Paper on Continuous Collision Avoidance accepted to IROS 2019
Published:
Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar. “Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments”, accepted to IEEE IROS 2019.
Last updated: July 05, 2020
2019
Paper on Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation accepted to CASE 2019
Published:
Wolfgang Merkt, Vladimir Ivan, Yiming Yang, and Sethu Vijayakumar. “Towards Shared Autonomy Applications using Whole-body Control Formulations of Locomanipulation”, accepted to IEEE CASE 2019.
Paper on Teleoperation Modes for Constrained Tasks accepted to CASE 2019
Published:
Christopher E. Mower, Wolfgang Merkt, Aled Davies, and Sethu Vijayakumar. “Comparing Alternate Modes of Teleoperation for Constrained Tasks”, accepted to IEEE CASE 2019.
2018
Paper on End-Pose Planning on Complex Support Surfaces accepted to Humanoids 2018
Published:
Henrique Ferrolho, Wolfgang Merkt, Yiming Yang, Vladimir Ivan, and Sethu Vijayakumar. “Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments”, Proc. IEEE Intl. Conf. on Humanoid Robots (Humanoids 2018), Beijing (2018).
Paper on Time-Configuration Space RRTConnect with Temporal Constraints accepted to Humanoids 2018
Published:
Yiming Yang, Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar. “Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints”, Proc. IEEE Intl. Conf. on Humanoid Robots (Humanoids 2018), Beijing (2018).
Paper on Deep RL for Valkyrie accepted to Humanoids 2018
Published:
Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li. “Learning Whole-Body Motor Skills for Humanoids”, Proc. IEEE Intl. Conf. on Humanoid Robots (Humanoids 2018), Beijing (2018).
Paper on Warmstart Initialization for Trajectory Optimization accepted to IROS 2018
Published:
Wolfgang Merkt, Vladimir Ivan, and Sethu Vijayakumar. “Leveraging Precomputation with Problem Encoding for Warm-Starting Trajectory Optimization in Complex Environments”, Proc. IEEE Intl. Conf. on Intelligent Robotics (IROS 2018), Madrid (2018).
EXOTica accepted as a book chapter in the Springer ROS Book Vol. 3
Published:
Ivan V., Yang Y., Merkt W., Camilleri M.P., Vijayakumar S. (2019) EXOTica: An Extensible Optimization Toolset for Prototyping and Benchmarking Motion Planning and Control. In: Koubaa A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 778. Springer, Cham
2017
HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Scenes accepted to IEEE RA-L
Published:
Yiming Yang, Wolfgang Merkt, Vladimir Ivan, Zhibin Li, and Sethu Vijayakumar. “HDRM: A Resolution Complete Dynamic Roadmap for Real-Time Motion Planning in Complex Scenes”. IEEE Robotics and Automation Letters, 2018, In Press.
Robust Shared Autonomy Demonstrator Overview Video
Published:
The University of Leeds has released a video summary on our Robust Shared Autonomy work which won the First Prize for Greatest Potential for Positive Impact at the Robots for Resilient Infrastructure Challenge and was previously also featured on Made In Leeds TV:
ExO Summit London
Published:
On June 30, 2017 I spoke at the ExO Summit London on interfaces, the ExO internal attribute which bridges the SCALE externalities to the IDEAS internal control framework.
First Prize at the Robots for Resilient Infrastructure Challenge
Published:
On June 27th and 28th, 2017, we presented our work on Robust Shared Autonomy for Mobile Manipulation in Extreme Environments at the Robots for Resilient Infrastructure Competition in Leeds, United Kingdom. Our framework allows for shared autonomy operation via limited bandwidth wireless links and empowers the human operator to use a blend of teleoperation, punctuated, as well as fully autonomous behaviours. It reduces operator fatigue by automatically verifying the validity of intended motions and continuously checking the environment for dynamic changes, altering the robot’s behaviour along the way to ensure safety in shared workspaces while minimising dis- and interruptions.
Robust Shared Autonomy featured on Made In Leeds TV
Published:
Our Robust Shared Autonomy work and the Edinburgh Centre for Robotics was prominently featured as part of the Made In Leeds TV On The Aire news segments at 6pm and 8pm on June 28, 2017.
Paired Forward-Inverse Dynamic Reachability Map Paper accepted to the IEEE RA-L
Published:
Yiming Yang, Wolfgang Merkt, Henrique Ferrolho, Vladimir Ivan, and Sethu Vijayakumar. “Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps”. IEEE Robotics and Automation Letters, 2017, In Press.
Paper on Robust Shared Autonomy accepted to IEEE CASE 2017
Published:
Our paper on Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring has been accepted to appear at the 13th IEEE Conference on Automation Science and Engineering (CASE) in Xi’an, China.
Valkyrie and Robust Shared Autonomy featured on BBC Scotland
Published:
Our work with the NASA Valkyrie and bimanual Husky robots, e.g. on motion planning for high-dimensional systems as well as robust shared autonomy, was prominently featured by BBC Scotland in news coverage about a new tranche of funding the Edinburgh Centre for Robotics received for healthcare and emergency response research.
2016
Paper on Scaling Sampling-based Motion Planning accepted to IEEE ROBIO
Published:
Yiming Yang, Vladimir Ivan, Wolfgang Merkt and Sethu Vijayakumar, Scaling Sampling–based Motion Planning to Humanoid Robots, Proc. IEEE International Conf. on Robotics and Biomimetics (ROBIO 2016), Qingdao, China (2016).
Tonight: Debate on How Robotics Will Reshape Our Lives
Published:
We are fully sold out for the debate tonight which I am co-organising in association with the British Science Association’s Scotland branch and hosted by the Edinburgh Centre for Robotics [official announcement].
2015
free2go for car2go now on Android
Published:
free2go for car2go is now available on Android.
2014
KB Shuttle Bus for iPhone 2.0 released
Published:
I have released version 2.0 of the popular KB Shuttle Bus for iPhone app with unique features such as Reminders and Location Awareness.