652 citations · 7k across the 163 of their papers we have counts for
31 papers · 1 filter
Resilient Terrain Navigation with a 5 DOF Metal Detector Drone
Patrick Pfreundschuh, Rik Bähnemann, Tim Kazik +3
Micro aerial vehicles (MAVs) hold the potential for performing autonomous and contactless land surveys for the detection of landmines and explosive remnants of war (ERW). Metal det…
A Multi-Segment, Soft Growing Robot with Selective Steering
Alexander M. Kübler, Sebastián Urdaneta Rivera, Frances B. Raphael +3
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached…
A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets
Lukas Bernreiter, Shehryar Khattak, Lionel Ott +3
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment a…
Unsupervised Continual Semantic Adaptation through Neural Rendering
Zhizheng Liu, Francesco Milano, Jonas Frey +3
An increasing amount of applications rely on data-driven models that are deployed for perception tasks across a sequence of scenes. Due to the mismatch between training and deploym…
SphNet: A Spherical Network for Semantic Pointcloud Segmentation
Lukas Bernreiter, Lionel Ott, Roland Siegwart +1
Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherica…
Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps
Kenneth Blomqvist, Lionel Ott, Jen Jen Chung +1
Methods have recently been proposed that densely segment 3D volumes into classes using only color images and expert supervision in the form of sparse semantically annotated pixels.…
On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications
Matteo Iovino, Julian Förster, Pietro Falco +3
In this paper we provide a practical demonstration of how the modularity in a Behavior Tree (BT) decreases the effort in programming a robot task when compared to a Finite State Ma…
SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning
Lukas Schmid, Mansoor Nasir Cheema, Victor Reijgwart +3
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring u…
3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs
Samuel Looper, Javier Rodriguez-Puigvert, Roland Siegwart +2
Numerous applications require robots to operate in environments shared with other agents, such as humans or other robots. However, such shared scenes are typically subject to diffe…
Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects
Giulio Schiavi, Paula Wulkop, Giuseppe Rizzi +3
Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integ…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
Closed-Loop Next-Best-View Planning for Target-Driven Grasping
Michel Breyer, Lionel Ott, Roland Siegwart +1
Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene b…
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter +33
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with…
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing
Weixuan Zhang, Lionel Ott, Marco Tognon +1
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks requi…
MPC with Learned Residual Dynamics with Application on Omnidirectional MAVs
Maximilian Brunner, Weixuan Zhang, Ahmad Roumie +2
The growing field of aerial manipulation often relies on fully actuated or omnidirectional micro aerial vehicles (OMAVs) which can apply arbitrary forces and torques while in conta…
Probabilistic network topology prediction for active planning:An adaptive algorithm and application
Liang Zhang, Zexu Zhang, Roland Siegwart +1
This paper tackles the problem of active planning to achieve cooperative localization for multi-robot systems (MRS) under measurement uncertainty in GNSS-limited scenarios. Specifi…
SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding
Hermann Blum, Marcus G. Müller, Abel Gawel +2
In order to operate in human environments, a robot's semantic perception has to overcome open-world challenges such as novel objects and domain gaps. Autonomous deployment to such…
Power-based Safety Layer for Aerial Vehicles in Physical Interaction using Lyapunov Exponents
Eugenio Cuniato, Nicholas Lawrance, Marco Tognon +1
As the performance of autonomous systems increases, safety concerns arise, especially when operating in non-structured environments. To deal with these concerns, this work presents…
Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF)
Michael Pantic, Cesar Cadena, Roland Siegwart +1
This work investigates the use of Neural implicit representations, specifically Neural Radiance Fields (NeRF), for geometrical queries and motion planning. We show that by adding t…
RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications
Pascal Auf der Maur, Betim Djambazi, Yves Haberthür +10
RoBoa is a vine-like search and rescue robot that can explore narrow and cluttered environments such as destroyed buildings. The robot assists rescue teams in finding and communica…
NavDreams: Towards Camera-Only RL Navigation Among Humans
Daniel Dugas, Olov Andersson, Roland Siegwart +1
Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classi…
Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction
Mike Allenspach, Nicholas Lawrance, Marco Tognon +1
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots…
Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction
Mike Allenspach, Yash Vyas, Matthias Rubio +2
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our…
Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects
Maximilian Brunner, Livio Giacomini, Roland Siegwart +1
Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environmen…