107 citations · 529 across the 30 of their papers we have counts for
34 papers
Learning effects in variable autonomy human-robot systems: how much training is enough?
Manolis Chiou, Mohammed Talha, Rustam Stolkin
This paper investigates learning effects and human operator training practices in variable autonomy robotic systems. These factors are known to affect performance of a human-robot…
Local Region-to-Region Mapping-based Approach to Classify Articulated Objects
Ayush Aggarwal, Rustam Stolkin, Naresh Marturi
Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object pr…
Asservissement visuel 3D direct dans le domaine spectral
Maxime Adjigble, Brahim Tamadazte, Cristiana de Farias +2
This paper presents a direct 3D visual servo scheme for the automatic alignment of point clouds (respectively, objects) using visual information in the spectral domain. Specificall…
3D Spectral Domain Registration-Based Visual Servoing
Maxime Adjigble, Brahim Tamadazte, Cristiana de Farias +2
This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, whi…
A Hierarchical Variable Autonomy Mixed-Initiative Framework for Human-Robot Teaming in Mobile Robotics
Dimitris Panagopoulos, Giannis Petousakis, Aniketh Ramesh +4
This paper presents a Mixed-Initiative (MI) framework for addressing the problem of control authority transfer between a remote human operator and an AI agent when cooperatively co…
Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise
Manolis Chiou, Georgios-Theofanis Epsimos, Grigoris Nikolaou +4
This paper reports on insights by robotics researchers that participated in a 5-day robot-assisted nuclear disaster response field exercise conducted by Kerntechnische Hilfdienst G…
Grasp Transfer for Deformable Objects by Functional Map Correspondence
Cristiana de Farias, Brahim Tamadazte, Rustam Stolkin +1
Handling object deformations for robotic grasping is still a major problem to solve. In this paper, we propose an efficient learning-free solution for this problem where generated…
Fessonia: a Method for Real-Time Estimation of Human Operator Workload Using Behavioural Entropy
Paraskevas Chatzithanos, Grigoris Nikolaou, Rustam Stolkin +1
This paper addresses the problem of the human operator cognitive workload estimation while controlling a robot. Being capable of assessing, in real-time, the operator's workload co…
A Bayesian-Based Approach to Human Operator Intent Recognition in Remote Mobile Robot Navigation
Dimitris Panagopoulos, Giannis Petousakis, Rustam Stolkin +2
This paper addresses the problem of human operator intent recognition during teleoperated robot navigation. In this context, recognition of the operator's intended navigational goa…
Human operator cognitive availability aware Mixed-Initiative control
Giannis Petousakis, Manolis Chiou, Grigoris Nikolaou +1
This paper presents a Cognitive Availability Aware Mixed-Initiative Controller for remotely operated mobile robots. The controller enables dynamic switching between different level…
SpectGRASP: Robotic Grasping by Spectral Correlation
Maxime Adjigble, Cristiana de Farias, Rustam Stolkin +1
This paper presents a spectral correlation-based method (SpectGRASP) for robotic grasping of arbitrarily shaped, unknown objects. Given a point cloud of an object, SpectGRASP extra…
Dual Quaternion-Based Visual Servoing for Grasping Moving Objects
Cristiana de Farias, Maxime Adjigble, Brahim Tamadazte +2
This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we de…
Trust, Shared Understanding and Locus of Control in Mixed-Initiative Robotic Systems
Manolis Chiou, Faye McCabe, Markella Grigoriou +1
This paper investigates how trust, shared understanding between a human operator and a robot, and the Locus of Control (LoC) personality trait, evolve and affect Human-Robot Intera…
Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects
Cristiana de Farias, Naresh Marturi, Rustam Stolkin +1
This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement t…
VFH+ based shared control for remotely operated mobile robots
Pantelis Pappas, Manolis Chiou, Georgios-Theofanis Epsimos +2
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote rob…
Estimation and Exploitation of Objects' Inertial Parameters in Robotic Grasping and Manipulation: A Survey
Nikos Mavrakis, Rustam Stolkin
Inertial parameters characterise an object's motion under applied forces, and can provide strong priors for planning and control of robotic actions to manipulate the object. Howeve…
Mixed-Initiative variable autonomy for remotely operated mobile robots
Manolis Chiou, Nick Hawes, Rustam Stolkin
This paper presents an Expert-guided Mixed-Initiative Control Switcher (EMICS) for remotely operated mobile robots. The EMICS enables switching between different levels of autonomy…
Maximally manipulable vision-based motion planning for robotic rough-cutting on arbitrarily shaped surfaces
T. Pardi, V. Ortenzi, C. Fairbairn +3
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination point…
Robust and fast generation of top and side grasps for unknown objects
Brice Denoun, Beatriz Leon, Claudio Zito +3
In this work, we present a geometry-based grasping algorithm that is capable of efficiently generating both top and side grasps for unknown objects, using a single view RGB-D camer…
2D Linear Time-Variant Controller for Human's Intention Detection for Reach-to-Grasp Trajectories in Novel Scenes
Claudio Zito, Tomasz Deregowski, Rustam Stolkin
Designing robotic assistance devices for manipulation tasks is challenging. This work is concerned with improving accuracy and usability of semi-autonomous robots, such as human op…
Automatic Detection of Myocontrol Failures Based upon Situational Context Information
Karoline Heiwolt, Claudio Zito, Markus Nowak +2
Myoelectric control systems for assistive devices are still unreliable. The user's input signals can become unstable over time due to e.g. fatigue, electrode displacement, or sweat…
Metrics and Benchmarks for Remote Shared Controllers in Industrial Applications
Claudio Zito, Maxime Adjigble, Brice D. Denoun +3
Remote manipulation is emerging as one of the key robotics tasks needed in extreme environments. Several researchers have investigated how to add AI components into shared controll…
Let's Push Things Forward: A Survey on Robot Pushing
Jochen Stüber, Claudio Zito, Rustam Stolkin
As robot make their way out of factories into human environments, outer space, and beyond, they require the skill to manipulate their environment in multifarious, unforeseeable cir…
Hypothesis-based Belief Planning for Dexterous Grasping
Claudio Zito, Valerio Ortenzi, Maxime Adjigble +3
Belief space planning is a viable alternative to formalise partially observable control problems and, in the recent years, its application to robot manipulation problems has grown.…