Roland Siegwart

research

∙ 09/11/2023

Panoptic Vision-Language Feature Fields

Recently, methods have been proposed for 3D open-vocabulary semantic seg...

0 Haoran Chen, et al. ∙

research

∙ 08/23/2023

Path-Constrained State Estimation for Rail Vehicles

Globally rising demand for transportation by rail is pushing existing in...

0 Cornelius von Einem, et al. ∙

research

∙ 07/28/2023

Learning to Open Doors with an Aerial Manipulator

The field of aerial manipulation has seen rapid advances, transitioning ...

0 Eugenio Cuniato, et al. ∙

research

∙ 07/28/2023

Local and Global Information in Obstacle Detection on Railway Tracks

Reliable obstacle detection on railways could help prevent collisions th...

0 Matthias Brucker, et al. ∙

research

∙ 06/02/2023

Efficient volumetric mapping of multi-scale environments using wavelet-based compression

Volumetric maps are widely used in robotics due to their desirable prope...

0 Victor Reijgwart, et al. ∙

research

∙ 05/03/2023

Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator

This work presents the mechanical design and control of a novel small-si...

0 Eugenio Cuniato, et al. ∙

research

∙ 05/01/2023

A Comparison of Pneumatic Actuators for Soft Growing Vine Robots

Soft pneumatic actuators are used to steer soft growing "vine" robots wh...

0 Alexander M. Kübler, et al. ∙

research

∙ 04/20/2023

Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments

Real-time detection of moving objects is an essential capability for rob...

0 Lukas Schmid, et al. ∙

research

∙ 03/29/2023

Material-agnostic Shaping of Granular Materials with Optimal Transport

From construction materials, such as sand or asphalt, to kitchen ingredi...

0 Nikhilesh Alatur, et al. ∙

research

∙ 03/20/2023

Neural Implicit Vision-Language Feature Fields

Recently, groundbreaking results have been presented on open-vocabulary ...

0 Kenneth Blomqvist, et al. ∙

research

∙ 03/02/2023

Chasing Millimeters: Design, Navigation and State Estimation for Precise In-flight Marking on Ceilings

Precise markings for drilling and assembly are crucial, laborious constr...

0 Christian Lanegger, et al. ∙

research

∙ 02/13/2023

Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals

Autonomous vehicles that operate in urban environments shall comply with...

0 Lucas Streichenberg, et al. ∙

research

∙ 01/19/2023

Obstacle avoidance using raycasting and Riemannian Motion Policies at kHz rates for MAVs

In this paper, we present a novel method for using Riemannian Motion Pol...

0 Michael Pantic, et al. ∙

research

∙ 12/14/2022

Resilient Terrain Navigation with a 5 DOF Metal Detector Drone

Micro aerial vehicles (MAVs) hold the potential for performing autonomou...

0 Patrick Pfreundschuh, et al. ∙

research

∙ 12/07/2022

A Multi-Segment, Soft Growing Robot with Selective Steering

Everting, soft growing vine robots benefit from reduced friction with th...

0 Alexander M. Kübler, et al. ∙

research

∙ 12/01/2022

maplab 2.0 – A Modular and Multi-Modal Mapping Framework

Integration of multiple sensor modalities and deep learning into Simulta...

0 Andrei Cramariuc, et al. ∙

research

∙ 11/25/2022

Unsupervised Continual Semantic Adaptation through Neural Rendering

An increasing amount of applications rely on data-driven models that are...

0 Zhizheng Liu, et al. ∙

research

∙ 10/25/2022

A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets

The exploration of large-scale unknown environments can benefit from the...

0 Lukas Bernreiter, et al. ∙

research

∙ 10/24/2022

SphNet: A Spherical Network for Semantic Pointcloud Segmentation

Semantic segmentation for robotic systems can enable a wide range of app...

0 Lukas Bernreiter, et al. ∙

research

∙ 09/26/2022

Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps

Methods have recently been proposed that densely segment 3D volumes into...

0 Kenneth Blomqvist, et al. ∙

research

∙ 09/16/2022

3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs

Numerous applications require robots to operate in environments shared w...

0 Samuel Looper, et al. ∙

research

∙ 09/15/2022

On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications

In this paper we provide a practical demonstration of how the modularity...

0 Matteo Iovino, et al. ∙

research

∙ 09/13/2022

Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects

Interactions with articulated objects are a challenging but important ta...

0 Giulio Schiavi, et al. ∙

research

∙ 08/17/2022

Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning

Exploration of unknown environments is a fundamental problem in robotics...

11 Lukas Schmid, et al. ∙

research

∙ 08/02/2022

Present and Future of SLAM in Extreme Underground Environments

This paper reports on the state of the art in underground SLAM by discus...

0 Kamak Ebadi, et al. ∙

research

∙ 07/21/2022

Closed-Loop Next-Best-View Planning for Target-Driven Grasping

Picking a specific object from clutter is an essential component of many...

0 Michel Breyer, et al. ∙

research

∙ 07/04/2022

MPC with Learned Residual Dynamics with Application on Omnidirectional MAVs

The growing field of aerial manipulation often relies on fully actuated ...

0 Maximilian Brunner, et al. ∙

research

∙ 06/28/2022

Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing

The recent development of novel aerial vehicles capable of physically in...

0 Weixuan Zhang, et al. ∙

research

∙ 06/27/2022

Probabilistic network topology prediction for active planning:An adaptive algorithm and application

This paper tackles the problem of active planning to achieve cooperative...

0 Liang Zhang, et al. ∙

research

∙ 06/21/2022

SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding

In order to operate in human environments, a robot's semantic perception...

0 Hermann Blum, et al. ∙

research

∙ 05/25/2022

Power-based Safety Layer for Aerial Vehicles in Physical Interaction using Lyapunov Exponents

As the performance of autonomous systems increases, safety concerns aris...

0 Eugenio Cuniato, et al. ∙

research

∙ 05/03/2022

Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF)

This work investigates the use of Neural implicit representations, speci...

0 Michael Pantic, et al. ∙

research

∙ 03/28/2022

RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications

RoBoa is a vine-like search and rescue robot that can explore narrow and...

0 Pascal Auf der Maur, et al. ∙

research

∙ 03/23/2022

NavDreams: Towards Camera-Only RL Navigation Among Humans

Autonomously navigating a robot in everyday crowded spaces requires solv...

0 Daniel Dugas, et al. ∙

research

∙ 03/07/2022

Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction

Bilateral teleoperation offers an intriguing solution towards shared aut...

0 Mike Allenspach, et al. ∙

research

∙ 03/07/2022

Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction

With the rapid development of Aerial Physical Interaction, the possibili...

0 Mike Allenspach, et al. ∙

research

∙ 03/01/2022

Descriptellation: Deep Learned Constellation Descriptors for SLAM

Current global localization descriptors in Simultaneous Localization and...

0 Chunwei Xing, et al. ∙

research

∙ 03/01/2022

Embodied Active Domain Adaptation for Semantic Segmentation via Informative Path Planning

This work presents an embodied agent that can adapt its semantic segment...

0 René Zurbrügg, et al. ∙

research

∙ 03/01/2022

Collaborative Robot Mapping using Spectral Graph Analysis

In this paper, we deal with the problem of creating globally consistent ...

0 Lukas Bernreiter, et al. ∙

research

∙ 02/28/2022

Fast and Compute-efficient Sampling-based Local Exploration Planning via Distribution Learning

Exploration is a fundamental problem in robotics. While sampling-based p...

0 Lukas Schmid, et al. ∙

research

∙ 02/14/2022

Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects

Although manipulation capabilities of aerial robots greatly improved in ...

0 Maximilian Brunner, et al. ∙

research

∙ 01/22/2022

SL Sensor: An Open-Source, ROS-Based, Real-Time Structured Light Sensor for High Accuracy Construction Robotic Applications

High accuracy 3D surface information is required for many construction r...

0 Teng Foong Lam, et al. ∙

research

∙ 01/19/2022

Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses

Creating computer vision datasets requires careful planning and lots of ...

0 Kenneth Blomqvist, et al. ∙

research

∙ 11/11/2021

Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft

In this paper, we propose a resource-efficient approach to provide an au...

0 Pascal Schoppmann, et al. ∙

research

∙ 11/03/2021

Continual Learning of Semantic Segmentation using Complementary 2D-3D Data Representations

Semantic segmentation networks are usually pre-trained and not updated d...

0 Jonas Frey, et al. ∙

research

∙ 10/18/2021

NeuralBlox: Real-Time Neural Representation Fusion for Robust Volumetric Mapping

We present a novel 3D mapping method leveraging the recent progress in n...

0 Stefan Lionar, et al. ∙

research

∙ 10/06/2021

See Yourself in Others: Attending Multiple Tasks for Own Failure Detection

Autonomous robots deal with unexpected scenarios in real environments. G...

0 Boyang Sun, et al. ∙

research

∙ 09/30/2021

Unified Data Collection for Visual-Inertial Calibration via Deep Reinforcement Learning

Visual-inertial sensors have a wide range of applications in robotics. H...

0 Yunke Ao, et al. ∙

research

∙ 09/21/2021

Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency

For robotic interaction in an environment shared with multiple agents, a...

0 Lukas Schmid, et al. ∙

research

∙ 09/20/2021

Superquadric Object Representation for Optimization-based Semantic SLAM

Introducing semantically meaningful objects to visual Simultaneous Local...

0 Florian Tschopp, et al. ∙

Roland Siegwart

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