2021

Robotic exploration for learning human motion patterns

Sergio Molina Mellado, Grzegorz Cielniak, and Tom Duckett. IEEE Transactions on Robotics.

CorAl – Are the point clouds Correctly Aligned?

Daniel Adolfsson, Martin Magnusson, Qianfang Liao, Achim J. Lilienthal, and Henrik Andreasson. Proceedings of the European Conference on Mobile Robots (ECMR).

Towards Safer Robot Motion: Using a Qualitative Motion Model to Classify Human-Robot Spatial Interaction

Laurence Roberts-Elliott, Manuel Fernandez-Carmona, and Marc Hanheide. TAROS 2020

A Network-Flow Reduction for the Multi-Robot Goal Allocation and Motion Planning Problem

João Salvado, Masoumeh Mansouri, and Federico Pecora. IEEE International Conference on Automation Science and Engineering (CASE). 2021

Combining Multi-Robot Motion Planning and Goal Allocation using Roadmaps

João Salvado, Masoumeh Mansouri, and Federico Pecora. IEEE International Conference on Robotics and Automation (ICRA)

Online Task Assignment and Coordination in Multi-Robot Fleets

Paolo Forte, Anna Mannucci, Henrik Andreasson, and Federico Pecora. IEEE Robotics and Automation Letters.

CFEAR Radarodometry - Conservative Filtering for Efficientand Accurate Radar Odometry

Daniel Adolfsson, Martin Magnusson, Anas W. Alhashimi, Achim J. Lilienthal, and Henrik Andreasson. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

Robust Frequency-Based Structure Extraction

Tomasz Piotr Kucner, Matteo Luperto, Stephanie Lowry, Martin Magnusson, and Achim J. Lilienthal. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). June 2021.

Calibrating range measurements of lidars using fixed landmarks in unknown positions

Anas Alhashimi, Martin Magnusson, Steffi Knorn, and Damiano Varagnolo. MDPI Sensors.

Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking

Robin Jeanne Kirschner, Kübra Karacan, Philipp Junge, Seyed Ali Baradaran Bir-jandi, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin. Proceedings of the International Conference on Intelligent Robots and Systems (IROS).

NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation

Zhicheng Zhou, Cheng Zhao, Daniel Adolfsson, Songzhi Su, Yang Gao, Tom Duckett, Li Sun. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2021.

Guest Editorial: Introduction to the Special Issue on Long-Term Human Motion Prediction

Luigi Palmieri, Andrey Rudenko, Jim Mainprice, Marc Hanheide, Alexandre Alahi, Achim Lilienthal, and Kai O. Arras. IEEE Robotics and Automation Letters.

Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots

Eric Heiden, Luigi Palmieri, Leonard Bruns, Leonard, Kai O. Arras, Gaurav S. Sukhatme, and Sven Koenig. IEEE Robotics and Automation Letters.

Learning Occupancy Priors of Human Motion From Semantic Maps of Urban Environments

Andrey Rudenko, Luigi Palmieri, Johannes Doellinger, Achim J. Lilienthal, and Kai O. Arras, Kai O. IEEE Robotics and Automation Letters.

On Null Space Based Inverse Kinematics Techniques for Fleet Management: Towards Time-Varying Task Activation

Anna Mannucci, Danilo Caporale, and Lucia Pallottino. IEEE Transactions on Robotics.

Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning.

Nico Mansfeld , Manuel Keppler, and Sami Haddadin. IEEE Robotics and Automation Letters

On Provably Safe and Live Multirobot Coordination With Online Goal Posting

Anna Mannucci, Lucia Pallottino, and Federico Pecora. IEEE Transactions on Robotics.

Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups.

Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, and Sami Haddadin. 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR)

Fast and Safe Trajectory Planning: Solving the Cobot Performance/Safety Trade-Off in Human-Robot Shared Environments

Alessandro Palleschi, Mazin Hamad, Saeed Abdolshah, Manolo Garabini, Sami Haddadin, and Lucia Pallottino. IEEE Robotics & Automation Letters.

Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise Motion

Robin Jeanne Kirschner, Lisa Burr, Melanie Porzenheim, Henning Mayer, Saeed Abdolshah and Sami Haddadin. 2021 IEEE International Conference on Intelligence and Safety for Robotics.

Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach.

Nico Mansfeld , Manuel Keppler, and Sami Haddadin. IEEE Robotics and Automation Letters.

Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066

Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah and Sami Haddadin. 2021 IEEE International Conference on Intelligence and Safety for Robotics.

A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities.

Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin. IEEE International Conference on Intelligence and Safety for Robotics (ISR)

Priority-Based Distributed Coordination for Heterogeneous Multi-Robot Systems with Realistic Assumptions

Michele Cecchi, Matteo Paiano, Anna Mannucci, Alessandro Palleschi, Federico Pecora, and Lucia Pallottino. 2021. IEEE Robotics and Automation Letters.

Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066

Robin Jeanne Kirschner, Nico Mansfeld, Guillermo Gomez Pe´na, Saeed Abdolshah and Sami Haddadin. 2021 IEEE International Conference on Intelligence and Safety for Robotics.

CSM : Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems

Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah and Sami Haddadin. Proceedings of the 2021 IEEE International Conference on Robotics and Automation.

MeTRAbs: Metric-Scale Truncation-Robust Heatmaps for Absolute 3D Human Pose Estimation

István Sárándi, Timm Linder, Kai O. Arras, and Bastian Leibe. IEEE Transactions on Biometrics, Behavior, and Identity Science.

2020

THÖR: Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset

Andrey Rudenko, Tomasz P. Kucner, Chittaranjan S. Swaminathan, Ravi T. Chadalavada, Kai O. Arras, Achim J. Lilienthal. IEEE Robotics and Automation Letters.

Panoptic 3D Mapping and Object Pose Estimation Using Adaptively Weighted Semantic Information

Dinh-Cuong Hoang, Achim J. Lilienthal, and Todor Stoyanov. IEEE Robotics and Automation Letters.

Flexible Automated Depalletizing: an Unwrapping Robot to Remove Plastic from Palletized Goods

Chiara Gabellieri, Alessandro Palleschi, Manuel G Catalano, Manolo Garabini, and Lucia Pallottino. Proceedings of the 2nd Italian Conference on Robotics and Intelligent Machines, 2020.

Fully Autonomous Picking with a Dual-Arm Platform for Intralogistics

Alessandro Palleschi, Marco Gugliotta, Chiara Gabellieri, Dinh-Cuong Hoang, Todor Stoyanov, Manolo Garabini, and Lucia Pallottino. Proceedings of the 2nd Italian Conference on Robotics and Intelligent Machines, 2020.

Toward Distributed solutions for heterogeneous fleet coordination

Alessandro Palleschi, Anna Mannucci, Danilo Caporale, Federico Pecora, and Lucia Pallottino. Proceedings of the 2nd Italian Conference on Robotics and Intelligent Machines, 2020.

Bi-directional navigation intent communication using spatial augmented reality and eye-tracking glasses for improved safety in human–robot interaction

Ravi Teja Chadalavada, Henrik Andreasson, Maike Schindler, Rainer Palm and Achim J. Lilienthal. Proceedings of the Robotics and Computer Integrated Manufacturing Conference (RCIM) 2018.

CIAO⋆: MPC-based Safe Motion Planning in Predictable Dynamic Environments

Tobias Schoels, Per Rutquist, Luigi Palmieri, Andrea Zanelli, Kai O. Arras, and Moritz Diehl. Proceedings of the IFAC World Congress 2020.

Grasp It Like a Pro: Grasp of Unknown Objects With Robotic Hands Based on Skilled Human Expertise

Chiara Gabellieri, Franco Angelini, Visar Arapi, Alessandro Palleschi, Manuel G. Catalano, Giorgio Grioli, Lucia Pallotino, Antonio Bicchi, Matteo Bianchi, and Manolo Garabini. IEEE Robotics and Automation Letters.

Human Motion Trajectory Prediction: A Survey

Andrey Rudenko and Luigi Palmieri and Michael Herman and Kris M Kitani and Dariu M Gavrila and Kai O Arras. The International Journal of Robotics Research.

LiDAR-Based GNSS Denied Localization for Autonomous Racing Cars

Federico Massa, Luca Bonamini, Alessandro Settimi, Lucia Pallottino, and Danilo Caporale. Sensors.

Metric-Scale Truncation-Robust Heatmaps for 3D Human Pose Estimation

István Sárándi, Timm Linder, Kai O. Arras and Bastian Leibe. Proceedings: 2020 IEEE International Conference on Automatic Face and Gesture Recognition (FG).

Natural Criteria for Comparison of Pedestrian Flow Forecasting Models

Tomáš Vintr, Zhi Yan, Kerem Eyisoy, Filip Kubiš, Jan Blaha, Jiří Ulrich, Chittaranjan S. Swaminathan, Sergi Molina, Tomasz P. Kucner, Martin Magnusson, Gregorz Cielniak, Jan Faigl, Tom Duckett, Achim J. Lilienthal, Tomáš Krajník. International Confere...

Time-Optimal Trajectory Planning for Flexible Joint Robots

Alessandro Palleschi, Riccardo Mengacci, Franco Angelini, Danilo Caporale, Lucia Pallottino, Alessandro De Luca, and Manolo Garabini. IEEE Robotics and Automation Letters.

WRAPP-Up: A Dual-Arm Robot for Intralogistics

Manolo Garabini, Danilo Caporale, Vinicio Tincani, Alessandro Palleschi, Chiara Gabellieri, Marco Gugliotta, Alessandro Settimi, Manuel G. Catalano, Giorgio Grioli, Lucia Pallottino. IEEE Robotics & Automation Magazine.

An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance

Tobias Schoels, Luigi Palmieri, Kai O. Arras, and Moritz Diehl. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2020.

Accurate detection and 3D localization of humans using a novel YOLO-based RGB-D fusion approach and synthetic training data

Timm Linder, Kilian Y. Pfeiffer, Narunas Vaskevicius, Robert Schirmer, and Kai O. Arras. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2020.

Localising Faster: Efficient and precise lidar-based robot localisation in large-scale environments

Li Sun, Daniel Adolfsson, Martin Magnusson, Henrik Andreasson, Ingmar Posner, and Tom Duckett. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2020.

Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots

Tomasz Piotr Kucner, Achim J. Lilienthal, Martin Magnusson, Luigi Palmieri, Chittaranjan Srinivas Swaminathan. Springer, Cognitive Systems Monographs (40)

Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators

Seyed Ali Baradaran Birjandi and Sami Haddadin. IEEE Robotics and Automation Letters.

Dispertio: Optimal Sampling for Safe Deterministic Motion Planning

Luigi Palmieri, Leonard Bruns, Michael Meurer, and Kai O. Arras. IEEE Robotics and Automation Letters.

Object-RPE: Dense 3D Reconstruction and Pose Estimation with Convolutional Neural Networks for Warehouse Robots

Dinh-Cuong Hoang, Todor Stoyanov, and Achim J. Lilienthal. Robotics and Autonomous Systems.

2019

Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task.

Nico Mansfeld, Youssef Michel, Tobias Bruckmann and Sami Haddadin. International Conference on Robotics and Automation (ICRA).

Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints

Masoumeh Mansouri, Bruno Lacerda, Nick Hawes, and Federico Pecora. IJCAI 2019.

Making the Case for Human-aware Navigation in Warehouses

Manuel Fernandez-Carmona, Tejas Parekh, and Marc Hanheide. TAROS 2019.

Time-Optimal Path Tracking for Jerk Controlled Robots

Alessandro Palleschi, Manolo Garabini, Danilo Caporale, and Lucia Pallottino. IEEE Robotics and Automation Letters.

Semantically Assisted Loop Closure in SLAM Using NDT Histograms

Anestis Zaganidis, Alexandros Zerntev, Tom Duckett, and Grzegorz Cielniak. IROS 2019.

Towards an Autonomous Unwrapping System for Intralogistics

Chiara Gabellieri et al. RA-L 2019

Dynamic Whole-Body Control of Unstable Wheeled Humanoid Robots

Grazia Zambella, Gianluca Lentini, Manolo Garabini, Giorgio Groli, Manuel G. Catalano, Alessandro Palleschi, Lucia Pallottino, Antonio Bicchi, Alessandro Settimi, and Danilo Caporale. RA-L.

Provably Safe Multi-Robot Coordination With Unreliable Communication

Anna Mannucci, Lucia Pallottino, and Federico Pecora. RA-L.

Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration

Dinmukhamed Zardykhan, Petr Svarny, Erfan Shahriari and Sami Haddadin. Humanoids 2019.

The Role of Robot Payload in the Safety Map Framework

Mazin Hamad, Nico Mansfeld, Saeed Abdolshah and Sami Haddadin. IROS 2019.

A Submap per Perspective - Selecting Subsets for SuPer Mapping that Afford Superior Localization Quality

Daniel Adolfsson, Stephanie Lowry, Martin Magnusson, Achim J. Lilienthal and Henrik Andreasson. ECMR 2019.

Unified Motion-Based Calibration of Mobile Multi-Sensor Platforms With Time Delay Estimation

Bartolomeo Della Corte, Henrik Andreasson, Todor Stoyanov, and Giorgio Grisetti. IEEE Robotics and Automation Letters.

Time-varying Pedestrian Flow Models for Service Robots

Tomás Vintr, Sergi Molina, Ransalu Senanayake, George Broughton, Zhi Yan, Jirı Ulrich, Tomasz Piotr Kucner, Chittaranjan Srinivas Swaminathan, Filip Majer, Mária Stachová, Achim J. Lilienthal, and Tomás Krajník. Proceedings of the European Conference on Mo...

Go with the Flow: Exploration and Mapping of Pedestrian Flow Patterns from Partial Observations

Sergi Molina, Grzegorz Cielniak and Tom Duckett. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019.

Towards Training Person Detectors for Mobile Robots using Synthetically Generated RGB-D Data

Timm Linder, Michael Johan Hernandez Leon, Narunas Vaskevicius, and Kai Oliver Arras. CVPR 2019: Workshop on 3D Scene Generation.

A Novel Weakly-supervised approach for RGB-D-based Nuclear Waste Object Detection and Categorization

Li Sun, Cheng Zhao, Zhi Yan, Pengcheng Liu, Tom Duckett, and Rustam Stolkin. IEEE Sensors Journal.

URSIM: Unique Regions for Sketch map Interpretation and Matching

Malcolm Mielle, Martin Magnusson, and Achim J. Lilienthal. Robotics.

Informed Information Theoretic Model Predictive Control

Raphael Kusumoto, Luigi Palmieri, Markus Spies, Akos Csiszar, and Kai. O. Arras. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019.

Deconfliction of Motion Paths with Traffic Inspired Rules in Robot–Robot and Human–Robot Interactions

Federico Celi, Li Wang, Lucia Pallottino, and Magnus Egerstedt. IEEE Robotics and Automation Letters. [Awards finalist: Best Paper Award on Human-Robot Interaction at ICRA 2019]

The Auto-Complete Graph: Merging and Mutual Correction of Sensor and Prior Maps for SLAM

Malcolm Mielle, Martin Magnusson, and Achim J. Lilienthal. Robotics.

2018

Accessing your navigation plans! Human Robot Intention Transfer using Eye Tracking Glasses

Ravi Teja Chadalavada, Henrik Andreasson, Maike Schindler, Rainer Palm, and Achim J. Lilienthal. Proceedings of the 16th International Conference on Manufacturing Research (ICMR) 2018.

Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization

João Salvado, Federico Pecora, Masoumeh Mansouri, and Robert Krug. 2018 IEEE International Conference on Intelligent Robots and Systems (IROS).

Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design

Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, and Sami Haddadin. 2018 IEEE International Conference on Robotics and Automation (ICRA).

Learning monocular visual odometry with dense 3D mapping from dense 3D flow

Cheng Zhao, Li Sun, Pulak Purkait, Tom Duckett, and Rustam Stolkin. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2018.

Multisensor Online Transfer Learning for 3D LiDAR-based Human Detection with a Mobile Robot

Zhi Yan, Li Sun, Tom Duckett, and Nicola Bellotto. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2018.

Dense RGB-D Semantic Mapping with Pixel-Voxel Neural Network

Cheng Zhao, Li Sun, Pulak Purkait , Tom Duckett, and Rustam Stolkin. Sensors.

Recurrent-OctoMap: Learning State-based Map Refinement for Long-Term Semantic Mapping with 3D-Lidar Data

Li Sun, Zhi Yan, Anestis Zaganidis, Cheng Zhao, and Tom Duckett. IEEE Robotics and Automation Letters.

Integrating Deep Semantic Segmentation Into 3-D Point Cloud Registration

Anestis Zaganidis, Li Sun, Tom Duckett, and Grzegorz Cielniak. IEEE Robotics and Automation Letters.

Introduction to the Special Issue on AI for Long-Term Autonomy

Lars Kunze, Nick Hawes, Tom Duckett, and Marc Hanheide. IEEE Robotics and Automation Letters.

Artificial Intelligence for Long-Term Robot Autonomy: A Survey

Lars Kunze, Nick Hawes, Tom Duckett, Marc Hanheide, and Tomás Krajník. IEEE Robotics and Automation Letters.

Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

Sergi Molina, Grzegorz Cielniak, Tomás Krajník, and Tom Duckett. 2018 Conference Towards Autonomous Robotic Systems (TAROS).

Down The CLiFF: Flow-aware Trajectory Planning under Motion Pattern Uncertainty

Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Martin Magnusson, Luigi Palmieri, and Achim J. Lilienthal. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Improving Localisation Accuracy using Submaps in Warehouses

Daniel Adolfsson, Stephanie Lowry, and Henrik Andreasson. IROS 2018: Workshop on Robotics for Logistics in Warehouses and Environments Shared with Humans.

Towards Accurate 3D Person Detection and Localization from RGB-D in Cluttered Environments

Timm Linder, Dennis Griesser, Narunas Vaskevicius, and Kai O. Arras. IROS 2018: Workshop on Robotics for Logistics in Warehouses and Environments Shared with Humans.

Synthetic Occlusion Augmentation with Volumetric Heatmaps for the 2018 ECCV PoseTrack Challenge on 3D Human Pose Estimation

István Sárándi, Timm Linder, Kai O. Arras, and Bastian Leibe. European Conference on Computer Vision (ECCV) 2018 Workshops. [Winner of 2018 PoseTrack 3D Challenge]

Human Motion Prediction Under Social Grouping Constraints

Andrey Rudenko, Luigi Palmieri, Achim J. Lilienthal, and Kai O. Arras. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2018. [Awards finalist: Best Paper Award on Safety Security and Rescue Robotics]

How Robust is 3D Human Pose Estimation to Occlusion?

István Sárándi, Timm Linder, Kai O. Arras, and Bastian Leibe. IROS 2018: Workshop on Robotic Co-workers 4.0: Human Safety and Comfort in Human-Robot Interactive Social Environments.

Deep Person Detection in Two-Dimensional Range Data

Lucas Beyer, Alexander Hermans, Timm Linder, Kai O. Arras, and Bastian Leibe. IEEE Robotics and Automation Letters (RA-L) with presentation at IROS, 2018.

Nonlinear Optimization of Multimodal 2D Map Alignment with Application to Prior Knowledge Transfer

Saeed Gholami Shahbandi, Martin Magnusson, and Karl Iagnemma. IEEE Robotics and Automation Letters.

2D Map Alignment with Region Decomposition

Saeed Gholami Shahbandi and Martin Magnusson. Autonomous Robots.

Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties

Nico Mansfeld , Mazin Hamad , Marvin Becker, Antonio Gonzales Marin, and Sami Haddadin. IEEE Robotics and Automation Letters.

A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry

Daniel Ricão Canelhas, Todor Stoyanov, and Achim J. Lilienthal. IEEE International Conference on Robotics and Automation (ICRA) 2018.

A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control

Federico Pecora, Henrik Andreasson, Masoumeh Mansouri and Vilian Petkov. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS).

3DOF Pedestrian Trajectory Prediction Learned from Long-Term Autonomous Mobile Robot Deployment Data

Li Sun, Zhi Yan, Sergi Molina Mellado, Marc Hanheide, and Tom Duckett. IEEE International Conference on Robotics and Automation (ICRA) 2018.

Joint Long-Term Prediction of Human Motion Using a Planning-Based Social Force Approach

Andrey Rudenko, Luigi Palmieri, and Kai Oliver Arras. IEEE International Conference on Robotics and Automation (ICRA) 2018.

Gradient-Informed Path Smoothing for Wheeled Mobile Robots

Eric Heiden, Luigi Palmieri, Sven Koenig, Kai Oliver Arras, and Gaurav Sukhatme. IEEE International Conference on Robotics and Automation (ICRA) 2018.

2017

FreMEn: Frequency Map Enhancement for Long-Term Mobile Robot Autonomy in Changing Environments

Tomas Krajnik, Jaime P. Fentanes, Joao M. Santos, and Tom Duckett. IEEE Transactions on Robotics

Spatiotemporal Models for Motion Planning in Human Populated Environments

Tomas Vintr, Sergi Mellado Molina, Grzegorz Cielniak, Tom Duckett and Tomas Krajnik. 2017 Student Conference on Planning in Artificial Intelligence and Robotics (PAIR).

Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization

Nico Mansfeld, Badis Djellab, Jaime Raldúa Veuthey, Fabian Beck, Christian Ott, and Sami Haddadin. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017.