Related papers: Workspace Registration and Collision Detection for…
Adapting robot programmes to changes in the environment is a well-known industry problem, and it is the reason why many tedious tasks are not automated in small and medium-sized enterprises (SMEs). A semantic world model of a robot's…
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact…
Differentiable rendering has gained significant attention in the field of robotics, with differentiable robot rendering emerging as an effective paradigm for learning robotic actions from image-space supervision. However, the lack of…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
This paper demonstrates that collision detection-intensive applications such as robotic motion planning may be accelerated by performing collision checks with a machine learning model. We propose Fastron, a learning-based algorithm to model…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
Spacecraft collision avoidance procedures have become an essential part of satellite operations. Complex and constantly updated estimates of the collision risk between orbiting objects inform the various operators who can then plan risk…
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
In physical human-robot collaboration (pHRC) settings, humans and robots collaborate directly in shared environments. Robots must analyze interactions with objects to ensure safety and facilitate meaningful workflows. One critical aspect is…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Worker monitoring and protection in collaborative robot (cobots) industrial environments requires advanced sensing capabilities and flexible solutions to monitor the movements of the operator in close proximity of moving robots.…
Collision detection between objects is critical for simulation, control, and learning for robotic systems. However, existing collision detection routines are inherently non-differentiable, limiting their applications in gradient-based…
Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…