23 citations · 67 across the 24 of their papers we have counts for
27 papers
HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers
Christian Lenz, Rohit Menon, Michael Schreiber +3
Horticultural tasks such as pruning and selective harvesting are labor intensive and horticultural staff are hard to find. Automating these tasks is challenging due to the semi-str…
Spatiotemporal Attention Enhances Lidar-Based Robot Navigation in Dynamic Environments
Jorge de Heuvel, Xiangyu Zeng, Weixian Shi +2
Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dyn…
Perception for Humanoid Robots
Arindam Roychoudhury, Shahram Khorshidi, Subham Agrawal +1
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to impr…
DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems
Salih Marangoz, Rohit Menon, Nils Dengler +1
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore…
Integrating One-Shot View Planning with a Single Next-Best View via Long-Tail Multiview Sampling
Sicong Pan, Hao Hu, Hui Wei +4
Existing view planning systems either adopt an iterative paradigm using next-best views (NBV) or a one-shot pipeline relying on the set-covering view-planning (SCVP) network. Howev…
Subgoal-Driven Navigation in Dynamic Environments Using Attention-Based Deep Reinforcement Learning
Jorge de Heuvel, Weixian Shi, Xiangyu Zeng +1
Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation pol…
Viewpoint Push Planning for Mapping of Unknown Confined Spaces
Nils Dengler, Sicong Pan, Vamsi Kalagaturu +3
Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined s…
Graph-based View Motion Planning for Fruit Detection
Tobias Zaenker, Julius Rückin, Rohit Menon +2
Crop monitoring is crucial for maximizing agricultural productivity and efficiency. However, monitoring large and complex structures such as sweet pepper plants presents significan…
RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks
Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini +7
Beating the human world champions by 2050 is an ambitious goal of the Humanoid League that provides a strong incentive for RoboCup teams to further improve and develop their system…
Reactive Correction of Object Placement Errors for Robotic Arrangement Tasks
Benedikt Kreis, Rohit Menon, Bharath Kumar Adinarayan +2
When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are p…
Learning Depth Vision-Based Personalized Robot Navigation From Dynamic Demonstrations in Virtual Reality
Jorge de Heuvel, Nathan Corral, Benedikt Kreis +3
For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning frame…
Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Control
Murad Dawood, Nils Dengler, Jorge de Heuvel +1
Reinforcement learning (RL) has recently proven great success in various domains. Yet, the design of the reward function requires detailed domain expertise and tedious fine-tuning…
NBV-SC: Next Best View Planning based on Shape Completion for Fruit Mapping and Reconstruction
Rohit Menon, Tobias Zaenker, Nils Dengler +1
Active perception for fruit mapping and harvesting is a difficult task since occlusions occur frequently and the location as well as size of fruits change over time. State-of-the-a…
Fruit Mapping with Shape Completion for Autonomous Crop Monitoring
Salih Marangoz, Tobias Zaenker, Rohit Menon +1
Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e…
Learning Personalized Human-Aware Robot Navigation Using Virtual Reality Demonstrations from a User Study
Jorge de Heuvel, Nathan Corral, Lilli Bruckschen +1
For the most comfortable, human-aware robot navigation, subjective user preferences need to be taken into account. This paper presents a novel reinforcement learning framework to t…
Learning Goal-Oriented Non-Prehensile Pushing in Cluttered Scenes
Nils Dengler, David Großklaus, Maren Bennewitz
Pushing objects through cluttered scenes is a challenging task, especially when the objects to be pushed have initially unknown dynamics and touching other entities has to be avoid…
Fast-Replanning Motion Control for Non-Holonomic Vehicles with Aborting A*
Marcell Missura, Arindam Roychoudhury, Maren Bennewitz
Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driver…
Combining Local and Global Viewpoint Planning for Fruit Coverage
Tobias Zaenker, Chris Lehnert, Chris McCool +1
Obtaining 3D sensor data of complete plants or plant parts (e.g., the crop or fruit) is difficult due to their complex structure and a high degree of occlusion. However, especially…
Sensor-Based Navigation Using Hierarchical Reinforcement Learning
Christopher Gebauer, Nils Dengler, Maren Bennewitz
Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizab…
The Pitfall of More Powerful Autoencoders in Lidar-Based Navigation
Christopher Gebauer, Maren Bennewitz
The benefit of pretrained autoencoders for reinforcement learning in comparison to training on raw observations is already known [1]. In this paper, we address the generation of a…
Capture Steps: Robust Walking for Humanoid Robots
Marcell Missura, Maren Bennewitz, Sven Behnke
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a co…
Online Object-Oriented Semantic Mapping and Map Updating
Nils Dengler, Tobias Zaenker, Francesco Verdoja +1
Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environm…
Viewpoint Planning for Fruit Size and Position Estimation
Tobias Zaenker, Claus Smitt, Chris McCool +1
Modern agricultural applications require knowledge about the position and size of fruits on plants. However, occlusions from leaves typically make obtaining this information diffic…
PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention
Claus Smitt, Michael Halstead, Tobias Zaenker +2
We present PATHoBot an autonomous crop surveying and intervention robot for glasshouse environments. The aim of this platform is to autonomously gather high quality data and also e…