Roland Siegwart
収録論文 229本 ・ フィジカルAI/ロボット学習
状態推定エアリアルインタラクション
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- 状態推定器が迷走したとき：スペクトル解析による推定器故障の検出状態推定2026/8/11
センサ非依存の内省的指標として、速度推定値の周波数領域パワー分布を解析し、状態推定器の健全性を評価する手法を提案。実飛行データで3種類のオドメトリの故障を検出できることを示した。
- 空中レイアウト：天井への精密な飛行中マーキングのためのコンプライアントでアクチュエートされたエンドエフェクタの設計と制御エアリアルインタラクション2026/8/11
飛行ロボットにGough-Stewart機構を備えたスマートエンドエフェクタを搭載し、天井へのミリメートル精度のマーキングを実現するシステムを提案・検証した。
- When Your State Estimator Has Lost The Plot: Detecting Estimator Failures Via Spectral Analysis2026/8/1
- Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings2026/8/1
- Trinity: Unifying Class-Agnostic Terrain and Semantic Segmentation for Unstructured Outdoor Environments by Leveraging Synthetic Data2026/5/1
- BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps2026/4/1
- Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids2026/2/1
- Depth Completion in Unseen Field Robotics Environments Using Extremely Sparse Depth Measurements2026/2/1
- Towards Robust Optimization-Based Autonomous Dynamic Soaring with a Fixed-Wing UAV2025/12/1
- CueLearner: Bootstrapping and local policy adaptation from relative feedback2025/7/1
- Sight Guide: A Wearable Assistive Perception and Navigation System for the Vision Assistance Race in the Cybathlon 20242025/6/1
- CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments2025/5/1
- Safe Periodic Trochoidal Paths for Fixed-Wing UAVs in Confined Windy Environments2025/3/1
- Learning Affordances from Interactive Exploration using an Object-level Map2025/1/1
- Towards Open-Source and Modular Space Systems with ATMOS2025/1/1
- Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics2024/12/1
- Radar Meets Vision: Robustifying Monocular Metric Depth Prediction for Mobile Robotics2024/10/1
- Obstacle-Avoidant Leader Following with a Quadruped Robot2024/10/1
- Evaluation of Human-Robot Interfaces based on 2D/3D Visual and Haptic Feedback for Aerial Manipulation2024/10/1
- Framework for Robust Localization of UUVs and Mapping of Net Pens2024/9/1
- A robust baro-radar-inertial odometry m-estimator for multicopter navigation in cities and forests2024/8/1
- Pushing the Limits of Reactive Planning: Learning to Escape Local Minima2024/7/1
- NeuSurfEmb: A Complete Pipeline for Dense Correspondence-based 6D Object Pose Estimation without CAD Models2024/7/1
- Task Adaptation in Industrial Human-Robot Interaction: Leveraging Riemannian Motion Policies2024/6/1
- Traversing Mars: Cooperative Informative Path Planning to Efficiently Navigate Unknown Scenes2024/6/1
- Autonomous Active Mapping in Steep Alpine Environments with Fixed-wing Aerial Vehicles2024/5/1
- Enhancing Sliding Performance with Aerial Robots: Analysis and Solutions for Non-Actuated Multi-Wheel Configurations2024/5/1
- Comparison between Behavior Trees and Finite State Machines2024/5/1
- Waverider: Leveraging Hierarchical, Multi-Resolution Maps for Efficient and Reactive Obstacle Avoidance2024/5/1
- Under pressure: learning-based analog gauge reading in the wild2024/4/1
- Energy-Optimized Planning in Non-Uniform Wind Fields with Fixed-Wing Aerial Vehicles2024/4/1
- VIRUS-NeRF -- Vision, InfraRed and UltraSonic based Neural Radiance Fields2024/3/1
- Passive Aligning Physical Interaction of Fully-Actuated Aerial Vehicles for Pushing Tasks2024/2/1
- Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots2024/2/1
- WindSeer: Real-time volumetric wind prediction over complex terrain aboard a small UAV2024/1/1
- Safe Low-Altitude Navigation in Steep Terrain with Fixed-Wing Aerial Vehicles2024/1/1
- Geranos: a Novel Tilted-Rotors Aerial Robot for the Transportation of Poles2023/12/1
- Learning to Fly Omnidirectional Micro Aerial Vehicles with an End-To-End Control Network2023/12/1
- Soliro -- a hybrid dynamic tilt-wing aerial manipulator with minimal actuators2023/12/1
- To Fuse or Not to Fuse: Measuring Consistency in Multi-Sensor Fusion for Aerial Robots2023/12/1
- nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping2023/11/1
- ISAR: A Benchmark for Single- and Few-Shot Object Instance Segmentation and Re-Identification2023/11/1
- COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry2023/10/1
- A perching and tilting aerial robot for precise and versatile power tool work on vertical walls2023/10/1
- Path-Constrained State Estimation for Rail Vehicles2023/8/1
- Local and Global Information in Obstacle Detection on Railway Tracks2023/7/1
- Learning to Open Doors with an Aerial Manipulator2023/7/1
- Efficient volumetric mapping of multi-scale environments using wavelet-based compression2023/6/1
- A Comparison of Pneumatic Actuators for Soft Growing Vine Robots2023/5/1
- Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator2023/5/1
- Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments2023/4/1
- Neural Implicit Vision-Language Feature Fields2023/3/1
- Chasing Millimeters: Design, Navigation and State Estimation for Precise In-flight Marking on Ceilings2023/3/1
- Material-agnostic Shaping of Granular Materials with Optimal Transport2023/3/1
- Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals2023/2/1
- Obstacle avoidance using raycasting and Riemannian Motion Policies at kHz rates for MAVs2023/1/1
- Resilient Terrain Navigation with a 5 DOF Metal Detector Drone2022/12/1
- A Multi-Segment, Soft Growing Robot with Selective Steering2022/12/1
- maplab 2.0 -- A Modular and Multi-Modal Mapping Framework2022/12/1
- Unsupervised Continual Semantic Adaptation through Neural Rendering2022/11/1
- SphNet: A Spherical Network for Semantic Pointcloud Segmentation2022/10/1
- A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets2022/10/1
- On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications2022/9/1
- 3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs2022/9/1
- Geometric Tracking Control of Omnidirectional Multirotors for Aggressive Maneuvers2022/9/1
- Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects2022/9/1
- Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps2022/9/1
- SC-Explorer: Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning2022/8/1
- Present and Future of SLAM in Extreme Underground Environments2022/8/1
- MPC with Learned Residual Dynamics with Application on Omnidirectional MAVs2022/7/1
- Closed-Loop Next-Best-View Planning for Target-Driven Grasping2022/7/1
- Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned2022/7/1
- Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing2022/6/1
- SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding2022/6/1
- Probabilistic network topology prediction for active planning:An adaptive algorithm and application2022/6/1
- Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF)2022/5/1
- Power-based Safety Layer for Aerial Vehicles in Physical Interaction using Lyapunov Exponents2022/5/1
- RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications2022/3/1
- Embodied Active Domain Adaptation for Semantic Segmentation via Informative Path Planning2022/3/1
- NavDreams: Towards Camera-Only RL Navigation Among Humans2022/3/1
- Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction2022/3/1
- Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction2022/3/1
- Collaborative Robot Mapping using Spectral Graph Analysis2022/3/1
- Descriptellation: Deep Learned Constellation Descriptors2022/3/1
- Fast and Compute-efficient Sampling-based Local Exploration Planning via Distribution Learning2022/2/1
- Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects2022/2/1
- Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses2022/1/1
- SL Sensor: An Open-Source, ROS-Based, Real-Time Structured Light Sensor for High Accuracy Construction Robotic Applications2022/1/1
- CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge2022/1/1
- Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft2021/11/1
- Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots2021/11/1
- Continual Adaptation of Semantic Segmentation using Complementary 2D-3D Data Representations2021/11/1
- See Yourself in Others: Attending Multiple Tasks for Own Failure Detection2021/10/1
- NeuralBlox: Real-Time Neural Representation Fusion for Robust Volumetric Mapping2021/10/1
- Unified Data Collection for Visual-Inertial Calibration via Deep Reinforcement Learning2021/9/1
- Fast Image-Anomaly Mitigation for Autonomous Mobile Robots2021/9/1
- Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency2021/9/1
- Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction2021/8/1
- SemSegMap- 3D Segment-Based Semantic Localization2021/7/1
- Under the Sand: Navigation and Localization of a Micro Aerial Vehicle for Landmine Detection with Ground Penetrating Synthetic Aperture Radar2021/6/1
- TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction2021/5/1
- Dynamic-Aware Autonomous Exploration in Populated Environments2021/4/1
- Dynamic Object Aware LiDAR SLAM based on Automatic Generation of Training Data2021/4/1
- Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems2021/4/1
- Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd2021/4/1
- CalQNet -- Detection of Calibration Quality for Life-Long Stereo Camera Setups2021/4/1
- Online Informative Path Planning for Active Information Gathering of a 3D Surface2021/3/1
- 3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs2021/3/1
- SD-6DoF-ICLK: Sparse and Deep Inverse Compositional Lucas-Kanade Algorithm on SE(3)2021/3/1
- PHASER: a Robust and Correspondence-free Global Pointcloud Registration2021/2/1
- Points2Vec: Unsupervised Object-level Feature Learning from Point Clouds2021/2/1
- Hough2Map -- Iterative Event-based Hough Transform for High-Speed Railway Mapping2021/2/1
- Mesh Manifold based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles2021/2/1
- Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter2021/1/1
- Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots2021/1/1
- NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments2020/12/1
- Multiple Hypothesis Semantic Mapping for Robust Data Association2020/12/1
- Learning Trajectories for Visual-Inertial System Calibration via Model-based Heuristic Deep Reinforcement Learning2020/11/1
- Model Predictive Control for Micro Aerial Vehicles: A Survey2020/11/1
- Out-of-Distribution Detection for Automotive Perception2020/11/1
- LCD -- Line Clustering and Description for Place Recognition2020/10/1
- Automatic Extension of a Symbolic Mobile Manipulation Skill Set2020/10/1
- A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift2020/10/1
- Freetures: Localization in Signed Distance Function Maps2020/10/1
- Deep UAV Localization with Reference View Rendering2020/8/1
- IDOL: A Framework for IMU-DVS Odometry using Lines2020/8/1
- Deep Learning-based Human Detection for UAVs with Optical and Infrared Cameras: System and Experiments2020/8/1
- Leveraging Stereo-Camera Data for Real-Time Dynamic Obstacle Detection and Tracking2020/7/1
- Precise Robot Localization in Architectural 3D Plans2020/6/1
- Learning dynamics for improving control of overactuated flying systems2020/6/1
- Ascento: A Two-Wheeled Jumping Robot2020/5/1
- LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops2020/5/1
- Learning Camera Miscalibration Detection2020/5/1
- Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps2020/4/1
- Go Fetch: Mobile Manipulation in Unstructured Environments2020/4/1
- Accurate Mapping and Planning for Autonomous Racing2020/3/1
- Active Interaction Force Control for Contact-Based Inspection with a Fully Actuated Aerial Vehicle2020/3/1
- End-to-End Velocity Estimation For Autonomous Racing2020/3/1
- Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight2020/3/1
- OneShot Global Localization: Instant LiDAR-Visual Pose Estimation2020/3/1
- Whole-Body Control of a Mobile Manipulator using End-to-End Reinforcement Learning2020/3/1
- MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments2020/3/1
- VersaVIS: An Open Versatile Multi-Camera Visual-Inertial Sensor Suite2019/12/1
- A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction2019/12/1
- Predicting Unobserved Space For Planning via Depth Map Augmentation2019/11/1
- Object Finding in Cluttered Scenes Using Interactive Perception2019/11/1
- Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution2019/11/1
- SegMap: Segment-based mapping and localization using data-driven descriptors2019/9/1
- An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments2019/9/1
- On Flying Backwards: Preventing Run-away of Small, Low-speed, Fixed-wing UAVs in Strong Winds2019/8/1
- Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps2019/8/1
- Disturbance Estimation and Rejection for High-Precision Multirotor Position Control2019/8/1
- Long-Duration Fully Autonomous Operation of Rotorcraft Unmanned Aerial Systems for Remote-Sensing Data Acquisition2019/8/1
- Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping2019/8/1
- Active Learning for UAV-based Semantic Mapping2019/8/1
- Learning Densities in Feature Space for Reliable Segmentation of Indoor Scenes2019/8/1
- Revisiting Boustrophedon Coverage Path Planning as a Generalized Traveling Salesman Problem2019/7/1
- 3D Multi-Robot Patrolling with a Two-Level Coordination Strategy2019/6/1
- An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection2019/5/1
- AMZ Driverless: The Full Autonomous Racing System2019/5/1
- Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles2019/4/1
- Attitude- and Cruise Control of a VTOL Tiltwing UAV2019/3/1
- OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios2019/3/1
- Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery2019/3/1
- Informative Path Planning for Active Field Mapping under Localization Uncertainty2019/2/1
- Obstacle-aware Adaptive Informative Path Planning for UAV-based Target Search2019/2/1
- VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments2019/2/1
- Observability-aware Self-Calibration of Visual and Inertial Sensors for Ego-Motion Estimation2019/1/1
- An Open-Source System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments2018/12/1
- AgriColMap: Aerial-Ground Collaborative 3D Mapping for Precision Farming2018/10/1
- Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs2018/10/1
- An informative path planning framework for UAV-based terrain monitoring2018/9/1
- Redundant Perception and State Estimation for Reliable Autonomous Racing2018/9/1
- WeedMap: A large-scale semantic weed mapping framework using aerial multispectral imaging and deep neural network for precision farming2018/8/1
- Appearance-Based Landmark Selection for Efficient Long-Term Visual Localization2018/8/1
- Map Management for Efficient Long-Term Visual Localization in Outdoor Environments2018/8/1
- Incremental Object Database: Building 3D Models from Multiple Partial Observations2018/8/1
- Dynamic Objects Segmentation for Visual Localization in Urban Environments2018/7/1
- Modular Sensor Fusion for Semantic Segmentation2018/7/1
- LandmarkBoost: Efficient Visual Context Classifiers for Robust Localization2018/7/1
- Aerial-Ground collaborative sensing: Third-Person view for teleoperation2018/7/1
- An Overview of Perception Methods for Horticultural Robots: From Pollination to Harvest2018/7/1
- Long-term Large-scale Mapping and Localization Using maplab2018/5/1
- Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Map-less Navigation by Leveraging Prior Demonstrations2018/5/1
- Design of an Autonomous Racecar: Perception, State Estimation and System Integration2018/4/1
- Learning 3D Segment Descriptors for Place Recognition2018/4/1
- SegMap: 3D Segment Mapping using Data-Driven Descriptors2018/4/1
- Visual-Inertial Teach and Repeat for Aerial Inspection2018/3/1
- Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning2018/3/1
- Comparing Task Simplifications to Learn Closed-Loop Object Picking Using Deep Reinforcement Learning2018/3/1
- History-aware Autonomous Exploration in Confined Environments using MAVs2018/3/1
- Free LSD: Prior-Free Visual Landing Site Detection for Autonomous Planes2018/2/1
- Multi-agent Time-based Decision-making for the Search and Action Problem2018/2/1
- Nonlinear Model Predictive Guidance for Fixed-wing UAVs Using Identified Control Augmented Dynamics2018/2/1
- Why and How to Avoid the Flipped Quaternion Multiplication2018/1/1
- Voliro: An Omnidirectional Hexacopter With Tiltable Rotors2018/1/1
- Towards Fully Environment-Aware UAVs: Real-Time Path Planning with Online 3D Wind Field Prediction in Complex Terrain2017/12/1
- Flexible Stereo: Constrained, Non-rigid, Wide-baseline Stereo Vision for Fixed-wing Aerial Platforms2017/12/1
- Meteorology-Aware Multi-Goal Path Planning for Large-Scale Inspection Missions with Long-Endurance Solar-Powered Aircraft2017/11/1
- Robust Collaborative Object Transportation Using Multiple MAVs2017/11/1
- Autonomous Electric Race Car Design2017/11/1
- maplab: An Open Framework for Research in Visual-inertial Mapping and Localization2017/11/1
- C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach2017/10/1
- The ETH-MAV Team in the MBZ International Robotics Challenge2017/10/1
- Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles2017/10/1
- 3D Registration of Aerial and Ground Robots for Disaster Response: An Evaluation of Features, Descriptors, and Transformation Estimation2017/9/1
- A Data-driven Model for Interaction-aware Pedestrian Motion Prediction in Object Cluttered Environments2017/9/1
- weedNet: Dense Semantic Weed Classification Using Multispectral Images and MAV for Smart Farming2017/9/1
- X-View: Graph-Based Semantic Multi-View Localization2017/9/1
- Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps2017/9/1
- Visual-inertial self-calibration on informative motion segments2017/8/1
- Build Your Own Visual-Inertial Drone: A Cost-Effective and Open-Source Autonomous Drone2017/8/1
- Control of a Quadrotor with Reinforcement Learning2017/7/1
- A Decentralized Multi-Agent Unmanned Aerial System to Search, Pick Up, and Relocate Objects2017/7/1
- Nonlinear Model Predictive Control for Multi-Micro Aerial Vehicle Robust Collision Avoidance2017/3/1
- Multiresolution Mapping and Informative Path Planning for UAV-based Terrain Monitoring2017/3/1
- Dynamic System Identification, and Control for a cost effective open-source VTOL MAV2017/1/1
- Collaborative Object Transportation Using MAVs via Passive Force Control2016/12/1
- Sampling-based Motion Planning for Active Multirotor System Identification2016/12/1
- Distributed Infrastructure Inspection Path Planning subject to Time Constraints2016/12/1
- Aerial Picking and Delivery of Magnetic Objects with MAVs2016/12/1
- Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning2016/11/1
- Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles2016/11/1
- Visual Place Recognition with Probabilistic Vertex Voting2016/10/1
- SegMatch: Segment based loop-closure for 3D point clouds2016/9/1
- Online Informative Path Planning for Active Classification Using UAVs2016/9/1
- From Perception to Decision: A Data-driven Approach to End-to-end Motion Planning for Autonomous Ground Robots2016/9/1
- A Primer on the Differential Calculus of 3D Orientations2016/6/1
- Online Informative Path Planning for Active Classification on UAVs2016/6/1