7 papers
Real-Time and Accurate Collision-Free Teleoperation via Differentiable Constraint-Based Trajectory Planning
Max Grobbel, Tristan Schneider, Daniel Flögel +1
In teleoperation, the human operator typically controls only the end-effector pose, which often leads to self-collisions of the manipulator and collisions with environmental obstac…
SINRL: Socially Integrated Navigation with Reinforcement Learning using Spiking Neural Networks
Florian Tretter, Daniel Flögel, Alexandru Vasilache +3
Integrating autonomous mobile robots into human environments requires human-like decision-making and energy-efficient, event-based computation. Despite progress, neuromorphic metho…
Towards Universal Shared Control in Teleoperation Without Haptic Feedback
Max Grobbel, Tristan Schneider, Sören Hohmann
Teleoperation with non-haptic VR controllers deprives human operators of critical motion feedback. We address this by embedding a multi-objective optimization problem that converts…
Disentangling Coordiante Frames for Task Specific Motion Retargeting in Teleoperation using Shared Control and VR Controllers
Max Grobbel, Daniel Flögel, Philipp Rigoll +1
Task performance in terms of task completion time in teleoperation is still far behind compared to humans conducting tasks directly. One large identified impact on this is the huma…
Disentangling Uncertainty for Safe Social Navigation using Deep Reinforcement Learning
Daniel Flögel, Marcos Gómez Villafañe, Joshua Ransiek +1
Autonomous mobile robots are increasingly used in pedestrian-rich environments where safe navigation and appropriate human interaction are crucial. While Deep Reinforcement Learnin…
Low-Power Vibration-Based Predictive Maintenance for Industry 4.0 using Neural Networks: A Survey
Alexandru Vasilache, Sven Nitzsche, Daniel Floegel +7
The advancements in smart sensors for Industry 4.0 offer ample opportunities for low-powered predictive maintenance and condition monitoring. However, traditional approaches in thi…
Socially Integrated Navigation: A Social Acting Robot with Deep Reinforcement Learning
Daniel Flögel, Lars Fischer, Thomas Rudolf +2
Mobile robots are being used on a large scale in various crowded situations and become part of our society. The socially acceptable navigation behavior of a mobile robot with indiv…