相关论文: AutOTranS: an Autonomous Open World Transportation…

In this work, we present a novel algorithm to perform spill-free handling of open-top liquid-filled containers that operates in cluttered environments. By allowing liquid-filled containers to be tilted at higher angles and enabling motion…

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they…

Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of sensor data, thereby exploiting a larger portion of traversable…

To autonomously collect soil in uncultivated terrain, robotic arms must distinguish between different amorphous materials and submerge themselves into the correct material. We develop a prototype that collects soil in heterogeneous terrain.…

Traditional manual driving and single-vehicle-based intelligent driving have limitations in real-time and accurate acquisition of the current driving status and intentions of surrounding vehicles, leading to vehicles typically maintaining…

Machine learning has emerged as a promising paradigm for enabling connected, automated vehicles to autonomously cruise the streets and react to unexpected situations. A key challenge, however, is to collect and select real-time and reliable…

In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…

We introduce a practical robotics solution for the task of heterogeneous bagging, requiring the placement of multiple rigid and deformable objects into a deformable bag. This is a difficult task as it features complex interactions between…

Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…

Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…

Most of the grand challenges of humanity today involve complex agent-based systems, such as epidemiology, economics or ecology. However, remains as a pending task the challenge of identifying the general principles underlying their…

This work introduces our approach to the flat and textureless object grasping problem. In particular, we address the tableware and cutlery manipulation problem where a service robot has to clean up a table. Our solution integrates colour…

Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

Mobile crowdsourcing refers to systems where the completion of tasks necessarily requires physical movement of crowdworkers in an on-demand workforce. Evidence suggests that in such systems, tasks often get assigned to crowdworkers who…

The development of autonomous vehicles provides an opportunity to have a complete set of camera sensors capturing the environment around the car. Thus, it is important for object detection and tracking to address new challenges, such as…

One of the primary challenges in urban autonomous vehicle decision-making and planning lies in effectively managing intricate interactions with diverse traffic participants characterized by unpredictable movement patterns. Additionally,…

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…

Autonomously driving vehicles require a complete and robust perception of the local environment. A main challenge is to perceive any other road users, where multi-object tracking or occupancy grid maps are commonly used. The presented…