Related papers: ERUPT: An Open Toolkit for Interfacing with Robot …
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of…
The advent of cyber-physical systems, such as robots and autonomous vehicles (AVs), brings new opportunities and challenges for the domain of interaction design. Though there is consensus about the value of human-centred development, there…
Active Object Tracking (AOT) aims to maintain a specific relation between the tracker and object(s) by autonomously controlling the motion system of a tracker given observations. AOT has wide-ranging applications, such as in mobile robots…
Programming a robotic is a complex task, as it demands the user to have a good command of specific programming languages and awareness of the robot's physical constraints. We propose a framework that simplifies robot deployment by allowing…
Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…
In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be able to avoid definitively physical model…
Optimal path planning aims to determine a sequence of states from a start to a goal while accounting for planning objectives. Popular methods often integrate fixed batch sizes and neglect information on obstacles, which is not…
This paper introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the experience both effective (such as delivering a sense of…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
This paper presents a new method, based on a multi-agent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic constraints. In order to solve this problem,…
Lunar exploration has become a key focus, driving scientific and technological advances. Ongoing missions are deploying rovers to the surface of the Moon, targeting the far side and south pole. However, these terrains pose challenges,…
Low-cost distributed robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This paper presents Edge Accelerated Robot Navigation (EARN), to achieve real-time…
Failure is inevitable for embodied navigation in complex environments. To enhance the resilience, replanning (RP) is a viable option, where the robot is allowed to fail, but is capable of adjusting plan until success. However, existing RP…
The evolution of autonomous systems in the context of human-robot interaction systems necessitates a synergy between the continuous perception of the environment and the potential actions to navigate or interact within it. We present…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
Manipulation in clutter requires solving complex sequential decision making problems in an environment rich with physical interactions. The transfer of motion planning solutions from simulation to the real world, in open-loop, suffers from…
Augmented Reality (AR) systems add visual information to the world by using advanced display techniques. The advances in miniaturization and reduced costs make some of these systems feasible for applications in a wide set of fields. We…
Extended Reality (XR) has expanded the horizons of entertainment and social life and shows great potential in the manufacturing industry. Prototyping in XR can help designers make initial proposals and iterations at low cost before…
This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…
This paper presents I-nteract, a cyber-physical system that enables real-time interaction with real and virtual objects in a mixed augmented reality environment to design 3D models for additive manufacturing. The system has been developed…