相关论文: Feasible Region-based Identification Using Duality…

We consider the problem of detecting, in the visual sensing data stream of an autonomous mobile robot, semantic patterns that are unusual (i.e., anomalous) with respect to the robot's previous experience in similar environments. These…

Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…

We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…

In this paper we consider the minimization of a continuous function that is potentially not differentiable or not twice differentiable on the boundary of the feasible region. By exploiting an interior point technique, we present first- and…

With a growing number of robots being deployed across diverse applications, robust multimodal anomaly detection becomes increasingly important. In robotic manipulation, failures typically arise from (1) robot-driven anomalies due to an…

For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion Planning approaches assume full observability of their state…

Safety is a fundamental requirement of many robotic systems. Control barrier function (CBF)-based approaches have been proposed to guarantee the safety of robotic systems. However, the effectiveness of these approaches highly relies on the…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Multi-robot systems performing continuous tasks face a performance trade-off when interrupted by urgent, time-critical sub-tasks. We investigate this trade-off in a scenario where a team must balance area patrolling with locating an…

While local basis function (LBF) estimation algorithms, commonly used for identifying/tracking systems with time-varying parameters, demonstrate good performance under the assumption of normally distributed measurement noise, the estimation…

Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…

This paper presents a framework that enables robots to automatically recover from assumption violations of high-level specifications during task execution. In contrast to previous methods relying on user intervention to impose additional…

High-level robot skills represent an increasingly popular paradigm in robot programming. However, configuring the skills' parameters for a specific task remains a manual and time-consuming endeavor. Existing approaches for learning or…

This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…

Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…

This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Control Barrier Functions (CBFs) design obstacle avoidance…

The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…

Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…

For robots that have the capability to interact with the physical environment through their end effectors, understanding the surrounding scenes is not merely a task of image classification or object recognition. To perform actual tasks, it…

In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…