martin Magnusson
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Page(s) 10476-10482
Publisher: IEEE
DOI: 10.1109/iros58592.2024.10802373

A Solution to Adaptive Mobile Manipulator Throwing

Author(s): Yang Liu, Aradhana Nayak, and Aude Billard
Published in: 2022
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981231

S* : On Safe and Time Efficient Robot Motion Planning

Author(s): Riddhiman Laha AND Wenxi Wu AND Ruiai Sun AND Nico Mansfeld AND Luis F.C. Figueredo AND Sami Haddadin
Published in: 2023
Publisher: ICRA

Acquisition of high-quality images for camera calibration in robotics applications via speech prompts

Author(s): Timm Linder, Kadir Yilmaz , David Adrian, and Bastian Leibe.
Published in: 2025
Publisher: German Robotics Conference (GRC)
DOI: 10.48550/arxiv.2504.11031

Global Safety Characteristics of Wheeled Mobile Manipulators

Author(s): Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, and Sami Haddadin
Published in: 2022
Publisher: IEEE

Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments

Author(s): Lukas Heuer, Luigi Palmieri, Andrey Rudenko, Anna Mannucci, Martin Magnusson, Kai Oliver Arras
Published in: 2023
Publisher: IROS

Fast Online Learning of CLiFF-maps in Changing Environments

Author(s): Yufei Zhu and Andrey Rudenko and Luigi Palmieri and Lukas Heuer and Achim J. Lilienthal and Martin Magnusson
Published in: 2025
Publisher: ICRA
DOI: 10.48550/arxiv.2410.12237

Systematic Comparison of Projection Methods for Monocular 3D Human Pose Estimation on Fisheye Images

Author(s): Stephanie Käs, Sven Peter, Henrik Thillmann, Anton Burenko, David Benjamin Adrian, Dennis Mack, Timm Linder, Bastian Leibe
Published in: 2025
Publisher: IEEE

Evaluating Efficiency and Engagement in Scripted and LLM-Enhanced Human-Robot Interactions

Author(s): Tim Schreiter, Jens V. Rüppel, Rishi Hazra, Andrey Rudenko, Martin Magnusson, Achim J. Lilienthal
Published in: 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2025, Page(s) 1608-1612
Publisher: IEEE
DOI: 10.1109/hri61500.2025.10974124

Learning optimal controllers: a dynamical motion primitive approach

Author(s): Hugo T.M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, Sami Haddadin
Published in: 2023
Publisher: IFAC

Efficient Causal Discovery for Robotics Applications

Author(s): Luca Castri, Sariah Mghames, Nicola Bellotto
Published in: 2023
Publisher: I-RIM 3D 2023
DOI: 10.48550/arxiv.2310.14925

neuROSym: Deployment and Evaluation of a ROS-based Neuro-Symbolic Model for Human Motion Prediction

Author(s): Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Published in: 2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 2024, Page(s) 57-62
Publisher: IEEE
DOI: 10.1109/cis-ram61939.2024.10672815

THÖR-MAGNI Act: Actions for Human Motion Modeling in Robot-Shared Industrial Spaces

Author(s): Almeida, Tiago; Schreiter, Tim; Rudenko, Andrey; Palmieri, Luigi; Stork, Johannes A.; Lilienthal, Achim J.
Published in: Publikationer från Örebro universitet, Issue 1, 2025
Publisher: IEEE
DOI: 10.48550/arxiv.2412.13729

Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf

Author(s): Pozo Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Sami Haddadin
Published in: 2022
Publisher: The 2022 American Control Conference (ACC)

SGRec3D: Self-Supervised 3D Scene Graph Learning via Object-Level Scene Reconstruction

Author(s): Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Published in: 2023
Publisher: IEEE Winter Conference on Applications of Computer Vision (WACV)

Hierarchical System to Predict Human Motion and Intentions for Efficientand Safe Human-Robot Interaction in Industrial Environments

Author(s): Andrey Rudenko, Yufei Zhu, Tiago Rodrigues de Almeida, Tim Schreiter, Luca Castri, Nicola Belotto, Narunas Vaskevicius, Luigi Palmieri, Martin Magnusson, Achim J Lilienthal
Published in: 2025
Publisher: German Robotics Conference

Towards Long-term Autonomy: A Perspective from Robot Learning

Author(s): Yan, Zhi; Sun, Li; Krajnik, Tomas; Duckett, Tom; Bellotto, Nicola
Published in: Issue 1, 2023
Publisher: AAAI-23 Bridge Program on AI & Robotics
DOI: 10.48550/arxiv.2212.12798

Evaluation of Computer Vision-Based Person Detection on Low-Cost Embedded Systems

Author(s): Francesco Pasti and Nicola Bellotto
Published in: 2023
Publisher: 18th International Conference on Computer Vision Theory and Applications (VISAPP)

Optimal electromyographic sensing for whole-body muscular activity estimation

Author(s): Baracca, Marco; Averta, Giuseppe; Bianchi, Matteo
Published in: Issue 1, 2022
Publisher: I-RIM
DOI: 10.5281/zenodo.7531397

Context-Aware Grasp Generation in Cluttered Scenes.

Author(s): Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Published in: IEEE Robotics and Automation Letters, 2022
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9811371

Human Gaze and Head Rotation during Navigation, Exploration and Object Manipulation in Shared Environments with Robots

Author(s): Tim Schreiter, Andrey Rudenko, Martin Magnusson, Achim J. Lilienthal
Published in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Page(s) 1258-1265
Publisher: IEEE
DOI: 10.1109/ro-man60168.2024.10731190

Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach

Author(s): Dennis Ossadnik, Vasilije Rakčević, Mehmet C. Yildirim, Edmundo Pozo Fortunić, Hugo T. M. Kussaba, Abdalla Swikir, Sami Haddadin
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 11481-11487
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610380

Plan it Safe: A Risk-Driven Motion Planning Framework for Collaborative Robots

Author(s): Elena Stracca, Alessandro Palleschi, Lucia Pallottino, Paolo Salaris
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Page(s) 2885-2892
Publisher: IEEE
DOI: 10.1109/case59546.2024.10711449

Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Author(s): Svarny, Petr and Hamad, Mazin and Kurdas, Alexander and Hoffmann, Matej and Abdolshah, Saeed and Haddadin, Sami
Published in: 2022
Publisher: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Author(s): Birjandi, Seyed Ali Baradaran and Khurana, Harshit and Billard, Aude and Haddadin, Sami
Published in: 2023
Publisher: IEEE

A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading

Author(s): Yildirim, M.C. and Pisano, E. and Hamad, M. and Le Mesle, V. and Swikir, A. and Haddadin, S.
Published in: 2023
Publisher: 2023 IEEE-RAS International Conference on Humanoid Robots

A Benchmark for Multi-Robot Planning in Realistic, Complex and Cluttered Environments

Author(s): Simon Schaefer, Luigi Palmieri, Lukas Heuer, Rüdiger Dillmann, Sven Koenig, Alexander Kleiner
Published in: 2023
Publisher: IEEE

Real-time IMU-Based Learning: a Classification of Contact Materials

Author(s): Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Haddadin, Sami
Published in: 2022
Publisher: IEEE/RSJ International Conference

An Information-aware Lyapunov-based MPC for autonomous robots

Author(s): Napolitano, Olga; Pallottino, Lucia; Salaris, Paolo; Fontanelli, Daniele
Published in: Issue 1, 2022
Publisher: I-RIM
DOI: 10.5281/zenodo.7531254

Data-driven Grasping and Pre-grasp Manipulation Using Hierarchical Reinforcement Learning with Parameterized Action Primitives

Author(s): Yang, Shih-Min and Magnusson, Martin and Stork, Johannes Andreas and Stoyanov, Todor
Published in: 2023
Publisher: IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation

Experimental Evaluation of ROS-Causal in Real-World Human-Robot Spatial Interaction Scenarios

Author(s): Luca Castri, Gloria Beraldo, Sariah Mghames, Marc Hanheide, Nicola Bellotto
Published in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Page(s) 1603-1609
Publisher: IEEE
DOI: 10.1109/ro-man60168.2024.10731290

Optimal manipulation patterns can drive the estimation of object mechanical properties

Author(s): Bonifati, Paolo; Averta, Giuseppe; Salaris, Paolo; Bianchi, Matteo
Published in: Issue 1, 2023
Publisher: I-RIM Conference
DOI: 10.5281/zenodo.10722502

Benchmarking Sampling-based Motion Planning Pipelines for Wheeled Mobile Robots

Author(s): Eric Heiden, Luigi Palmieri, Leonard Bruns, Kai Oliver Arras, Gaurav S. Sukhatme, and Sven Koenig
Published in: 2021
Publisher: ICAPS

A Multivariate Functional Analysis of Inter-Hands Spatiotemporal Coordination in Human Bimanual Tasks and its Implications for Robotics

Author(s): Marco Baracca, Andre Meixner, Giuseppe Averta, Paolo Salaris, Tamim Asfour, Matteo Bianchi
Published in: 2025 11th International Conference on Automation, Robotics, and Applications (ICARA), 2025, Page(s) 140-144
Publisher: IEEE
DOI: 10.1109/icara64554.2025.10977603

A Solution to Adaptive Mobile Manipulator Throwing

Author(s): Yang Liu, Aradhana Nayak, and Aude Billard
Published in: Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher: IEEE

LaCE-LHMP: Airflow Modelling-Inspired Long-Term Human Motion Prediction By Enhancing Laminar Characteristics in Human Flow

Author(s): Yufei Zhu, Han Fan, Andrey Rudenko, Martin Magnusson, Erik Schaffernicht, Achim J. Lilienthal
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Page(s) 11281-11288
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10610717

Alignability maps for ensuring high-precision localization

Author(s): Manuel Castellano-Quero, Tomasz Piotr Kucner, and Martin Magnusson
Published in: 2022
Publisher: IROS

Open3DSG: Open-Vocabulary 3D Scene Graphs from Point Clouds with Queryable Objects and Open-Set Relationships

Author(s): Sebastian Koch, Narunas Vaskevicius, Mirco Colosi, Pedro Hermosilla, Timo Ropinski
Published in: 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024, Page(s) 14183-14193
Publisher: IEEE
DOI: 10.1109/cvpr52733.2024.01345

RelationField: Relate Anything in Radiance Fields

Author(s): Sebastian Koch, Johanna Wald, Mirco Colosi, Narunas Vaskevicius, Pedro Hermosilla, Federico Tombari, and Timo Ropinski.
Published in: 2025
Publisher: IEEE
DOI: 10.48550/arxiv.2412.13652

Qualitative Prediction of Multi-Agent Spatial Interactions

Author(s): Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Published in: 2023
Publisher: IEEE
DOI: 10.48550/arxiv.2307.00065

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

Author(s): Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Chebrolu Nived, and Stachniss Cyrill
Published in: 2022
Publisher: IEEE

CLiFF-LHMP: Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction

Author(s): Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Palmieri, Luigi; Arras, Kai O.; Lilienthal, Achim J.; Magnusson, Martin
Published in: Issue 1, 2023
Publisher: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.48550/arxiv.2309.07066

Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Study

Author(s): Linder, Timm and Vaskevicius, Narunas and Schirmer, Robert and Arras, Kai Oliver
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2021, 2021, ISSN 2153-0866
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9636158

Cross-coupling stiffness for natural goal-directed robot motion

Author(s): Ossadnik, Dennis and Haddadin, Sami
Published in: 2023
Publisher: IFAC world congress

Learning Extrinsic Dexterity with Parameterized Manipulation Primitives

Author(s): Yang, Shih-Min; Magnusson, Martin; Stork, Johannes A.; Stoyanov, Todor
Published in: Issue 1, 2023
Publisher: Arxiv
DOI: 10.48550/arxiv.2310.17785

The Effect of Anthropomorphism on Trust in an Industrial Human-Robot Interaction

Author(s): Tim Schreiter, Lucas Morillo-Mendez, Ravi Teja Chadalavada, Andrey Rudenko, Erik Alexander Billing and Achim J. Lilienthal
Published in: 2022
Publisher: IEEE

Throwing objects with collaborative manipulators using minimum-jerk trajectories

Author(s): Simonini, Giorgio; Majo, Riccardo Di; Boccalini, Lorenzo; Guerci, Matteo; Bicchi, Antonio; Salaris, Paolo
Published in: Issue 1, 2023
Publisher: I-RIM conference
DOI: 10.5281/zenodo.10722456

Peer reviewed articles (33)

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Author(s): Michele Pierallini, Francesco Stella, Franco Angelini, Bastian Deutschmann, Josie Hughes, Antonio Bicchi, Manolo Garabini, Cosimo Della Santina
Published in: IEEE Robotics and Automation Letters, Issue 8, 2024, Page(s) 6427-6434, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3307007

Information-Aware Lyapunov-Based MPC in a Feedback-Feedforward Control Strategy for Autonomous Robots

Author(s): O. Napolitano, D. Fontanelli, L. Pallottino and P. Salaris
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE Robotics & Automation Society (RAS)
DOI: 10.1109/lra.2022.3149299

CorAl: Introspection for robust radar and lidar perception in diverse environments using differential entropy

Author(s): Daniel Adolfsson, Manuel Castellano-Quero, Martin Magnusson, Achim J. Lilienthal, Henrik Andreasson
Published in: Robotics & Autonomous Systems, Issue Vol 155, September 2022, 2022, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2022.104136

Trajectory Prediction for Heterogeneous Agents: A Performance Analysis on Small and Imbalanced Datasets

Author(s): Tiago Rodrigues de Almeida, Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Johannes A. Stork, Martin Magnusson, Achim J. Lilienthal
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, Page(s) 6576-6583, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2024.3408510

Iterative Learning Control for Compliant Underactuated Arms

Author(s): Pierallini, Michele and Angelini, Franco and Mengacci, Riccardo and Palleschi, Alessandro and Bicchi, Antonio and Garabini, Manolo
Published in: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, ISSN 2168-2232
Publisher: IEEE Transactions on Systems, Man, and Cybernetics: Systems
DOI: 10.1109/tsmc.2023.3234403

Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept

Author(s): Fortunić, Edmundo Pozo and Yildirim, Mehmet C. and Ossadnik, Dennis and Swikir, Abdalla and Abdolshah, Saeed and Haddadin, Sami
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 1350-911X
Publisher: The Institution of Engineering and Technology
DOI: 10.1109/lra.2023.3325782

High-Level Planning for Object Manipulation With Multi Heterogeneous Robots in Shared Environments

Author(s): A. Palleschi, G. J. Pollayil, M. J. Pollayil, M. Garabini and L. Pallottino
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3145987

Crossing Point Estimation in Human/Robot Navigation - Statistical Linearization versus Sigma-Point-Transformation

Author(s): Rainer Heinrich Palm and Achim J. Lilienthal
Published in: Engineering Applications of Artificial Intelligence - The International Journal of Intelligent Real-Time Automation, 2022, ISSN 0952-1976
Publisher: Pergamon Press Ltd.

Efficient Context-Aware Model Predictive Control for Human-Aware Navigation

Author(s): Elisa Stefanini, Luigi Palmieri, Andrey Rudenko, Till Hielscher, Timm Linder and Lucia Pallottino
Published in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Publisher: IEEE

Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction

Author(s): Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin.
Published in: EEE Robotics and Automation Letters, Issue 7.2 (2022),, 2022, Page(s) pp. 2993–3000, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Society
DOI: 10.1109/lra.2022.3144535

A Multi-Modal Under-Sensorized Wearable System for Optimal Kinematic and Muscular Tracking of Human Upper Limb Motion

Author(s): Paolo Bonifati; Marco Baracca; Mariangela Menolotto; Giuseppe Averta; Matteo Bianchi
Published in: Sensors; Volume 23; Issue 7; Pages: 3716, Issue 1, 2023, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23073716

Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

Author(s): Alexandra Velasco Vivas; Antonello Cherubini; Manolo Garabini; Paolo Salaris; Antonio Bicchi
Published in: IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, 2023, ISSN 2168-2232
Publisher: IEEE
DOI: 10.1109/tsmc.2023.3260644

Optimal Reconstruction of Human Motion From Scarce Multimodal Data

Author(s): Averta, Giuseppe and Iuculano, Matilde and Salaris, Paolo and Bianchi, Matteo
Published in: IEEE Transactions on Human-Machine Systems, 2022, ISSN 2168-2305
Publisher: IEEE
DOI: 10.1109/thms.2022.3163184

Survey of maps of dynamics for mobile robots

Author(s): Tomasz Piotr Kucner and Martin Magnusson and Sariah Mghames and Luigi Palmieri and Francesco Verdoja and Chittaranjan Srinivas Swaminathan and Tomáš Krajník and Erik Schaffernicht and Nicola Bellotto and Marc Hanheide and Achim J Lilienthal.
Published in: The International Journal of Robotics Research, 2023, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649231190428

THÖR-MAGNI: A large-scale indoor motion capture recording of human movement and robot interaction

Author(s): Tim Schreiter, Tiago Rodrigues de Almeida, Yufei Zhu, Eduardo Gutierrez Maestro, Lucas Morillo-Mendez, Andrey Rudenko, Luigi Palmieri, Tomasz P Kucner, Martin Magnusson, Achim J Lilienthal
Published in: The International Journal of Robotics Research, 2025, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/02783649241274794

Dynamic Coupling for Underactuated Compliant Arms With Not Well-Defined Relative Degree

Author(s): Michele Pierallini, Franco Angelini, Manolo Garabini
Published in: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2024, Page(s) 1-13, ISSN 2168-2216
Publisher: IEEE
DOI: 10.1109/tsmc.2024.3451469

Human-Flow-Aware Long-Term Mobile Robot Task Planning Based on Hierarchical Reinforcement Learning

Author(s): Yuchen Liu, Luigi Palmieri, Ilche Georgievski, Marco Aiello
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Society

A general approach for generating artificial human-like motions fromfunctional components of human upper limb movements

Author(s): Marco Baracca a, Giuseppe Averta, Matteo Bianchi
Published in: Control Engineering Practice, 2024, ISSN 0967-0661
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2024.105968

Learning to prevent grasp failure with soft hands: from on-lineprediction to dual-arm grasp recovery

Author(s): Averta, Giuseppe, Barontini, Federica, Valdambrini, Irene, Cheli, Paolo, Bacciu, Davide, Bianchi, Matteo
Published in: Wiley Advanced Intelligent Systems, Issue 4, 2021, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.202100146

CAnDOIT: Causal Discovery with Observational and Interventional Data from Time Series

Author(s): Luca Castri, Sariah Mghames, Marc Hanheide, Nicola Bellotto
Published in: Advanced Intelligent Systems, 2024, ISSN 2640-4567
Publisher: Wiley-VCH GmbH
DOI: 10.1002/aisy.202400181

Grasp It Like a Pro 2.0: A Data-Driven Approach Exploiting Basic Shape Decomposition and Human Data for Grasping Unknown Objects

Author(s): Palleschi, Alessandro and Angelini, Franco and Gabellieri, Chiara and Park, Do Won and Pallottino, Lucia and Bicchi, Antonio and Garabini, Manolo
Published in: IEEE Transactions on Robotics, 2023, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3286115

Active Sensing for Data Quality Improvement in Model Learning

Author(s): Olga Napolitano, Marco Cognetti, Lucia Pallottino, Dimitrios Kanoulas, Paolo Salaris, Valerio Modugno
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 1433-1438, ISSN 2475-1456
Publisher: IEEE Control Systems Letters (L-CSS)
DOI: 10.1109/lcsys.2024.3410152

The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation: Evaluating the Perception, Planning, Control, and Grasping of Manipulation Systems

Author(s): Salvatore D'Avella, Matteo Bianchi, Ashok M. Sundaram, Carlo Alberto Avizzano, Máximo A. Roa, Paolo Tripicchio
Published in: IEEE Robotics & Automation Magazine, 2024, Page(s) 2-15, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2023.3310861

Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach

Author(s): Mansfeld, Nico and Keppler, Manuel and Sami Haddadin
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068698

Learning With Few Examples the Semantic Description of Novel Human-Inspired Grasp Strategies From RGB Data

Author(s): L. Collodi, D. Bacciu, M. Bianchi and G. Averta
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3144520

Optimal Control for Articulated Soft Robots

Author(s): Chhatoi, Saroj Prasad and Pierallini, Michele and Angelini, Franco and Mastalli, Carlos and Garabini, Manolo
Published in: IEEE Transactions on Robotics, 2023, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3288837

Voting and Attention-based Pose Relation Learning for Object Pose Estimation from 3D Point Clouds

Author(s): Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3189158

Receding Horizon Re-Ordering of Multi-Agent Execution Schedules

Author(s): Alexander Berndt, Niels van Duijkeren, Luigi Palmieri, Alexander Kleiner, Tamás Keviczky
Published in: IEEE Transactions on Robotics, Issue 40, 2024, Page(s) 1356-1372, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3344051

Tube Acceleration: Robust Dexterous Throwing Against Release Uncertainty

Author(s): Yang Liu, Aude Billard
Published in: IEEE Transactions on Robotics, Issue 40, 2025, Page(s) 2831-2849, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3386391

A Novel Formulation for Adaptive Computed Torque Control Enabling Low Feedback Gains in Highly Dynamical Tasks

Author(s): Giorgio Simonini, Marco Baracca, Tommaso V. Cavaliere, Antonio Bicchi, Paolo Salaris
Published in: IEEE Access, Issue 13, 2025, Page(s) 69898-69909, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2025.3561635

Active Sensing Control for Differentially Flat Systems

Author(s): Olga Napolitano, Annamaria Pinizzotto, Matteo Verdecchia, Alessio Pettinari, Daniela Selvi, Lucia Pallottino, Paolo Salaris
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 1835-1840, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2024.3414968

Scheduling autonomous robots for an intralogistic application: A comparison of lookahead-based ADP strategies

Author(s): Margherita Battistotti, Paolo Brandimarte, Francesca Giancola, Nicolò Mazzi
Published in: Expert Systems with Applications, Issue 271, 2025, Page(s) 126590, ISSN 0957-4174
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.eswa.2025.126590

Benchmarking the utility of Maps of Dynamics for Human-aware Motion Planning

Author(s): Chittaranjan Swaminathan, Tomasz Piotr Kucner, Anna Mannucci, Martin Magnusson, Luigi Palmieri, Sergi Molina, Federico Pecora, and Achim J. Lilienthal.
Published in: Frontiers in Robotics and AI, 2022, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2022.916153

Other (9)

Context-aware human behavior prediction using multimodal large language models: Challenges and insights

Author(s): Yuchen Liu, Lino Lerch, Luigi Palmieri, Andrey Rudenko, Sebastian Koch, Timo Ropinski and Marco Aiello,
Published in: 2025
Publisher: IEEE
DOI: 10.48550/arxiv.2504.00839

Bidirectional Intent Communication: A Role for Large Foundation Models

Author(s): Tim Schreiter, Rishi Hazra, Jens Rüppel, Andrey Rudenko
Published in: 2024
Publisher: IEEE

Delta: Decomposed efficient long-term robot task planning using large language models

Author(s): Yuchen Liu, Luigi Palmieri, Sebastian Koch, Ilche Georgievski and Marco Aiello
Published in: 2025
Publisher: IEEE
DOI: 10.48550/arxiv.2404.03275

GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering.

Author(s): Saumya Saxena, Blake Buchanan, Chris Paxton, Bingqing Chen, Narunas Vaskevicius, Luigi Palmieri, Jonathan Francis, and Oliver Kroemer
Published in: 2024
Publisher: BOSCH
DOI: 10.48550/arxiv.2412.14480

Large-scale visual SLAM for in-the-wild videos

Author(s): Shuo Sun, Torsten Sattler, Malcolm Mielle, Achim J. Lilienthal, Martin Magnusson
Published in: 2025
Publisher: ArXiv Preprint
DOI: 10.48550/arxiv.2504.20496

Multimodal Interaction and Intention Communication for Industrial Robots

Author(s): Tim Schreiter, Andrey Rudenko, Jens V. Rüppel, Martin Magnusson, Achim J. Lilienthal
Published in: 2025
Publisher: German Robotics Conference (GRC)

Collecting Human Motion Data in Large and Occlusion-Prone Environments using Ultra-Wideband Localization

Author(s): Janik Kaden, Maximilian Hilger, Tim Schreiter, Marius Schaab, Thomas Graichen, Andrey Rudenko, Ulrich Heinkel, Achim J. Lilienthal
Published in: 2025
Publisher: IEEE

ROS-Causal: A ROS-based Causal Analysis Framework for Human-Robot Interaction Applications

Author(s): Luca Castri, Gloria Beraldo, Sariah Mghames, Marc Hanheide, and Nicola Bellotto
Published in: 2024
Publisher: ArXiv
DOI: 10.48550/arxiv.2402.16068

UPTor: Unified 3D Human Pose Dynamics and Trajectory Prediction for Human-Robot Interaction

Author(s): N Nilavadi, A Rudenko, T Linder
Published in: 2025
Publisher: IEEE
DOI: 10.48550/arxiv.2505.14866

Book chapters (1)

DARKO-Nav: Hierarchical Risk and Context-Aware Robot Navigation in Complex Intralogistic Environments

Author(s): Elena Stracca, Andrey Rudenko, Luigi Palmieri, Paolo Salaris, Luca Castri, Nicolò Mazzi, Vasilije Rakcevic, Narunas Vaskevicius, Timm Linder, Nicola Bellotto, Tim Schreiter, Yufei Zhu, Manuel Castellano Quero, Olga Napolitano, Elisa Stefanini, Lukas Heuer, Martin Magnusson, Abdalla Swikir, Achim J. Lilienthal
Published in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2025, 2025, Page(s) 155-161
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-89471-8_24