Article
Robotics
Travis Henderson, Ryan Favour, Ben Hamlen, Imraan Mitha, Erika Bowe, Nikolaos Papanikolopoulos
Summary: This article presents a working prototype of a quad-rotor with control surfaces positioned in the propulsive slipstreams, which can redirect the airflow and produce lateral forces. This unique locomotion approach has various useful applications in aerial sensing.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Xinyu Cai, Shane Kyi Hla Win, Hitesh Bhardwaj, Shaohui Foong
Summary: In this study, a novel modular aerial robotic platform called ARROWs is introduced, which can be easily reconfigured with customized wing and control modules. Unlike conventional multirotor aerial vehicles, ARROWs generate more lift through revolving wings. However, the complex dynamics pose challenges in flight controller development. To address this, a cascaded flight controller is designed based on simplified flight dynamics and relaxed hovering conditions, while inertial measurement units are employed to estimate flight configuration. Experimental results validate the proposed platform and flight control strategy in 12 different configurations.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Review
Chemistry, Analytical
Ali Tourani, Hriday Bavle, Jose Luis Sanchez-Lopez, Holger Voos
Summary: The paper provides a comprehensive survey of 50 impactful articles in the field of VSLAM, aiming to integrate the research achievements, present the recent advances, and discuss the current challenges and trends. The mentioned manuscripts are classified by different characteristics and the paper also discusses the present trends and future directions of VSLAM techniques.
Article
Robotics
Qiang Li, Yunjun Xu
Summary: This paper introduces a vision-based controller for improving the row transition performance of an agricultural robot in a strawberry field. The controller utilizes only RGB cameras for navigation and row alignment, and features a real-time adaptive dynamic programming algorithm for optimal row transition. The proposed controller shows promising results in simulations and field experiments, achieving efficient row transition with a minimal alignment error.
JOURNAL OF FIELD ROBOTICS
(2022)
Article
Robotics
Jose Lamarca, Juan J. Gomez Rodriguez, Juan D. Tardos, J. M. M. Montiel
Summary: Deformable Monocular SLAM algorithms recover the localization of a camera in an unknown deformable environment by using a local deformation model and a direct photometric error cost function, accurately identifying the deformation of the map.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Frederik S. Leira, Hakon Hagen Helgesen, Tor Arne Johansen, Thor I. Fossen
Summary: This paper presents a multiple object detection, recognition, and tracking system for unmanned aerial vehicles (UAVs), utilizing machine vision to automatically detect objects and combining it with UAV navigation data. Field tests demonstrate the system's effectiveness in maritime object tracking and data association through visual recognition.
JOURNAL OF FIELD ROBOTICS
(2021)
Article
Robotics
Jeffrey Mao, Stephen Nogar, Christopher M. M. Kroninger, Giuseppe Loianno
Summary: This article focuses on the problem of active visual perching (AVP) control to autonomously perch on inclined surfaces. The proposed approach generates feasible trajectories and takes into account actuator and field-of-view constraints. Experimental results show that the approach improves target interception precision and accuracy compared to one-shot planning.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Computer Science, Artificial Intelligence
Mubariz Zaffar, Sourav Garg, Michael Milford, Julian Kooij, David Flynn, Klaus McDonald-Maier, Shoaib Ehsan
Summary: VPR is the process of recognizing previously visited places using visual information, crucial for autonomous navigation systems, but the field lacks standardization in performance evaluation, leading to fragmentation.
INTERNATIONAL JOURNAL OF COMPUTER VISION
(2021)
Review
Robotics
Vishnu Rajendran, Bappaditya Debnath, Sariah Mghames, Willow Mandil, Soran Parsa, Simon Parsons, Amir Ghalamzan-E.
Summary: This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. It discusses the main components of SHRs, the challenges in developing SHR technologies, and the potential benefits of integrating artificial intelligence and soft robots. The paper also identifies open research questions in the field and highlights the need for further research and development efforts to advance SHR technologies.
JOURNAL OF FIELD ROBOTICS
(2023)
Article
Robotics
Toshiya Maki, Moju Zhao, Kei Okada, Masayuki Inaba
Summary: This study presents an elastic vibration model for the torsional motion of link rods in a chain-like structure based on multi-rigid body dynamics. It then develops a control method with optimization-based control gain design to suppress the elastic vibration by utilizing the redundancy of the control input. The feasibility of the proposed methods is demonstrated through experiments with an eight-link multilinked model.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Kevin Meier, Soon-Jo Chung, Seth Hutchinson
Summary: The study proposes a vision-based algorithm for identifying the boundary between water and land in a river environment with specular reflections. By detecting this boundary, the algorithm can be used as a front-end object recognition module for solving the simultaneous localization and mapping (SLAM) problem.
JOURNAL OF FIELD ROBOTICS
(2021)
Article
Robotics
Kristopher Krasnosky, Christopher Roman, David Casagrande
Summary: The advancement of sonar systems in recent years has led to increased resolution and affordability for surface and underwater vehicles. However, challenges remain in achieving accurate navigation solutions for seafloor mapping tasks. This article presents a dataset for testing bathymetric SLAM algorithms and highlights the importance of utilizing modern sonars and GPS technologies in underwater mapping.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2022)
Article
Robotics
Daichi Wada, Sergio Araujo-Estrada, Shane Windsor
Summary: This letter experimentally investigated the reality gap effect in deep reinforcement learning for flight controllers of UAVs. The study focused on fixed-wing UAV pitch control in wind tunnel tests and compared three different training approaches. The results showed that the baseline approach was susceptible to the reality gap, while the high-fidelity modeling approach and the domain randomization approach successfully transferred to real tests. Additionally, the study found that the domain randomization controller maintained its performance even with configuration changes, highlighting its applicability to real environments with uncertainty.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Marco Legittimo, Simone Felicioni, Fabio Bagni, Andrea Tagliavini, Alberto Dionigi, Francesco Gatti, Micaela Verucchi, Gabriele Costante, Marko Bertogna
Summary: In the field of robotics research, visual odometry (VO), which estimates ego-motion, has become increasingly important for achieving robust localization and autonomy. Various solutions based on geometric and data-driven approaches have been explored, but there is a lack of comprehensive benchmark studies comparing these methods. In this work, a thorough study of the most popular and best-performing geometric and data-driven solutions for VO is provided, considering different scenarios and environments, estimation accuracies, hyper-parameters, and computational resources. Experimental results on diverse datasets and computational boards reveal the pros and cons of the tested approaches, with geometric simultaneous localization and mapping methods performing best and data-driven approaches showing robustness in challenging scenarios.
JOURNAL OF FIELD ROBOTICS
(2023)
Article
Robotics
Mahmoud Hamandi, Federico Usai, Quentin Sable, Nicolas Staub, Marco Tognon, Antonio Franchi
Summary: This paper reviews the impact of multirotor aerial vehicle designs on their tasks and system properties. By proposing a general taxonomy and organizing the literature based on the number of atomic actuation units, the study identifies common traits of the designs and discusses global properties arising from their choice and distribution in mechanical designs. The authors also provide insights on main open and future problems in the field.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Article
Robotics
Jacob Arkin, Daehyung Park, Subhro Roy, Matthew R. Walter, Nicholas Roy, Thomas M. Howard, Rohan Paul
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2020)
Article
Robotics
Jacopo Banfi, Andrew Messing, Christopher Kroninger, Ethan Stump, Seth Hutchinson, Nicholas Roy
Summary: This study examines a class of multi-robot task allocation problems and proposes a hierarchical planner that breaks down the complexity of the problem into high-level and low-level subproblems. The results show that using a Graph Neural Network as a heuristic and a GNN-based estimator can provide an excellent trade-off between solution quality and computation time.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Proceedings Paper
Automation & Control Systems
Gregory J. Stein, Christopher Bradley, Victoria Preston, Nicholas Roy
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2020)
Proceedings Paper
Automation & Control Systems
W. Nicholas Greene, Nicholas Roy
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2020)
Proceedings Paper
Automation & Control Systems
Katherine Liu, Martina Stadler, Nicholas Roy
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2020)
Proceedings Paper
Automation & Control Systems
Markus Ryll, John Ware, John Carter, Nick Roy
2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2020)
Proceedings Paper
Computer Science, Artificial Intelligence
William Vega-Brown, Nicholas Roy
THIRTY-FOURTH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE, THE THIRTY-SECOND INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE CONFERENCE AND THE TENTH AAAI SYMPOSIUM ON EDUCATIONAL ADVANCES IN ARTIFICIAL INTELLIGENCE
(2020)
Proceedings Paper
Automation & Control Systems
Markus Ryll, John Ware, John Carter, Nick Roy
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2019)
Article
Robotics
Genevieve Flaspohler, Victoria Preston, Anna P. M. Michel, Yogesh Girdhar, Nicholas Roy
IEEE ROBOTICS AND AUTOMATION LETTERS
(2019)
Proceedings Paper
Computer Science, Artificial Intelligence
Kevin Doherty, Genevieve Flaspohler, Nicholas Roy, Yogesh Girdhar
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2018)
Proceedings Paper
Automation & Control Systems
Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, Daniel E. Koditschek
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2018)
Proceedings Paper
Automation & Control Systems
Gregory J. Stein, Nicholas Roy
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2018)
Proceedings Paper
Automation & Control Systems
Katherine Liu, Kyel Ok, William Vega-Brown, Nicholas Roy
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2018)
Proceedings Paper
Automation & Control Systems
Charlie Guan, William Vega-Brown, Nicholas Roy
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2018)
Proceedings Paper
Automation & Control Systems
Genevieve Flaspohler, Nicholas Roy, Yogesh Girdhar
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2018)