5 accepted papers
We propose a novel scene-robot interaction graph (SRI-Graph) that exploits the known position of a mobile manipulator for robust and accurate scene understanding. Compared to the state-of-the-art scene graph approaches, the proposed SRI-Graph captures not only the relationships between the objects,…
Pouring liquids accurately into containers is one of the most challenging tasks for robots as they are unaware of the complex fluid dynamics and the behavior of liquids when pouring. Therefore, it is not possible to formulate a generic pouring policy for real-time applications. In this paper, we pro…
Advanced wireless communication networks provide lower latency and a higher transmission rate. Although this is an enabler for many new teleoperation applications, the risk of network instability or packet drop is still unavoidable. Real-time manipulator teleoperation requires data transmission with
Real-time 6D pose estimation is a key component for autonomous indoor navigation of Unmanned Aerial Vehicles (UAVs). This letter presents a low-latency LiDAR SLAM framework based on LiDAR scan slicing and concurrent matching, called LoLa-SLAM. Our framework uses sliced point cloud data from a rotati
Motion control and planning for the manipulator are critical components in manipulator teleoperation. Online (real-time) motion control is challenging for active obstacle avoidance and often results in fluctuating and unsafe motion. Offline motion planning, on the other hand, generates precise and s…