Enhancing Healthcare with Assistive Robotic Mobile Manipulation

Información del proyecto

HARMONY

Identificador del acuerdo de subvención: 101017008

DOI 10.3030/101017008

Proyecto cerrado

Fecha de la firma de la CE 10 Diciembre 2020

Fecha de inicio 1 Enero 2021

Fecha de finalización 30 Junio 2024

Financiado con arreglo a

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

Coste total € 7 191 613,75

Aportación de la UE € 7 191 613,75

Coordinado por

EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH
Switzerland

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

Documents, reports (38)

Autonomous model acquisition

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Socially aware motion planner in object-rich environment

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Validated set of motion behaviours from results of user tests

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Initial communication and dissemination plan

Few-shot learning for grasping novel objects

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Validated multimodal universal dictionary of robot intent locomotion behaviours

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Scenario specifications update

.

Formal description of system architecture

Change detection for long-term mapping

.

Harmony SLAM system

.

Industry guidelines on mobile manipulators

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

Designs of controllers for dexterous coordinated manipulation tasks

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Final evaluation report

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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

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Distributed multi-robot task assignment method

Compliant whole-body motion control

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Multi-robot manipulation method

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Sensor suite first prototype

Sensor specifications

Local motion planner for dynamic environments

Complete integrated system

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Human-robot social implications of learning from demonstration

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Longitudinal study results

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Variable impedance control strategy for safe whole-body interaction

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First evaluation report

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Learning from demonstration framework

Multimodal object database

Object database with contextual information

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Compliant control and embodiment for grasping and manipulation

Whole-body motion planning module for mobile manipulation

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Immersive multimodal interface for providing user grasping demonstrations

Open Research Data Pilot (1)

Data management plan

Websites, patent fillings, videos etc. (1)

Project website

Publicaciones

Conference proceedings (56)

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

Peer reviewed articles (35)

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

Thesis and dissertations (1)

Inter-Object Affordance Prediction

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