相关论文: Sensing Volume Coverage of Robot Workspace using O…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
Tracking motions of humans or objects in the surroundings of the robot is essential to improve safe robot motions and reactions. In this work, we present an approach for scene flow estimation from low-density and noisy point clouds acquired…
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric…
Time-of-Flight (ToF) cameras possess compact design and high measurement precision to be applied to various robot tasks. However, their limited sensing range restricts deployment in large-scale scenarios. Depth completion has emerged as a…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirements on state estimation: the robot must combine state…
We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory…
This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF)…
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
Understanding the locations of occupants in a commercial built environment is critical for realizing energy savings by delivering lighting, heating, and cooling only where it is needed. The key to achieving this goal is being able to…
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment…
In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octomap framework to update a representation of the area around…
Time of Flight (ToF) is a prevalent depth sensing technology in the fields of robotics, medical imaging, and non-destructive testing. Yet, ToF sensing faces challenges from complex ambient conditions making an inverse modelling from the…
In this paper, a speed and separation monitoring (SSM) based safety controller using three time-of-flight ranging sensor arrays fastened to the robot links, is implemented. Based on the human-robot minimum distance and their relative…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…