Related papers: Collision Avoidance of 3-Dimensional Objects in Dy…

This text presents the proofs of the technical facts underlying theoretical justification of the convergence and performance of the novel algorithm for reactive navigation of differential drive wheeled robots in dynamic uncertain…

We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…

In this paper, we present an implementation of 3-D reciprocal collision avoidance on real quadrotor helicopters where each quadrotor senses the relative position and velocity of other quadrotors using an on-board camera. We show that using…

This paper presents an approach to exploring a multi-objective reinforcement learning problem with Model-Agnostic Meta-Learning. The environment we used consists of a 2D vehicle equipped with a LIDAR sensor. The goal of the environment is…

3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

Human-robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in unstructured and…

Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this…

Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…

This paper presents reactive obstacle and self-collision avoidance of redundant robotic manipulators within real time kinematic feedback control using GPU-computed distance transform. The proposed framework utilizes discretized…

Considerable progress has been made in semantic scene understanding of road scenes with monocular cameras. It is, however, mainly related to certain classes such as cars and pedestrians. This work investigates traffic cones, an object class…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

Legged robots exhibit significant potential across diverse applications, including but not limited to hazardous environment search and rescue missions and the exploration of unexplored regions both on Earth and in outer space. However, the…

This work proposes a new formulation to the long-standing problem of convex decomposition through learning feature fields, enabling the first feed-forward model for open-world convex decomposition. Our method produces high-quality…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic…

We consider the problem of an agent/robot with non-holonomic kinematics avoiding many dynamic obstacles. State and velocity noise of both the robot and obstacles as well as the robot's control noise are modelled as non-parametric…

In this work, we present a per-instant pose optimization method that can generate configurations that achieve specified pose or motion objectives as best as possible over a sequence of solutions, while also simultaneously avoiding…