Journal: Springer Proceedings in Advanced Robotics

Abbreviation

Springer proc. adv. robotics

Publisher

Springer

Journal Volumes

ISSN

2511-1256

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2017 - 2019132020 - 202419
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Publications1 - 10 of 32
  • Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs
    Item type: Conference Paper
    Bodie, Karen; Taylor, Zachary; Kamel, Mina; et al. (2020)
    Springer Proceedings in Advanced Robotics ~ Proceedings of the 2018 International Symposium on Experimental Robotics. ISER 2018
    Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents VoliroX: a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is presented, and a 6 DOF geometric control that is robust to singularities. Flight experiments further demonstrate and verify its capabilities.
  • Mapping on the Fly: Real-Time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles
    Item type: Conference Paper
    Hinzmann, Timo; Schönberger, Johannes L.; Pollefeys, Marc; et al. (2017)
    Springer Proceedings in Advanced Robotics ~ Field and Service Robotics: Results of the 11th International Conference
  • It's Just Semantics: How to Get Robots to Understand the World the Way We Do
    Item type: Conference Paper
    Chung, Jen Jen; Förster, Julian; Wulkop, Paula; et al. (2023)
    Springer Proceedings in Advanced Robotics ~ Robotics Research
    Increasing robotic perception and action capabilities promise to bring us closer to agents that are effective for automating complex operations in human-centered environments. However, to achieve the degree of flexibility and ease of use needed to apply such agents to new and diverse tasks, representations are required for generalizable reasoning about conditions and effects of interactions, and as common ground for communicating with non-expert human users. To advance the discussion on how to meet these challenges, we characterize open problems and point out promising research directions.
  • Revisiting boustrophedon coverage path planning as a generalized traveling salesman problem
    Item type: Conference Paper
    Girod, Rik; Lawrance, Nicholas; Chung, Jen Jen; et al. (2021)
    Springer Proceedings in Advanced Robotics ~ Field and Service Robotics
    In this paper, we present a path planner for low-altitude terrain coverage in known environments with unmanned rotary-wing micro aerial vehicles (MAVs). Airborne systems can assist humanitarian demining by surveying suspected hazardous areas (SHAs) with cameras, ground-penetrating synthetic aperture radar (GPSAR), and metal detectors. Most available coverage planner implementations for MAVs do not consider obstacles and thus cannot be deployed in obstructed environments. We describe an open-source framework to perform coverage planning in polygon flight corridors with obstacles. Our planner extends boustrophedon coverage planning by optimizing over different sweep combinations to find the optimal sweep path, and considers obstacles during transition flights between cells. We evaluate the path planner on 320 synthetic maps and show that it is able to solve realistic planning instances fast enough to run in the field. The planner achieves 14% lower path costs than a conventional coverage planner. We validate the planner on a real platform where we show low-altitude coverage over a sloped terrain with trees.
  • Soliro - a hybrid dynamic tilt-wing aerial manipulator with minimal actuators
    Item type: Conference Paper
    Pantic, Michael; Hampp, Elias; Flammer, Ramon; et al. (2024)
    Springer Proceedings in Advanced Robotics ~ Experimental Robotics. ISER 2023
    The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more degrees of freedom than a standard quadrotor. While there is active research of over-actuated, omnidirectional MAVs and aerial manipulators as well as VTOL and hybrid platforms, the two concepts have not been combined. We address the problem of conceptualization, characterization, control, and testing of a 5DOF rotary-/fixed-wing hybrid, tilt-rotor, split tilt-wing, nearly omnidirectional aerial robot. We present an elegant solution with a minimal set of actuators and that does not need any classical control surfaces or flaps. The concept is validated in a wind tunnel study and in multiple flights with forward and backward transitions. Fixed-wing flight speeds up to 10 m/s were reached, with a power reduction of 30% as compared to rotary wing flight.
  • Fusing Multi-sensor Input with State Information on TinyML Brains for Autonomous Nano-drones
    Item type: Conference Paper
    Crupi, Luca; Cereda, Elia; Palossi, Daniele (2024)
    Springer Proceedings in Advanced Robotics ~ European Robotics Forum 2024
    Autonomous nano-drones (similar to 10 cm in diameter), thanks to their ultra-low power TinyML-based brains, are capable of coping with real-world environments. However, due to their simplified sensors and compute units, they are still far from the sense-and-act capabilities shown in their bigger counterparts. This system paper presents a novel deep learning-based pipeline that fuses multi-sensorial input (i.e., low-resolution images and 8x8 depth map) with the robot's state information to tackle a human pose estimation task. Thanks to our design, the proposed system - trained in simulation and tested on a real-world dataset - improves a state-unaware State-of-the-Art baseline by increasing the R-2 regression metric up to 0.10 on the distance's prediction.
  • GAP9Shield: A 150GOPS AI-Capable Ultra-low Power Module for Vision and Ranging Applications on Nano-drones
    Item type: Conference Paper
    Müller, Hanna; Kartsch, Victor; Benini, Luca (2024)
    Springer Proceedings in Advanced Robotics ~ European Robotics Forum 2024
    The evolution of AI and digital signal processing technologies, combined with affordable energy-efficient processors, has propelled the development of hardware and software for drone applications. Nano-drones, which fit into the palm of the hand, are suitable for indoor environments and safe for human interaction; however, they often fail to deliver the required performance for complex tasks due to the lack of hardware providing sufficient sensing and computing performance. Addressing this gap, we present the GAP9Shield, a nano-drone-compatible module powered by the GAP9, a 150GOPS-capable SoC. The system also includes a 5 MP camera for high-definition imaging, a Wi-Fi-BLE module, and a 5-directional laser-based ranging subsystem, enabling obstacle avoidance capabilities. Compared with similar state-of-the-art systems, GAP9Shield provides a 20% higher sample rate (RGB images) while offering 15% weight reduction. In this paper, we also highlight the energy efficiency and processing power capabilities of GAP9 for object detection using deep learning (YOLO), localization using a particle filter, and mapping, which can run within a power envelope of below 100 mW and at low latency (as 17 ms for object detection), highlighting the transformative potential of GAP9 for the new generation of nano-drone applications.
  • Learning to Fly Omnidirectional Micro Aerial Vehicles with an End-To-End Control Network
    Item type: Conference Paper
    Cuniato, Eugenio; Andersson, Olov; Oleynikova, Helen; et al. (2024)
    Springer Proceedings in Advanced Robotics ~ Experimental Robotics. ISER 2023
    Overactuated tilt-rotor platforms offer many advantages over traditional fixed-arm drones, allowing the decoupling of the applied force from the attitude of the robot. This expands their application areas to aerial interaction and manipulation, and allows them to overcome disturbances such as from ground or wall effects by exploiting the additional degrees of freedom available to their controllers. However, the overactuation also complicates the control problem, especially if the motors that tilt the arms have slower dynamics than those spinning the propellers. Instead of building a complex model-based controller that takes all of these subtleties into account, we attempt to learn an end-to-end pose controller using reinforcement learning, and show its superior behavior in the presence of inertial and force disturbances compared to a state-of-the-art traditional controller.
  • Field and Service Robotics: Results of the 11th International Conference
    Item type: Conference Proceedings
    Hutter, Marco; Siegwart, Roland (2017)
    Springer Proceedings in Advanced Robotics
  • SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding
    Item type: Conference Paper
    Blum, Hermann; Müller, Marcus G.; Gawel, Abel Roman; et al. (2023)
    Springer Proceedings in Advanced Robotics ~ Robotics Research
    In order to operate in human environments, a robot's semantic perception has to overcome open-world challenges such as novel objects and domain gaps. Autonomous deployment to such environments therefore requires robots to update their knowledge and learn without supervision. We investigate how a robot can autonomously discover novel semantic classes and improve accuracy on known classes when exploring an unknown environment. To this end, we develop a general framework for mapping and clustering that we then use to generate a self-supervised learning signal to update a semantic segmentation model. In particular, we show how clustering parameters can be optimized during deployment and that fusion of multiple observation modalities improves novel object discovery compared to prior work. Models, data, and implementations can be found at https://github.com/hermannsblum/scim
Publications1 - 10 of 32