相关论文: Towards an immersive user interface for waypoint n…
The control of collective robotic systems, such as drone swarms, is often delegated to autonomous navigation algorithms due to their high dimensionality. However, like other robotic entities, drone swarms can still benefit from being…
Human-robot interaction through mixed reality (MR) technologies enables novel, intuitive interfaces to control robots in remote operations. Such interfaces facilitate operations in hazardous environments, where human presence is risky, yet…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
In robotic manipulation, end-effector compliance is an essential precondition for performing contact-rich tasks, such as machining, assembly, and human-robot interaction. Most robotic arms are position-controlled stiff systems at a hardware…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
Wheelchairs and mobility devices have transformed our bodies into cybernic systems, enhancing our well-being by enabling individuals with reduced mobility to regain freedom. Notwithstanding, current interfaces of control primarily rely on…
Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…
Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…
Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
Large curved displays are ideal for viewing 360 degree content, such as 3D maps, but typically restrict users to a 180 degree viewport, leaving information off-screen. Since users naturally direct their heads toward regions on-screen before…
In grasp detection, the robot estimates the position and orientation of potential grasp configurations directly from sensor data. This paper explores the relationship between viewpoint and grasp detection performance. Specifically, we…
We present a user interface (UI) based on augmented reality (AR) with head-mounted display (HMD) for improving situational awareness during critical operation and improve human efficiency on operations. The UI displays contextual…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…