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RoBoa: Construction and evaluation of a steerable vine robot for search and rescue applications
(2021)2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)RoBoa is a vine-like search and rescue robot that can explore narrow and cluttered environments such as destroyed buildings. The robot assists rescue teams in finding and communicating with trapped people. It employs the principle of vine robots for locomotion, everting the tip of its tube to move forward. Inside the tube, pneumatic actuators enable lateral movement. The head carries sensors and is mounted outside at the tip of the tube. ...Conference Paper -
Linear vs nonlinear mpc for trajectory tracking applied to rotary wing micro aerial vehicles
(2017)IFAC-PapersOnLine ~ 20th IFAC World Congress. ProceedingsPrecise trajectory tracking is a crucial property for Micro Air Vehicles (MAVs) to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for MAV trajectory tracking. A classical Linear Model Predictive Controller (LMPC) is presented and compared against a more advanced Nonlinear Model Predictive Controller (NMPC) that considers the ...Conference Paper -
Motion planning in the presence of moving obstacles using RRT search and B-splines
(2009)IFAC Proceedings Volumes ~ 8th IFAC Symposium on Robot ControlThis paper addresses the problem of path planning of mobile robots in dynamic environments. A collision-free trajectory of the robot is generated in the presence of moving obstacles that is three times differentiable and enables direct derivation of kinematic level controls for the robot. A chained form decomposition and state transformation for a geometric and time criterion of collision avoidance is based on an approach where closed-form ...Conference Paper -
Airborne particle classification in LiDAR point clouds using deep learning
(2021)Springer Proceedings in Advanced Robotics ~ Field and Service RoboticsLiDAR sensors have been very popular in robotics due to their ability to provide accurate range measurements and their robustness to lighting conditions. However, their sensitivity to airborne particles such as dust or fog can lead to perception algorithm failures (e.g., the detection of false obstacles by field robots). In this work, we address this problem by proposing methods to classify airborne particles in LiDAR data. We propose and ...Conference Paper -
NeuralBlox: Real-Time Neural Representation Fusion for Robust Volumetric Mapping
(2021)2021 International Conference on 3D Vision (3DV)We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions and can not incrementally perform updates given new data. In this work, we propose a fusion strategy and training pipeline to incrementally build and update neural implicit representations that enable ...Conference Paper -
Global Localization in Meshes
(2021)ISARC Proceedings ~ Proceedings of the 38th International Symposium on Automation and Robotics in Construction (ISARC)Safely waking up a robot at an unknown location and subsequent autonomous operation are key requirements for on-site construction robots. In this regard, single-shot global localization in a known map is a challenging problem due to incomplete observations of the environment and sensor obstructions by unmapped clutter. In this work, we address global localization of sparse multi-beam LiDAR measurements in a 3D mesh building model, a typical ...Conference Paper -
A bearing-only 2D/3D-homing method under a visual servoing framework
(2010)IEEE International Conference on Robotics and Automation ICRA ~ IEEE International Conference on Robotics and Automation (ICRA), 2010Conference Paper -
MAV Navigation through Indoor Corridors Using Optical Flow
(2010)IEEE International Conference on Robotics and Automation (ICRA), 2010Conference Paper -
Fast Image-Anomaly Mitigation for Autonomous Mobile Robots
(2021)2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Camera anomalies like rain or dust can severely degrade image quality and its related tasks, such as localization and segmentation. In this work we address this important issue by implementing a pre-processing step that can effectively mitigate such artifacts in a real-time fashion, thus supporting the deployment of autonomous systems with limited compute capabilities. We propose a shallow generator with aggregation, trained in an adversarial ...Conference Paper -
Toward automated driving in cities using close-to-market sensors
(2013)Proceedings of 2013 IEEE Intelligent Vehicles Symposium (IV)Conference Paper