Abstract: Systems and methods for selecting a trajectory for an autonomous vehicle based on perceived risk are provided. A trajectory is selected that satisfies objective safety constraints and minimizes an overall cost based at least in part on cost components representing the perceived risk of the trajectory. The vehicle is navigated according to the selected (e.g., optimized) trajectory.

Abstract: A robot-assisted surgical system has a user interface operable by a user, a first robotic manipulator having a first surgical instrument, and a second robotic manipulator having a second surgical instrument. The system receives user input in response to movement of the input device by a user and causes the manipulator to move the first surgical instrument in response to the user input, determines a vector defined by the position of the first surgical instrument relative to the second surgical instrument, generates dynamic control signals based on the determined vector, and causes the manipulator to move the second surgical instrument in response to said dynamic control signals.

Abstract: Effective human-robot collaboration (HRC) requires extensive communication among the human and robot teammates, because their actions can potentially produce conflicts, synergies, or both. An augmented reality-driven, negotiation-based (ARN) framework is provided for HRC, where ARN supports planning-phase negotiations within human-robot teams. Experiments in an office environment, where multiple mobile robots work on delivery tasks, where the robots could not complete the tasks on their own, but sometimes need help from their human teammate, making human-robot collaboration necessary. In comparison to a non-AR baseline, ARN significantly improved the human users' work efficiency, and their cognitive load, while reducing the overall task completion time of the whole team.

Abstract: An automatic robotic arm system and a coordinating method for robotic arm and computer vision thereof are disclosed. A beam-splitting mirror splits an incident light into a visible light and a ranging light and respectively guides to an image capturing device and an optical ranging device arranged in the different reference axes. In a calibration mode, a transformation relation is computed based on a plurality of the calibration postures and corresponding calibration images. In an operation mode, a mechanical space coordinate is determined based on an operation image and the transformation relation, and the robotic arm is controlled to move based on the mechanical space coordinate.

Abstract: A working vehicle includes a steering device to steer a vehicle body, a working device connected to the vehicle body, an automatic steering controller to perform automatic steering of the steering device based on a difference between a scheduled traveling line and a position of the vehicle body, and a parameter changer to change a control parameter of the automatic steering depending on the working device connected to the vehicle body.

Abstract: A method for controlling a steering system of a motor vehicle, including first and second channels in parallel, each including an electric power unit delivering an assist force to the steering system of the vehicle, in order to obtain the sum of two delivered assist forces, corresponding to the total assist force required, the method including: evaluating the channel having the lowest power unit power supply voltage value; defining a master channel function delivering an initial portion of the total assist force requirement and a slave channel function delivering a variable complementary portion of the assist force, corresponding to the difference between the initial portion of force actually delivered and the total force requirement; and pairing the master channel function with the channel having the lowest power unit power supply voltage value, and the slave channel function with the channel having the highest power unit power supply voltage value.

Abstract: Techniques for representing sensor data and predicted behavior of various objects in an environment are described herein. For example, an autonomous vehicle can represent prediction probabilities as an uncertainty model that may be used to detect potential collisions, define a safe operational zone or drivable area, and to make operational decisions in a computationally efficient manner. The uncertainty model may represent a probability that regions within the environment are occupied using a heat map type approach in which various intensities of the heat map represent a likelihood of a corresponding physical region being occupied at a given point in time.

Abstract: An example method includes determining objects and actions associated with the objects for completing a task to be executed by a robotic system, where each action is associated with trajectory. The method further includes determining a pose for each person in an environment associated with the robotic system, predicting a trajectory for each person based on the determined pose associated with the respective person and the actions and trajectories associated with the actions, and adjusting trajectories for one or more of the actions to be performed by the robotic system based on the predicted trajectories for each person.

Abstract: The present disclosure is directed to a computer system and techniques for automatically annotating objects in map data used for navigating an autonomous vehicle. Generally, the computer system is configured to obtain LiDAR data points for an environment around an autonomous vehicle, project the LiDAR data points onto image data, detect a target object in the image data, extract a subset of the LiDAR data points that corresponds to the detected target object, register the detected target object in map data if the extracted subset of the LiDAR data points satisfies registration criteria, and navigate the autonomous vehicle in the environment according to the map data.

Abstract: The invention relates to a control device and a method for controlling at least one actuator for actuating braking means of a vehicle. A contact variable control system forms an inner control circuit, wherein the braking torque control system is arranged in a braking torque control unit embodied separately or in a separate location from the contact variable control unit and forms an outer control circuit.

Abstract: An automatic parking system configured to cause an autonomous vehicle to travel autonomously from a parking space to a pickup area based on a parking space departure time determined such that the autonomous vehicle arrives the pickup area at a scheduled pickup time that is predetermined. The automatic parking system includes an on-control time setting unit configured to set an on-control time at which a state of the autonomous vehicle is controlled to be a power-on state based on the parking space departure time, and a power-on control unit configured to control the state of the autonomous vehicle to be the power-on state based on the on-control time that is set. The on-control time setting unit is configured to set the on-control time such that the power-on state is established prior to the parking space departure time.

Abstract: A robot system (1) includes the robot (10), a motion sensor (11), a surrounding environment sensor (12, 13), an operation apparatus (21), a learning control section (41), and a relay apparatus (30). The robot (10) performs work based on an operation command. The operation apparatus (21) detects and outputs an operator-operating force applied by the operator. The learning control section (41) outputs a calculation operating force. The relay apparatus (30) outputs the operation command based on the operator-operating force and the calculation operating force. The learning control section (41) estimates and outputs the calculation operating force by using a model constructed by performing the machine learning of the operator-operating force, the surrounding environment data, the operation data, and the operation command based on the operation data and the surrounding environment data outputted by the sensors (11 to 13), and the operation command outputted by the relay apparatus (30).

Abstract: A surgical robotic system has a surgical robotic arm, and a programmed processor that determines a longest principal axis of a velocity ellipsoid for a first configuration of the arm, applies a maximum task space velocity (that is in the direction of the longest principal axis) to an inverse kinematics equation which computes a potential joint space velocity, computes a ratio of i) the potential joint space velocity and ii) a joint space velocity limit of the arm, and applies the ratio to an initial joint space velocity, to produce a regulated joint space velocity. Other aspects are also described and claimed.

Abstract: A robotic grasp generation technique for machine tending applications. Part and gripper geometry are provided as inputs, typically from CAD files. Gripper kinematics are also defined as an input. Preferred and prohibited grasp locations on the part may also be defined as inputs, to ensure that the computed grasp candidates enable the robot to load the part into a machining station such that the machining station can grasp a particular location on the part. An optimization solver is used to compute a quality grasp with stable surface contact between the part and the gripper, with no interference between the gripper and the part, and allowing for the preferred and prohibited grasp locations which were defined as inputs. All surfaces of the gripper fingers are considered for grasping and collision avoidance. A loop with random initialization is used to automatically compute many hundreds of diverse grasps for the part.

Abstract: A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

Abstract: A mobile robot including a vision system, the vision system including a camera and an illumination system; the illumination system including a plurality of light sources arranged to provide a level of illumination to an area surrounding the mobile robot; and a control system for controlling the illumination system. The control system adjusts the level of illumination provided by the plurality of light sources based on an image captured by the camera; an exposure time of the camera at the time the image was captured; and robot rotation information.

Abstract: A robot and an operating system, a control device, a control method and a storage medium thereof, wherein the robot includes a processor configured to execute the following operation commands: controlling the robot to move to a designated position corresponding to an interaction scenario, wherein the interaction scenario is a scenario in which the robot interacts with a user; controlling the robot to perform an operation corresponding to an operation of the user in the interaction scenario, thereby realizing the robot can perform a complex interaction with the user based on the colorful interaction scenario and solving the technical problem of the prior art that the interaction scenario and the interactive content between the user and the robot are excessively monotonous.

Abstract: The subject disclosure relates to ways to determine a data collection surveillance cadence. In some aspects, a process of the disclosed technology includes steps for receiving historic map data for one or more geographic regions, wherein each of the one or more geographic regions comprises one or more map features, calculating a change rate for each of the one or more map features, and determining a surveillance cadence for each of the one or more geographic regions based on the change rate for each of the one or more map features. Systems and machine-readable media are also provided.

Abstract: The present disclosure describes a device, computer-readable medium, and method for providing logistical support for robots. In one example, the method includes receiving, at a centralized support center that is in communication with a plurality of robots, a query from a first robot of the plurality of robots that has been deployed to perform a task, wherein the query indicates an error encountered by the first robot and evidence of the error collected by the first robot, formulating, at the centralized support center, a proposed solution to resolve the error, wherein the formulating comprises soliciting an analysis of the evidence by a party other than the first robot, and delivering, by the centralized support center, the proposed solution to the first robot.

Abstract: Methods and devices are provided for robotic surgery, and in particular for controlling various motions of a tool based on visual indicators. In general, a surgical tool can include an elongate shaft and an end effector coupled to a distal end of the elongate shaft and including first and second jaws. The tool can have at least one visual indicator disposed thereon and configured to indicate a size, position, or speed of movement of the tool or components of the tool.