The Roles of Modern Screw Theory, Lie algebra, and Geometric Algebra in Robotics
Save the date: June 02, 2023
Accepted Paper Information
Please find below a list of excellent papers (extended-abstracts) accepted for presentation during the workshop. All papers have been peer-reviewed (single-blind) for the relevance of content to the workshop and basic quality.
Accepted manuscripts will present a teaser of their work to all participants of the workshop (single-track presentation). Presentations will take 2-minutes. The spotlight teasers will be accompanied by posters during the interactive session at the coffee-break.
Best Student Workshop Paper – Powered by Vodafone:
The award for the best extended abstract will reflect both the quality of the document, as well as the quality of the presentation and the poster interaction. We are also very happy to announce that Vodafone also offered a 300 € prize award for the winner!!! An independent committee will be selected to judge the contributions and select the winner.
Get ready and prepare your best work!
- Application of Log-Linear Dynamic Inversion Control to a Multi-rotor Authors: Li-Yu Lin, James Goppert, and Inseok Hwang
- Euclidean and Riemannian Metrics in Learning-based Visual Odometry Authors: Olaya Álvarez-Tuñón, Yury Brodskiy, and and Erdal Kayacan
- Geometric Algebra for Optimal Control in Robotics using gafro Authors: Tobias Löw and Sylvain Calinon
- Learning Diffusion Models in SE(3) for 6DoF Grasp Pose Generation Authors: Julen Urain, Niklas Funk, Jan Peters, and Georgia Chalvatzaki
- 23 DoF Grasping Policies from a Raw Point Cloud Authors: Martin Matak, Karl Van Wyk, Tucker Hermans
- Use of Screw Theory in Proximity-based Control Authors: John Thomas, François Chaumette
- Geometric Evaluation of Balance Regions for Multi-Contact Humanoids Using Contact Stability Criteria Authors: Saeid Samadi, Wenqian Du, and Sethu Vijayakumar
- Implicit representation priors meet Riemannian geometry for Bayesian robotic grasping Authors: Norman Marlier, Julien Gustin, Olivier Brüls, and Gilles Louppe
- Knowledge-Enabled Motion Generation for Complex Manipulation Tasks Authors: Dibyendu Das, Aditya Patankar, Fumi Honda, Dasharadhan Mahalingam, Nilanjan Chakraborty, C. R. Ramakrishnan, and IV Ramakrishnan
- Towards Continuous Time Finite Horizon LQR Control in SE(3) Authors: Shivesh Kumar, Andreas Mueller, Patrick Wensing and Frank Kirchner
- Extending Piecewise Bézier Fitting Methods to SO(3) and SE(3) for Robot Paths Authors: Ignacio Montesino, Juan G. Victores, Carlos Balaguer, and Alberto Jardon
- Pose-Following with Dual Quaternions Authors: Jon Arrizabalaga and Markus Ryll
- Towards Robust State Estimation in Matrix Lie Groups Authors: Kartik A. Pant, Li-Yu Lin, James Goppert, and Inseok Hwang
- Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization Authors: Jake Welde and Vijay Kumar
Topics of Interest
The goal of the workshop is to bring together researchers from different applied fields of robotics research with geometers and researchers of core robotics' methods. This workshop is therefore interested in covering and addressing topics within the following scope (but not limited to):
- Applications of Riemannian manifolds to robotics;
- Geometric algebra applied to data-driven methods;
- Data-driven methods for learning in special geometric groups;
- Task-Environment constraint extraction, learning, and exploration through geometric methods;
- Screw theory and motion representation applied to robotics;
- Descriptors for robotics’ motion;
- Geometric constraints within whole-body control, multi-arm systems, and elaborated kinematics;
- New methods of identification and modelling through geometric methods;
- Clifford and motor algebra with applications to robotics' kinematics and dynamics;
- Dual quaternion algebra and applications that go within and beyond kinematics;
- Kinematic synthesis and analysis of mechanisms;
- Lie algebra in robotics;
- Optimization using geometric or topological tools;
- Leverage/extension of Euclidean methods to special geometric groups;
- AI driven design and optimization.
Dr. Luis Figueredo
Note: For further information, please contact the organizers or the corresponding organizers