14 citations · 31 across the 12 of their papers we have counts for
13 papers
ProTrav: Probabilistic Traversability with Elevation Uncertainty Propagation for Risk-aware Off-road Navigation
Chuanlin Zuo, Miloš Prágr, Arun Kumar Singh +2
Reliable traversability estimation is essential for autonomous navigation on unstructured terrain. State-of-the-art approaches typically evaluate traversability from deterministic…
OGM-CBF: Occupancy Grid Map-based Control Barrier Function for Safe Mobile Robot Control with Memory of out of View Obstacles
Golnaz Raja, Miloš Prágr, Topi Reino Johannes Kärki +2
Safe control in unknown environments is a key challenge in mobile robotics. Control Barrier Functions (CBFs) provide a principled framework for guaranteeing safety constraint satis…
Towards Energy Efficient Control for Commercial Heavy-Duty Mobile Cranes: Modeling Hydraulic Pressures using Machine Learning
Abdolreza Taheri, Robert Pettersson, Pelle Gustafsson +2
A sizable part of the fleet of heavy-duty machinery in the construction equipment industry uses the conventional valve-controlled load-sensing hydraulics. Rigorous climate actions…
Motion-based extrinsic sensor-to-sensor calibration: Effect of reference frame selection for new and existing methods
Tuomas Välimäki, Bharath Garigipati, Reza Ghabcheloo
This paper studies the effect of reference frame selection in sensor-to-sensor extrinsic calibration when formulated as a motion-based hand-eye calibration problem. Different refer…
Evaluation and comparison of eight popular Lidar and Visual SLAM algorithms
Bharath Garigipati, Nataliya Strokina, Reza Ghabcheloo
In this paper, we evaluate eight popular and open-source 3D Lidar and visual SLAM (Simultaneous Localization and Mapping) algorithms, namely LOAM, Lego LOAM, LIO SAM, HDL Graph, OR…
GPU-Accelerated Policy Optimization via Batch Automatic Differentiation of Gaussian Processes for Real-World Control
Abdolreza Taheri, Joni Pajarinen, Reza Ghabcheloo
The ability of Gaussian processes (GPs) to predict the behavior of dynamical systems as a more sample-efficient alternative to parametric models seems promising for real-world robo…
Autonomous Heavy-Duty Mobile Machinery: A Multidisciplinary Collaborative Challenge
Tyrone Machado, David Fassbender, Abdolreza Taheri +10
Heavy-duty mobile machines (HDMMs) are a wide range of machinery used in diverse and critical application areas which are currently facing several issues like skilled labor shortag…
Neural Network Controller for Autonomous Pile Loading Revised
Wenyan Yang, Nataliya Strokina, Nikolay Serbenyuk +5
We have recently proposed two pile loading controllers that learn from human demonstrations: a neural network (NNet) [1] and a random forest (RF) controller [2]. In the field exper…
Surface Type Classification for Autonomous Robot Indoor Navigation
Francesco Lomio, Erjon Skenderi, Damoon Mohamadi +3
In this work we describe the preparation of a time series dataset of inertial measurements for determining the surface type under a wheeled robot. The data consists of over 7600 la…
Inducing Multi-Convexity in Path Constrained Trajectory Optimization for Mobile Manipulators
Arun Kumar Singh, Andrei Ahonen, Reza Ghabcheloo +1
In this paper, we propose a novel trajectory optimization algorithm for mobile manipulators under end-effector path, collision avoidance and various kinematic constraints. Our key…
Kinematics and Dynamic Modeling of a Planar Hydraulic Elastomer Actuator
Mahdi Momeni Kelageri, Mikko Heikkila, Jarno Jokinen +2
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFE…
Design, Fabrication and Control of an Hydraulic Elastomer Actuator
Mahdi Momeni Kelageri, Mikko Heikkila, Minna Poikelispaa +3
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a const…
Combining Method of Alternating Projections and Augmented Lagrangian for Task Constrained Trajectory Optimization
Arun Kumar Singh, Reza Ghabcheloo, Andreas Muller +1
Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible…