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09/11/2023
Panoptic Vision-Language Feature Fields
Recently, methods have been proposed for 3D open-vocabulary semantic seg...
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08/23/2023
Path-Constrained State Estimation for Rail Vehicles
Globally rising demand for transportation by rail is pushing existing in...
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07/28/2023
Learning to Open Doors with an Aerial Manipulator
The field of aerial manipulation has seen rapid advances, transitioning ...
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07/28/2023
Local and Global Information in Obstacle Detection on Railway Tracks
Reliable obstacle detection on railways could help prevent collisions th...
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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...
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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...
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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...
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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...
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03/29/2023
Material-agnostic Shaping of Granular Materials with Optimal Transport
From construction materials, such as sand or asphalt, to kitchen ingredi...
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03/20/2023
Neural Implicit Vision-Language Feature Fields
Recently, groundbreaking results have been presented on open-vocabulary ...
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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...
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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...
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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...
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12/14/2022
Resilient Terrain Navigation with a 5 DOF Metal Detector Drone
Micro aerial vehicles (MAVs) hold the potential for performing autonomou...
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12/07/2022
A Multi-Segment, Soft Growing Robot with Selective Steering
Everting, soft growing vine robots benefit from reduced friction with th...
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12/01/2022
maplab 2.0 – A Modular and Multi-Modal Mapping Framework
Integration of multiple sensor modalities and deep learning into Simulta...
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11/25/2022
Unsupervised Continual Semantic Adaptation through Neural Rendering
An increasing amount of applications rely on data-driven models that are...
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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...
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10/24/2022
SphNet: A Spherical Network for Semantic Pointcloud Segmentation
Semantic segmentation for robotic systems can enable a wide range of app...
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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...
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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...
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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...
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09/13/2022
Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects
Interactions with articulated objects are a challenging but important ta...
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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...
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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...
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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...
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07/04/2022
MPC with Learned Residual Dynamics with Application on Omnidirectional MAVs
The growing field of aerial manipulation often relies on fully actuated ...
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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...
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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...
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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...
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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...
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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...
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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...
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03/23/2022
NavDreams: Towards Camera-Only RL Navigation Among Humans
Autonomously navigating a robot in everyday crowded spaces requires solv...
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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...
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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...
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03/01/2022
Descriptellation: Deep Learned Constellation Descriptors for SLAM
Current global localization descriptors in Simultaneous Localization and...
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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...
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03/01/2022
Collaborative Robot Mapping using Spectral Graph Analysis
In this paper, we deal with the problem of creating globally consistent ...
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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...
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02/14/2022
Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects
Although manipulation capabilities of aerial robots greatly improved in ...
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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...
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01/19/2022
Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses
Creating computer vision datasets requires careful planning and lots of ...
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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...
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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...
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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...
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10/06/2021
See Yourself in Others: Attending Multiple Tasks for Own Failure Detection
Autonomous robots deal with unexpected scenarios in real environments. G...
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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...
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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...
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09/20/2021
