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Credible Online Dynamics Learning for Hybrid UAVs
(2023)2023 IEEE International Conference on Robotics and Automation (ICRA)Hybrid unmanned aerial vehicles (H-UAVs) are highly versatile platforms with the ability to transition between rotary- and fixed-wing flight. However, their (aero)dynamics tend to be highly nonlinear which increases the risk of introducing safety-critical modeling errors in a controller. Designing a safe, yet not too cautious controller, requires a credible model which provides accurate dynamics uncertainty quantification. We present a ...Conference Paper -
Material-agnostic Shaping of Granular Materials with Optimal Transport
(2023)2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)From construction materials, such as sand or asphalt, to kitchen ingredients, like rice, sugar, or salt; the world is full of granular materials. Despite impressive progress in robotic manipulation, manipulating and interacting with granular material remains a challenge due to difficulties in perceiving, representing, modelling, and planning for these variable materials that have complex internal dynamics. While some prior work has looked ...Conference Paper -
FlowBot: Flow-based Modeling for Robot Navigation
(2022)2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Autonomous navigation among people is a complex problem that also exhibits considerable variation depending on the type of environment and people involved. Here we consider navigation among crowds that exhibit flow-like behavior like people moving through a train station. We propose a novel pseudo-fluid model of crowd flow for such problems. These have an intuitive physical interpretation and do not require much tuning. We further formalize ...Conference Paper -
Reactive Motion Planning for Rope Manipulation and Collision Avoidance using Aerial Robots
(2022)2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)In this work we address the challenging problem of manipulating a flexible link, like a rope, with an aerial robot. Inspired by spraying tasks in construction and maintenance scenarios, we consider the case in which an autonomous end-effector (e.g., a spray nozzle moved by a robot or a human operator) is connected to a fixed point by a rope (e.g., a hose). To avoid collisions between the rope and the environment while the end-effector ...Conference Paper -
NavDreams: Towards Camera-Only RL Navigation Among Humans
(2022)2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used. While images present a significant challenge when it comes to perception and planning, they also allow capturing potentially important details, such as complex geometry, body movement, and other visual cues. ...Conference Paper