25 citations · 45 across the 9 of their papers we have counts for
10 papers
A Tutorial on Shape Servoing of Deformable Objects-Part I: Fundamentals
Ignacio Cuiral-Zueco, Alessio Caporali, Miguel Aranda +3
In robotics, shape control (or shape servoing) refers to the automatic manipulation of a deformable object to achieve a desired shape. It involves a feedback loop that exploits the…
StixelNExT++: Lightweight Monocular Scene Segmentation and Representation for Collective Perception
Marcel Vosshans, Omar Ait-Aider, Youcef Mezouar +1
This paper presents StixelNExT++, a novel approach to scene representation for monocular perception systems. Building on the established Stixel representation, our method infers 3D…
StixelNExT: Toward Monocular Low-Weight Perception for Object Segmentation and Free Space Detection
Marcel Vosshans, Omar Ait-Aider, Youcef Mezouar +1
In this work, we present a novel approach for general object segmentation from a monocular image, eliminating the need for manually labeled training data and enabling rapid, straig…
CoopScenes: Multi-Scene Infrastructure and Vehicle Data for Advancing Collective Perception in Autonomous Driving
Marcel Vosshans, Alexander Baumann, Matthias Drueppel +4
The increasing complexity of urban environments has underscored the potential of effective collective perception systems. To address these challenges, we present the CoopScenes dat…
Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objects
Rita Laezza, Mohammadreza Shetab-Bushehri, Gabriel Arslan Waltersson +3
Deformable objects present several challenges to the field of robotic manipulation. One of the tasks that best encapsulates the difficulties arising due to non-rigid behavior is sh…
Scale-free vision-based aerial control of a ground formation with hybrid topology
Miguel Aranda, Youcef Mezouar, Gonzalo López-Nicolás +1
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial…
Robotic Control of the Deformation of Soft Linear Objects Using Deep Reinforcement Learning
Mélodie Hani Daniel Zakaria, Miguel Aranda, Laurent Lequièvre +3
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set…
Multi Actor-Critic DDPG for Robot Action Space Decomposition: A Framework to Control Large 3D Deformation of Soft Linear Objects
Mélodie Daniel, Aly Magassouba, Miguel Aranda +4
Robotic manipulation of deformable linear objects (DLOs) has great potential for applications in diverse fields such as agriculture or industry. However, a major challenge lies in…
ROBUSfT: Robust Real-Time Shape-from-Template, a C++ Library
Mohammadreza Shetab-Bushehri, Miguel Aranda, Youcef Mezouar +2
Tracking the 3D shape of a deforming object using only monocular 2D vision is a challenging problem. This is because one should (i) infer the 3D shape from a 2D image, which is a s…
Lattice-based shape tracking and servoing of elastic objects
Mohammadreza Shetab-Bushehri, Miguel Aranda, Youcef Mezouar +1
In this paper, we propose a general unified tracking-servoing approach for controlling the shape of elastic deformable objects using robotic arms. Our approach works by forming a l…