DRS Publications

DRS Publications 2018-10-21T17:45:58+00:00

Publications @ DRS

Authors: Type:

2018

  • [PDF] G. Tinchev, S. Nobili, and M. Fallon, “Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments,” in Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
    [Bibtex]
    @inproceedings{2018IROS_tinchev,
    Address = {Madrid, Spain},
    Author = {Georgi Tinchev and Simona Nobili and Maurice Fallon},
    Booktitle = {Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    Month = {October},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018IROS_tinchev.pdf},
    Title = {Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments},
    Year = {2018}
    }
  • [PDF] [DOI] I. Havoutis and S. Calinon, “Learning from demonstration for semi-autonomous teleoperation,” Autonomous Robots, 2018.
    [Bibtex]
    @article{2018AuRo_Havoutis,
    author = {Havoutis, Ioannis and Calinon, Sylvain},
    title = {Learning from demonstration for semi-autonomous teleoperation},
    journal = {Autonomous Robots},
    year = {2018},
    month = {Apr},
    day = {25},
    abstract = {Teleoperation in domains such as deep-sea or space often requires the completion of a set of recurrent tasks. We present a framework that uses a probabilistic approach to learn from demonstration models of manipulation tasks. We show how such a framework can be used in an underwater ROV teleoperation context to assist the operator. The learned representation can be used to resolve inconsistencies between the operator's and the robot's space in a structured manner, and as a fall-back system to perform previously learned tasks autonomously when teleoperation is not possible. We evaluate our framework with a realistic ROV task on a teleoperation mock-up with a group of volunteers, showing a significant decrease in time to complete the task when our approach is used. In addition, we illustrate how the system can execute previously learned tasks autonomously when the communication with the operator is lost.},
    issn = {1573-7527},
    doi = {10.1007/s10514-018-9745-2},
    url = {https://doi.org/10.1007/s10514-018-9745-2},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018AuRo_Havoutis.pdf},
    }
  • [PDF] S. Nobili, G. Tinchev, and M. Fallon, “Predicting Alignment Risk to Prevent Localization Failure,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]
    @inproceedings{2018ICRA_nobili,
    title = {Predicting Alignment Risk to Prevent Localization Failure},
    author = {Simona Nobili and Georgi Tinchev and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2018,
    address = {Brisbane},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018ICRA_nobili.pdf},
    }
  • [PDF] C. Rauch, T. Hospedales, J. Shotton, and M. Fallon, “Visual Articulated Tracking in the Presence of Occlusions,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]
    @inproceedings{2018ICRA_rauch,
    title = {Visual Articulated Tracking in the Presence of Occlusions},
    author = {Christian Rauch and Timothy Hospedales and Jamie Shotton and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2018,
    address = {Brisbane},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018ICRA_rauch.pdf},
    }
  • [PDF] R. Scona, M. Jaimez, Y. R. Petillot, M. Fallon, and D. Cremers, “StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]
    @inproceedings{2018ICRA_scona,
    title = {{StaticFusion}: Background Reconstruction for Dense {RGB-D} {SLAM} in
    Dynamic Environments},
    author = {Raluca Scona and Mariano Jaimez and Yvan R. Petillot and Maurice Fallon and Daniel Cremers},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2018,
    address = {Brisbane},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018ICRA_scona.pdf},
    }
  • [PDF] P. Marion, M. Fallon, R. Deits, A. Valenzuela, C. P. D’Arpino, G. Izatt, L. Manuelli, M. Antone, H. Dai, T. Koolen, J. Carter, S. Kuindersma, and R. Tedrake, “Director: A User Interface Designed for Robot Operation With Shared Autonomy,” Chapter in The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, 2018.
    [Bibtex]
    @article{2018CHAPTER_marion,
    title = {Director: A User Interface Designed for Robot Operation With Shared Autonomy},
    author = {Pat Marion and Maurice Fallon and Robin Deits and Andr\'{e}s Valenzuela and
    Claudia P\'{e}rez D'Arpino and Greg Izatt and Lucas Manuelli and
    Matt Antone and Hongkai Dai and Twan Koolen and John Carter and
    Scott Kuindersma and Russ Tedrake},
    journal = {Chapter in The {DARPA} Robotics Challenge Finals: Humanoid Robots To The Rescue},
    year = 2018,
    publisher= {Springer, Berlin},
    editor= {Steven Buerger, Karl Iangnemma, Matthew Spenko},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018CHAPTER_marion.pdf},
    }
  • [PDF] [DOI] M. J. A. Zeestraten, I. Havoutis, and S. Calinon, “Programming by Demonstration for Shared Control with an Application in Teleoperation,” IEEE Robotics and Automation Letters (RA-L), 2018.
    [Bibtex]
    @article{Zeestraten17RAL,
    author= {Zeestraten, M. J. A. and Havoutis, I. and Calinon, S.},
    title= {Programming by Demonstration for Shared Control with an Application in Teleoperation},
    journal= {{IEEE} Robotics and Automation Letters ({RA-L})},
    doi= {10.1109/LRA.2018.2805105},
    year= {2018},
    month= {},
    volume= {},
    number= {},
    pages= {},
    pdf= {http://www.robots.ox.ac.uk/~mobile/Papers/2018RAL-Zeestraten.pdf}
    }

2017

  • [PDF] M. J. A. Zeestraten, I. Havoutis, S. Calinon, and D. G. Caldwell, “Learning Task-Space Synergies using Riemannian Geometry,” in Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
    [Bibtex]
    @inproceedings{zeestraten2017IROS,
    title = {Learning Task-Space Synergies using Riemannian Geometry},
    author = {Zeestraten, M. J. A. and Havoutis, I. and Calinon, S. and Caldwell, D. G.},
    booktitle = {Proc. {IEEE/RSJ} Intl Conf. on Intelligent Robots and Systems ({IROS})},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017IROS_zeestraten.pdf},
    year = {2017},
    address = {Vancouver, Canada},
    month = {October}
    }
  • [PDF] S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. Caldwell, C. Semini, and M. Fallon, “Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots,” in Robotics: Science and Systems (RSS), Cambridge, MA, 2017.
    [Bibtex]
    @inproceedings{2017RSS_nobili,
    title = {Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots},
    author = {Simona Nobili and Marco Camurri and Victor Barasuol and Michele Focchi and Darwin Caldwell and Claudio Semini and Maurice Fallon},
    booktitle = {Robotics: Science and Systems (RSS)},
    year = 2017,
    month = aug,
    address = {Cambridge, MA},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017RSS_nobili.pdf}
    }
  • [PDF] [DOI] M. J. A. Zeestraten, I. Havoutis, J. Silvério, S. Calinon, and D. G. Caldwell, “An Approach for Imitation Learning on Riemannian Manifolds,” IEEE Robotics and Automation Letters (RA-L), vol. 2, iss. 3, p. 1240–1247, 2017.
    [Bibtex]
    @article{Zeestratenetal17RAL,
    author=  {Zeestraten, M. J. A. and Havoutis, I. and Silv\'erio, J. and Calinon, S. and Caldwell, D. G.},
    title=  {An Approach for Imitation Learning on {R}iemannian Manifolds},
    journal=  {{IEEE} Robotics and Automation Letters ({RA-L})},
    doi= {10.1109/LRA.2017.2657001},
    year= {2017},
    month=  {June},
    volume=  {2},
    number=  {3},
    pages=  {1240--1247},
    pdf= {http://www.robots.ox.ac.uk/~mobile/Papers/2017RAL_zeestraten.pdf}
    }
  • [PDF] A. Radulescu, I. Havoutis, D. G. Caldwell, and C. Semini, “Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]
    @inproceedings{2017icra_radulescu,
    author = {Andreea Radulescu and Ioannis Havoutis and Darwin G. Caldwell and Claudio Semini},
    title = {Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2017,
    address = {Singapore},
    month = may,
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ICRA_radulescu.pdf}
    }
  • [PDF] I. Havoutis and S. Calinon, “Supervisory teleoperation with online learning and optimal control,” in Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]
    @inproceedings{Havoutis17ICRA,
    author =  {Havoutis, I. and Calinon, S.},
    title = {Supervisory teleoperation with online learning and optimal control},
    booktitle =  {Proc. {IEEE} Intl Conf. on Robotics and Automation ({ICRA})},
    year =  {2017},
    month =  {May-June},
    address =  {Singapore},
    pages =  {},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ICRA_havoutis.pdf}
    }
  • [PDF] S. Nobili, R. Scona, M. Caravagna, and M. Fallon, “Overlap-based ICP Tuning for Robust Localization of a Humanoid Robot,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]
    @inproceedings{2017ICRA_nobili,
    title = {Overlap-based {ICP} Tuning for Robust Localization of a Humanoid Robot},
    author = {Simona Nobili and Raluca Scona and Marco Caravagna and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2017,
    address = {Singapore},
    month = may,
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ICRA_nobili.pdf}
    }
  • [PDF] R. Scona, S. Nobili, Y. Petillot, and M. Fallon, “Direct Visual SLAM Fusing Proprioception for a Humanoid Robot,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
    [Bibtex]
    @inproceedings{2017IROS_scona,
    title = {Direct Visual {SLAM} Fusing Proprioception for a Humanoid Robot},
    author = {Raluca Scona and Simona Nobili and Yvan Petillot and Maurice Fallon},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = 2017,
    address = {Vancouver, Canada},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017IROS_scona.pdf}
    }
  • [PDF] C. Mastalli, M. Focchi, I. Havoutis, A. Radulescu, S. Calinon, J. Buchli, D. G. Caldwell, and C. Semini, “Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]
    @inproceedings{2017icra_mastalli,
    author = {Carlos Mastalli and Michelle Focchi and Ioannis Havoutis and Andreea Radulescu and Sylvain Calinon and Jonas Buchli and Darwin G. Caldwell and Claudio Semini},
    title = {Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2017,
    address = {Singapore},
    month = may,
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017ICRA_mastalli.pdf}
    }
  • [PDF] M. Camurri, M. Fallon, S. Bazeille, A. Radulescu, V. Barasuol, D. G. Caldwell, and C. Semini, “Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots.” 2017, pp. 1023-1030.
    [Bibtex]
    @inproceedings{2017RAL_camurri,
    title = {Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots},
    author = {Marco Camurri and Maurice Fallon and St\'{e}phane Bazeille and Andreea Radulescu and Victor Barasuol and Darwin G. Caldwell and Claudio Semini},
    booktitle = ral,
    year = 2017,
    month = apr,
    volume = 2,
    issue = 2,
    pages = {1023-1030},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017RAL_camurri.pdf}
    }