IROS 2023 in Detroit: MIRMI mit 38 Publikationen und fünf Workshops vertreten

Die Workshops finden am 1. und 5. Oktober statt und behandeln Themen von formalen Methoden des Robotik-Designs und der Steuerung über Multi-Agent Dynamic Games bis hin zu maschinellem Lernen für das Greifen von Objekten sowie konkreten Robotik- und KI-Lösungen für Gesundheit und Wohlbefinden und die Fabrik der Zukunft.

Die IROS-Publikationen spiegeln die interdisziplinäre Arbeit der MIRMI-Leitforscher wider. Dazu gehören “The ILIAD Safety Stack: Human-Aware, Infrastructure-Free Navigation of Industrial Mobile Robots (I)” von Prof. Achim Lilienthal, Prof. Haddadin und Team sowie “Determination of the Characteristics of Gears of Robot-Like Systems by Analytical Description of Their Structure” von Prof. Birgit Vogel-Heuser, Prof. Markus Zimmermann und Prof. Karsten Stahl und ihrem Team. Darüber hinaus beteiligen sich MIRMI-Mitglieder an Workshops, die von ihren Kollegen mitorganisiert werden. Prof. Angela Schoellig wird im Rahmen des Workshops zum Design und zur Steuerung robotischer Systeme einen Vortrag halten, während Prof. Alin Albu-Schaeffer im Geriatronik-KI-Workshop präsentieren wird.

Dies ist die Liste der Workshops und Papers, die von MIRMI - TUM Forschern beigetragen wurden.

Papers	PIs
Model Predictive Control Applied to Different Time-Scale Dynamics of Flexible Joint Robots	Albu-Schäffer, Alin
Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Quadruped	Albu-Schäffer, Alin
CLiFF-LHMP: Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction	Lilienthal, Achim
The ILIAD Safety Stack: Human-Aware, Infrastructure-Free Navigation of Industrial Mobile Robots (I)	Lilienthal, Achim, Haddadin, Sami
Does Unpredictability Influence Driving Behavior?	Schoellig, Angela
Uncertainty-Aware Gaussian Mixture Model for UWB Time Difference of Arrival Localization in Cluttered Environments	Schoellig, Angela
Determination of the Characteristics of Gears of Robot-Like Systems by Analytical Description of Their Structure	Vogel-Heuser, Birgit, Zimmermann, Markus, Stahl, Karsten
A Distributed Framework for Knowledge-Driven Root-Cause Analysis on Evolving Alarm Data – an Industrial Case Study	Vogel-Heuser, Birgit
Smooth Stride Length Change of Rat Robot with a Compliant Actuated Spine Based on CPG Controller	Knoll, Alois
An Energy-Efficient Lane-Keeping System Using 3D LiDAR Based on Spiking Neural Network	Knoll, Alois
Contact-Aware Shaping and Maintenance of Deformable Linear Objects with Fixtures	Knoll, Alois
Learning from Symmetry: Meta-Reinforcement Learning with Symmetrical Behaviors and Language Instructions	Knoll, Alois
Robust Point Cloud Registration with Geometry-Based Transformation Invariant Descriptor	Knoll, Alois
Feature-Based Electromagnetic Tracking Registration Using Bioelectric Sensing	Navab, Nassir
Motion Magnification in Robotic Sonography: Enabling Pulsation-Aware Artery Segmentation	Navab, Nassir
Thoracic Cartilage Ultrasound-CT Registration Using Dense Skeleton Graph	Navab, Nassir
Comparing Quadrotor Control Policies for Zero-Shot Reinforcement Learning under Uncertainty and Partial Observability	Diepold, Klaus
Offline Reinforcement Learning for Quadrotor Control: Overcoming the Ground Effect	Diepold, Klaus
Dynamic Multi-Query Motion Planning with Differential Constraints and Moving Goals	Steinbach, Eckehard
Haptic Dataset Augmentation with Subjective QoE Labels Using Conditional Generative Adversarial Network	Steinbach, Eckehard
SCTOMP: Spatially Constrained Time-Optimal Motion Planning	Ryll, Markus
Real-Time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms	Ryll, Markus
Incremental Dense Reconstruction from Monocular Video with Guided Sparse Feature Volume Fusion	Leutenegger, Stefan
Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion	Leutenegger, Stefan
BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking	Leutenegger, Stefan
GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild	Leutenegger, Stefan
A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration	Haddadin, Sami
Labelling Lightweight Robot Energy Consumption: A Mechatronics-Based Benchmarking Metric Set	Haddadin, Sami
A Wearable Force-Sensitive and Body-Aware Exoprosthesis for a Transhumeral Prosthesis Socket (I)	Haddadin, Sami
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles	Haddadin, Sami
I2mpedance - a Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction	Haddadin, Sami
Contact-Aware Shaping and Maintenance of Deformable Linear Objects with Fixtures	Haddadin, Sami
Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers	Haddadin, Sami
Automatic Gripper-Finger Design, Production and Application: Towards Fast and Cost Effective Small Batch Production (I)	Haddadin, Sami
Shared Autonomy Control for Slosh-Free Teleoperation	Haddadin, Sami
Flexible Gear Assembly with Visual Servoing and Force Feedback	Caccamo, Marco
Estimating the Loss of Effectiveness of UAV Actuators in the Presence of Aerodynamic Effects	Holzapfel, Florian
Self-Supervised Category-Level 6D Object Pose Estimation with Optical Flow Consistency	Tombari, Federico

Workshops	PIs
MADGames: Workshop on Multi-Agent Dynamic Games	Betz, Johannes
Geriatronics: AI and Robotics for Health and Well-Being in Older Age	Haddadin, Sami
Formal methods techniques in robotics systems: Design and control	Haddadin, Sami
Robotics & AI in Future Factory	Vogel-Heuser, Birgit
Learning Meets Model-Based Methods for Manipulation and Grasping	Piazza, Cristina

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IROS 2023 in Detroit: MIRMI mit 38 Publikationen und fünf Workshops vertreten

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