4 papers
Which objects help me to act effectively? Reasoning about physically-grounded affordances
Anne Kemmeren, Gertjan Burghouts, Michael van Bekkum +2
For effective interactions with the open world, robots should understand how interactions with known and novel objects help them towards their goal. A key aspect of this understand…
Scaling 3D Reasoning with LMMs to Large Robot Mission Environments Using Datagraphs
W. J. Meijer, A. C. Kemmeren, E. H. J. Riemens +4
This paper addresses the challenge of scaling Large Multimodal Models (LMMs) to expansive 3D environments. Solving this open problem is especially relevant for robot deployment in…
Situational Graphs for Robotic First Responders: an application to dismantling drug labs
W. J. Meijer, A. C. Kemmeren, J. M. van Bruggen +3
In this work, we support experts in the safety domain with safer dismantling of drug labs, by deploying robots for the initial inspection. Being able to act on the discovered envir…
Wi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing
Weiying Wang, Anne Kemmeren, Daniel Son +2
In this paper we propose a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the…