Related papers: Simultaneously Calibration of Multi Hand-Eye Robot…
This study proposes a novel self-calibration method for eye tracking in a virtual reality (VR) headset. The proposed method is based on the assumptions that the user's viewpoint can freely move and that the points of regard (PoRs) from…
In recent years, multicalibration has emerged as a desirable learning objective for ensuring that a predictor is calibrated across a rich collection of overlapping subpopulations. Existing approaches typically achieve multicalibration by…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and are potentially applied on costly dual-arm…
In view of contemporary panoramic camera-laser scanner system, the traditional calibration method is not suitable for panoramic cameras whose imaging model is extremely nonlinear. The method based on statistical optimization has the…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
Autonomous robots that rely on deep neural network controllers pose critical challenges for safety prediction, especially under partial observability and distribution shift. Traditional model-based verification techniques are limited in…
Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping…
Multi-modal object detection in autonomous driving has achieved great breakthroughs due to the usage of fusing complementary information from different sensors. The calibration in fusion between sensors such as LiDAR and camera was always…
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
We propose MCGrad, a novel and scalable multicalibration algorithm. Multicalibration - calibration in subgroups of the data - is an important property for the performance of machine learning-based systems. Existing multicalibration methods…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…