Events

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

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Die Beiträge der MIRMI-Forscher zum Thema "Die nächste Generation der Robotik", dem Leitthema der IROS 2023, sind vielfältig. Auf dem diesjährigen Robotics Forum organisieren 18 MIRMI-Forscher und ihre Teams fünf Workshops und präsentieren 38 Papers. Eine umfassende Liste dieser Publikationen und Workshops finden Sie hier.

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