18 accepted papers
4D millimeter-wave (mmWave) radars are sensors that provide robustness against adverse weather conditions (rain, snow, fog, etc.), and as such they are increasingly used for odometry and SLAM (Simultaneous Location and Mapping). However, the noisy and sparse nature of the returned scan data proves t
This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representation (in the vicinity of the points) enables working with raw 3D LiDAR data online, avoiding the need of LiDAR feature s
This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representation (in the vicinity of the points) enables working with raw 3D LiDAR data online, avoiding the need of LiDAR feature s…
This paper presents a high-efficiency, CPU-only volumetric mapping framework based on a Truncated Signed Distance Field (TSDF). The system incrementally fuses raw LiDAR point-cloud data into a voxel grid using a directional bitmask-based integration scheme, producing dense and consistent TSDF repres…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental conditions and cluttered environments. This work proposes a m…
Human-aware navigation is a complex task for mobile robots, requiring an autonomous navigation system capable of achieving efficient path planning together with socially compliant behaviors. Social planners usually add costs or constraints to the objective function, leading to intricate tuning proce…
Social robots for children have focused mainly on conventional education domains such as teaching language, science, and math, while applications focusing on the enhancement of cultural competency are quite scarce. In this paper, we present a prototype of a robot-mediation framework for cross-cultur…
This work presents the Human Navigation Simulator ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">HuNavSim</i> ), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, t
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether with controllable length. To the best of our knowledge, this is the first method that addresses t
This paper describes the development of a 3- stage signalling framework to trigger a social robot's bottom- up reactive behavior inspired by a biological model. In the first stage, low-level firing of stimuli due to external sources is constructed through perception grounding. This is followed by a…
This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and the map, thus not requiring features, neither point corresp…
This article addresses an Active cooperative perception problem for networked robots systems. Given a team of networked robots, the goal is finding a target using their inherent uncertain sensor data. The article proposes a particle filter to model the probability distribution of the position of the
Defining a robot's expressivity is a difficult task that requires thoughtful consideration of the potential of various robot modalities and a model of communication that humans understand. Humanoid and zoomorphic-designed robots can easily take cues from human and animals, respectively when designin…
Many recent works have proposed algorithms for information gathering that benefit from multi-robot cooperation. However, most algorithms either employ discretization of the state and action spaces, which makes them computationally intractable for robotic systems with complex dynamics; or cannot deal…
This work presents an approach to learn path planning for robot social navigation by demonstration. We make use of Fully Convolutional Neural Networks (FCNs) to learn from expert's path demonstrations a map that marks a feasible path to the goal as a classification problem. The use of FCNs allows us…
During the last years, UAVs have proved to be an essential tool in the mapping industry. Furthermore, the next generation of UAVs is envisioned to work cooperatively, following the swarming/teaming concept. This letter presents MGRAPH, a novel approach to generate an incremental mosaic in real time
Information gathering algorithms aim to intelligently select the robot actions required to efficiently obtain an accurate reconstruction of a physical process, such as an occupancy map, or a magnetic field. Many recent works have proposed algorithms for information gathering. However, these algorith…
Exploration is a crucial problem in safety of life applications, such as search and rescue missions. Gaussian processes constitute an interesting underlying data model that leverages the spatial correlations of the process to be explored to reduce the required sampling of data. Furthermore, multi-ag