7 accepted papers
We propose a practical approach for detecting the event that a human wearing an IMU-equipped bracelet points at a moving robot; the approach uses a learned classifier to verify if the robot motion (as measured by its odometry) matches the wrist motion, and does not require that the relative pose of…
We present an approach for controlling the position of a quadrotor in 3D space using pointing gestures; the task is difficult because it is in general ambiguous to infer where, along the pointing ray, the robot should go. We propose and validate a pragmatic solution based on a push button acting as…
We consider the problem of planning paths on graphs with some edges whose traversability is uncertain; for each uncertain edge, we are given a probability of being traversable (e.g., by a learned classifier). We categorize different interpretations of the problem that are meaningful for mobile robot…
We present a system for interaction between co-located humans and mobile robots, which uses pointing gestures sensed by a wrist-mounted IMU. The operator begins by pointing, for a short time, at a moving robot. The system thus simultaneously determines: that the operator wants to interact; the robot…
We consider the task of controlling a quadrotor to hover in front of a freely moving user, using input data from an onboard camera. On this specific task we compare two widespread learning paradigms: a mediated approach, which learns a high-level state from the input and then uses it for deriving co…
We propose a novel approach to establish the relative pose of a mobile robot with respect to an operator that wants to interact with it; we focus on scenarios in which the robot is in the same environment as the operator, and is visible to them. The approach is based on comparing the trajectory of t…
In the context of coordination of mobile multi-robot/agent networked teams, we present an integrated model that simultaneously addresses two problems arising in multi-robot missions: (i) task allocation and task scheduling; and (ii) communication provisioning in the multi-hop mobile ad hoc network b…