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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Seliunina, Svetlana Otelepko, Artem Memmesheimer, Raphael Behnke, Sven University of Bonn Autonomous Intelligent Systems Group Computer Science Institute VI - Intelligent Systems and Robotics Lamarr Institute for Machine Learning and Artificial Intelligence Center for Robotics Germany

ISBN: (纸本)9798331531614

Robots need to perceive persons in their surroundings for safety and to interact with them. In this paper, we present a person segmentation and action classification approach that operates on 3D scans of hemisphere field of view LiDAR sensors. We recorded a data set with an Ouster OSDome-64 sensor consisting of scenes where persons perform three different actions and annotated it. We propose a method based on a MaskDINO model to detect and segment persons and to recognize their actions from combined spherical projected multi-channel representations of the LiDAR data with an additional positional encoding. Our approach demonstrates good performance for the person segmentation task and further performs well for the estimation of the person action states walking, waving, and sitting. An ablation study provides insights about the individual channel contributions for the person segmentation task. The trained models, code and dataset are made publicly available. © 2025 IEEE.

关键词： Signal encoding

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Using Off-the-Shelf Deep Neural Networks for Position-Based Visual Servoing

Using Off-the-Shelf Deep Neural Networks for Position-Based...

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27th RoboCup International Symposium, 2024

作者： Tschesche, Matteo Hofmann, Till Ferrein, Alexander Lakemeyer, Gerhard Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Sciences Aachen Germany Knowledge-Based Systems Group RWTH Aachen University Aachen Germany

ISBN: (纸本)9783031858581

Visual servoing is a well-established technique for object grasping and controls the robot in a closed-loop fashion. It typically uses hand-crafted features or a neural network that directly learns the control output. We propose an alternative approach that uses an off-the-shelf neural network object classifier and can therefore compute target poses without manually selected features while also not requiring training from scratch. Instead, the object classifier only needs to be fine-tuned on a domain-specific dataset, significantly reducing the amount of required training data. We describe a task sequencing approach that can control a robot with a mobile base and an additional gripper, which is a typical setup in many robotics applications. We evaluate the approach in the RoboCup Logistics League and demonstrate the reliability and speed of the proposed approach. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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A ROS 2-Based Navigation and Simulation Stack for the Robotino

A ROS 2-Based Navigation and Simulation Stack for the Rob...

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27th RoboCup International Symposium, 2024

作者： Borse, Saurabh Viehmann, Tarik Ferrein, Alexander Lakemeyer, Gerhard The Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Science Aachen52066 Germany Knowledge-Based Systems Group RWTH Aachen University Aachen52074 Germany

ISBN: (纸本)9783031858581

The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS 2 integration for the Robotino available. In this paper we describe our work on a Webots simulation environment for a Robotino platform extended by LIDAR sensors. A ROS 2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite is provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS 2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge

Field Robotics

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Field robotics 2025年 2卷 595-636页

作者： Nicolas Hudson Fletcher Talbot Mark Cox Jason Williams Thomas Hines Alex Pitt Brett Wood Dennis Frousheger Katrina Lo Surdo Thomas Molnar Ryan Steindl Matt Wildie Inkyu Sa Navinda Kottege Kazys Stepanas Emili Hernandez Gavin Catt William Docherty Brendan Tidd Benjamin Tam Simon Murrell Mitchell Bessell Lauren Hanson Lachlan Tychsen-Smith Hajime Suzuki Leslie Overs Farid Kendoul Glenn Wagner Duncan Palmer Peter Milani Matthew O'Brien Shu Jiang Shengkang Chen Ronald C. Arkin Robotics and Autonomous Systems Group CSIRO Pullenvale Queensland Australia Emesent Milton Queensland Australia Georgia Tech Atlanta Georgia USA

Heterogeneous teams of robots, leveraging a balance between autonomy and human interaction, bring powerful capabilities to the problem of exploring dangerous, unstructured subterranean environments. Here we describe the solution developed by Team CSIRO Data61, consisting of CSIRO, Emesent, and Georgia Tech, during the DARPA Subterranean Challenge. These presented systems were fielded in the Tunnel Circuit in August 2019, the Urban Circuit in February 2020, and in our own Cave event, conducted in September 2020. A unique capability of the fielded team is the homogeneous sensing of the platforms utilized, which is used to obtain a decentralized multi-agent SLAM solution on each platform (both ground agents and UAVs) using peer-to-peer communications. This approach enabled a shift in focus from constructing a pervasive communications network to relying on multi-agent autonomy, motivated by experiences in early circuit events. These experiences also showed the surprising capability of rugged tracked platforms for challenging terrain, which in turn led to the heterogeneous team structure based on a BIA5 OzBot Titan ground robot and an Emesent Hovermap UAV, supplemented by smaller tracked or legged ground robots. The ground agents use a common CatPack perception module, which allowed reuse of the perception and autonomy stack across all ground agents with minimal adaptation.

关键词： Robots Robot kinematics Navigation Simultaneous localization and mapping Sensors Resilience Peer-to-peer computing Fuel processing industries Collision avoidance Testing

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Person Segmentation and Action Classification for Multi-Channel Hemisphere Field of View LiDAR Sensors

Person Segmentation and Action Classification for Multi-Chan...

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IEEE/SICE International Symposium on System Integration

作者： Svetlana Seliunina Artem Otelepko Raphael Memmesheimer Sven Behnke Autonomous Intelligent Systems Group Computer Science Institute VI – Intelligent Systems and Robotics Lamarr Institute for Machine Learning and Artificial Intelligence and Center for Robotics University of Bonn

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

关键词： Reflectivity Adaptation models Laser radar Three-dimensional displays System integration Robot sensing systems Encoding Sensor systems Sensors Safety

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Robo-vision! 3D mesh generation of a scene for a robot for planar and non-planar complex objects

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Multimedia Tools and Applications 2023年第27期82卷 42641-42659页

作者： Agarwal, Swapna Maity, Soumyadip Barua, Hrishav Bakul Bhowmick, Brojeshwar Robotics & Autonomous Systems group TCS Research Kolkata India

This paper presents a novel architecture to generate a world model in terms of mesh from a continuous image stream with depth information extracted from a robot’s ego-vision camera. We propose two algorithms for planar and non-planar mesh generation. A Cartesian grid-based mesh fitting algorithm is proposed for mesh generation of planar objects. For mesh generation of non-planar objects, we propose a Self Organization Map based algorithm. The proposed algorithm better approaches the boundary and overall shape of the objects compared to State-Of-the-Art (SOA). Extensive experiments done on three public datasets show that our method surpasses SOA both qualitatively and quantitatively. © 2023, The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature.

关键词： Mesh generation

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Recent Enhancements to Mobile Bimanual Robotic Teleoperation with Insight Toward Improving Operator Control

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JOHNS HOPKINS APL TECHNICAL DIGEST 2013年第3期32卷 584-594页

作者： Tunstel, Edward W., Jr. Wolfe, Kevin C. Kutzer, Michael D. M. Johannes, Matthew S. Brown, Christopher Y. Katyal, Kapil D. Para, Matthew P. Zeher, Michael J. Robotics and Autonomous Systems Group Research and Exploratory Development Department (REDD) APL

In a number of environments and scenarios where it is dangerous, impractical, or impossible to send humans, robotic teleoperation is used. It enables human-teleoperated robotic systems to move around in and manipulate such environments from a distance, effectively projecting human capabilities into those environments to perform complex tasks. Bimanual robots are equipped with two arms/hands and have the capacity to perform many tasks, particularly when integrated with mobile platforms. This article provides an overview of two mobile bimanual robotic system prototypes designed to be teleoperated by human operators to perform unmanned ground vehicle missions. It highlights limitations in robot sensing and control that were observed during the course of conducting research on improving the effectiveness of human operator control. System enhancements are discussed that are aimed at achieving this goal through robot sensor augmentation, increased operator situational awareness, and a robot control approach for facilitating human operator control. These enhancements are expected to improve human-robot capabilities for future unmanned vehicle applications.

关键词： Ground vehicles

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On the Collaborative Object Transportation Using Leader Follower Approach

On the Collaborative Object Transportation Using Leader Foll...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Ghosh, Sumanta Nath, Subhajit Sortee, Sarvesh Kumar, Lokesh Bera, Titas Robotics and Autonomous Systems Group TCS Research India

ISBN: (纸本)9798350337020

In this paper we address the multi-agent collab-orative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators collaboratively transporting an object along specified desired trajectories. The proposed approach treats the mobile manipulation system as two independent subsystems: a mobile platform and a manipulator arm and uses their kinematics model for trajectory tracking. In this work we considered that the mobile platform is subject to non-holonomic constraints, with a manipulator carrying a rigid load. The desired trajectories of the end points of the load are obtained from Probabilistic RoadMap-based planning approach. Our method combines Proportional Navigation Guidance-based approach with a proposed Stop-and-Sync algorithm to reach sufficiently close to the desired trajectory;the deviation due to the non-holonomic constraints being compensated by the manipulator arm. Concurrently, a leader follower approach for computing inverse kinematics solution for the position of the end-effector of the manipulator arm is proposed to maintain the load rigidity. Further, we compare the proposed approach with other approaches to analyse the efficacy of our algorithm. © 2023 IEEE.

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Path towards multilevel evolution of robots 20

Path towards multilevel evolution of robots

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2020 Genetic and Evolutionary Computation Conference, GECCO 2020

作者： Chand, Shelvin Howard, David Robotics and Autonomous Systems Group CSIRO Brisbane Australia

ISBN: (纸本)9781450371278

Multi-level evolution is a bottom-up robotic design paradigm which decomposes the design problem into layered sub-tasks that involve concurrent search for appropriate materials, component geometry and overall morphology. Each of the three layers operate with the goal of building a library of diverse candidate solutions which will be used either as building blocks for the layer above or provided to the decision maker for final use. In this paper we provide a theoretical discussion on the concepts and technologies that could potentially be used as building blocks for this framework. © 2020 ACM.

关键词： Decision making

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autonomous Geolocation of RF Emitters Using Small, Unmanned Platforms

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JOHNS HOPKINS APL TECHNICAL DIGEST 2013年第3期32卷 636-646页

作者： Bamberger, Robert J. Moore, Jay G. Goonasekeram, Ravi P. Scheidt, David H. APL Robotics and Autonomous Systems Group Research and Exploratory Development Department (REDD) Advanced RF Capabilities Group Asym metric Operations Sector APL Electrical Engineering Systems Analysis and Design Group REDD RF & Optical Systems Se

autonomous geolocation of RF emitters using small, unmanned systems is a game-changing technology for military, government, and commercial missions. This technique employs a novel application of a common RF direction-finding technique called pseudo-Doppler. Emergent autonomous control concepts are used to control the sensor platform and optimize flight trajectories for efficient and rapid geolocation of the target. The basic components of this concept, from sensor development to unmanned system autonomous behaviors, were tested in simulation and subsequently demonstrated in flight during the Tactical Network Topology experiment.

关键词： Network topology

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