10 citations · 21 across the 17 of their papers we have counts for
20 papers
When Your State Estimator Has Lost The Plot: Detecting Estimator Failures Via Spectral Analysis
Christian Lanegger, Helen Oleynikova, Roland Siegwart +1
Reliable onboard state estimation is essential for safe robotic operation, yet unmodeled disturbances, such as sensor aliasing or out-of-distribution noise, still cause estimators…
Depth Completion in Unseen Field Robotics Environments Using Extremely Sparse Depth Measurements
Marco Job, Thomas Stastny, Eleni Kelasidi +2
Autonomous field robots operating in unstructured environments require robust perception to ensure safe and reliable operations. Recent advances in monocular depth estimation have…
Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics
Eugenio Cuniato, Mike Allenspach, Thomas Stastny +3
Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos…
Evaluation of Human-Robot Interfaces based on 2D/3D Visual and Haptic Feedback for Aerial Manipulation
Julien Mellet, Mike Allenspach, Eugenio Cuniato +3
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment…
Radar Meets Vision: Robustifying Monocular Metric Depth Prediction for Mobile Robotics
Marco Job, Thomas Stastny, Tim Kazik +2
Mobile robots require accurate and robust depth measurements to understand and interact with the environment. While existing sensing modalities address this problem to some extent,…
Pushing the Limits of Reactive Planning: Learning to Escape Local Minima
Isar Meijer, Michael Pantic, Helen Oleynikova +1
When does a robot planner need a map? Reactive methods that use only the robot's current sensor data and local information are fast and flexible, but prone to getting stuck in loca…
Task Adaptation in Industrial Human-Robot Interaction: Leveraging Riemannian Motion Policies
Mike Allenspach, Michael Pantic, Rik Girod +2
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe colla…
Waverider: Leveraging Hierarchical, Multi-Resolution Maps for Efficient and Reactive Obstacle Avoidance
Victor Reijgwart, Michael Pantic, Roland Siegwart +1
Fast and reliable obstacle avoidance is an important task for mobile robots. In this work, we propose an efficient reactive system that provides high-quality obstacle avoidance whi…
Enhancing Sliding Performance with Aerial Robots: Analysis and Solutions for Non-Actuated Multi-Wheel Configurations
Tong Hui, Jefferson Ghielmini, Dimitrios Papageorgiou +3
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effe…
VIRUS-NeRF -- Vision, InfraRed and UltraSonic based Neural Radiance Fields
Nicolaj Schmid, Cornelius von Einem, Cesar Cadena +3
Autonomous mobile robots are an increasingly integral part of modern factory and warehouse operations. Obstacle detection, avoidance and path planning are critical safety-relevant…
Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks
Tong Hui, Eugenio Cuniato, Michael Pantic +3
Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail phys…
Geranos: a Novel Tilted-Rotors Aerial Robot for the Transportation of Poles
Nicolas Gorlo, Samuel Bamert, Rafael Cathomen +8
In challenging terrains, constructing structures such as antennas and cable-car masts often requires the use of helicopters to transport loads via ropes. The swinging of the load,…
To Fuse or Not to Fuse: Measuring Consistency in Multi-Sensor Fusion for Aerial Robots
Christian Lanegger, Helen Oleynikova, Michael Pantic +2
Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirement…
Learning to Fly Omnidirectional Micro Aerial Vehicles with an End-To-End Control Network
Eugenio Cuniato, Olov Andersson, Helen Oleynikova +2
Overactuated tilt-rotor platforms offer many advantages over traditional fixed-arm drones, allowing the decoupling of the applied force from the attitude of the robot. This expands…
Soliro -- a hybrid dynamic tilt-wing aerial manipulator with minimal actuators
Michael Pantic, Elias Hampp, Ramon Flammer +4
The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample…
ISAR: A Benchmark for Single- and Few-Shot Object Instance Segmentation and Re-Identification
Nicolas Gorlo, Kenneth Blomqvist, Francesco Milano +1
Most object-level mapping systems in use today make use of an upstream learned object instance segmentation model. If we want to teach them about a new object or segmentation class…
nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping
Alexander Millane, Helen Oleynikova, Emilie Wirbel +4
Dense, volumetric maps are essential to enable robot navigation and interaction with the environment. To achieve low latency, dense maps are typically computed onboard the robot, o…
A perching and tilting aerial robot for precise and versatile power tool work on vertical walls
Roman Dautzenberg, Timo Küster, Timon Mathis +11
Drilling, grinding, and setting anchors on vertical walls are fundamental processes in everyday construction work. Manually doing these works is error-prone, potentially dangerous,…
Panoptic Vision-Language Feature Fields
Haoran Chen, Kenneth Blomqvist, Francesco Milano +1
Recently, methods have been proposed for 3D open-vocabulary semantic segmentation. Such methods are able to segment scenes into arbitrary classes based on text descriptions provide…
Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps
Fabian Blöchliger, Marius Fehr, Marcin Dymczyk +2
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowle…