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Wim Meeussen
Willow Garage
EngineeringControl engineeringComputer visionComputer scienceMotion planning
22Publications
10H-index
569Citations
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Publications 21
Newest
In recent years the Robot Operating System (ROS) has become the 'de facto' standard framework for robotics software development. The `ros_control` framework provides the capability to implement and manage robot controllers with a focus on both _real-time performance_ and _sharing of controllers_ in a robot-agnostic way. The primary motivation for a sepate robot-control framework is the lack of realtime-safe communication layer in ROS. Furthermore, the framework implements solutions for controlle...
8 CitationsSource
Dec 24, 2012 in IROS (Intelligent Robots and Systems)
#1Dave Crane (UM: Maastricht University)H-Index: 93
#2Daniel Hennes (UM: Maastricht University)H-Index: 10
Last. Wim Meeussen (Willow Garage)H-Index: 10
view all 4 authors...
We present a multi-mobile robot collision avoidance system based on the velocity obstacle paradigm. Current positions and velocities of surrounding robots are translated to an efficient geometric representation to determine safe motions. Each robot uses on-board localization and local communication to build the velocity obstacle representation of its surroundings. Our close and error-bounded convex approximation of the localization density distribution results in collision-free paths under uncer...
35 CitationsSource
Jun 4, 2012 in AAMAS (Adaptive Agents and Multi-Agents Systems)
#1Daniel Hennes (UM: Maastricht University)H-Index: 10
#2Dave Crane (UM: Maastricht University)H-Index: 93
Last. Karl Tuyls (UM: Maastricht University)H-Index: 26
view all 4 authors...
This paper describes a multi-robot collision avoidance system based on the velocity obstacle paradigm. In contrast to previous approaches, we alleviate the strong requirement for perfect sensing (i.e. global positioning) using Adaptive Monte-Carlo Localization on a per-agent level. While such methods as Optimal Reciprocal Collision Avoidance guarantee local collision-free motion for a large number of robots, given perfect knowledge of positions and speeds, a realistic implementation requires fur...
53 Citations
Jun 4, 2012 in AAMAS (Adaptive Agents and Multi-Agents Systems)
#1Dave Crane (UM: Maastricht University)H-Index: 93
#2Daniel Hennes (UM: Maastricht University)H-Index: 10
Last. Karl Tuyls (UM: Maastricht University)H-Index: 26
view all 4 authors...
CALU is a multi-robot collision avoidance system based on the velocity obstacle paradigm. In contrast to previous approaches, we alleviate the strong requirement for perfect sensing (i.e. global positioning) using Adaptive Monte-Carlo Localization on a per-agent level.
#1Dave CraneH-Index: 93
#2Daniel HennesH-Index: 10
Last. Karl TuylsH-Index: 26
view all 4 authors...
2 Citations
Dec 5, 2011 in IROS (Intelligent Robots and Systems)
#1Victor EruhimovH-Index: 3
#2Wim Meeussen (Willow Garage)H-Index: 10
We describe an algorithm for detection of electrical outlets in images obtained by a monocular camera. We provide a method for calculating 3D coordinates of outlet holes with accuracy high enough for a robot to plug in without visual servoing. The paper proposes a novel algorithm for accurate pose estimation of a small planar object. We use the plane normal obtained from stereo data as a hard constraint for a planar PnP problem. A different cost function is proposed together with a closed-form s...
8 CitationsSource
May 9, 2011 in ICRA (International Conference on Robotics and Automation)
#1Jonathan Bohren (Willow Garage)H-Index: 8
#2Radu Bogdan Rusu (Willow Garage)H-Index: 38
Last. Stefan Johannes Josef Holzer (Willow Garage)H-Index: 9
view all 9 authors...
As autonomous personal robots come of age, we expect certain applications to be executed with a high degree of repeatability and robustness. In order to explore these applications and their challenges, we need tools and strategies that allow us to develop them rapidly. Serving drinks (i.e., locating, fetching, and delivering), is one such application with well-defined environments for operation, requirements for human interfacing, and metrics for successful completion. In this paper we present o...
171 CitationsSource
May 3, 2010 in ICRA (International Conference on Robotics and Automation)
#1Wim Meeussen (Willow Garage)H-Index: 10
#2Melonee Wise (Willow Garage)H-Index: 2
Last. Eric Berger (Willow Garage)H-Index: 3
view all 17 authors...
We describe an autonomous robotic system capable of navigating through an office environment, opening doors along the way, and plugging itself into electrical outlets to recharge as needed. We demonstrate through extensive experimentation that our robot executes these tasks reliably, without requiring any modification to the environment. We present robust detection algorithms for doors, door handles, and electrical plugs and sockets, combining vision and laser sensors. We show how to overcome th...
115 CitationsSource
#1Radu Bogdan Rusu (TUM: Technische Universität München)H-Index: 38
#2Wim Meeussen (Willow Garage)H-Index: 10
Last. Michael Beetz (TUM: Technische Universität München)H-Index: 45
view all 4 authors...
In this paper, we present a laser-based approach for door and handle identification. The approach builds on a 3D perception pipeline to annotate doors and their handles solely from sensed laser data, without any a priori model learning. In particular, we segment the parts of interest using robust geometric estimators and statistical methods applied on geometric and intensity distribution variations in the scan. We present experimental results on a mobile manipulation platform (PR2) intended for ...
46 Citations
#1Wim Meeussen (Katholieke Universiteit Leuven)H-Index: 10
#2Ernesto StaffettiH-Index: 12
Last. Joris De Schutter (Katholieke Universiteit Leuven)H-Index: 39
view all 5 authors...
This paper presents the Compliant Task Generator, a new approach for the automatic conversion of a geometrical contact path into a force-based task specification. A contact path planner generates a sequence of six-dimensional poses and corresponding contact formations, while a hybrid robot controller expects a desired wrench, twist and the local wrench and twist subspaces. Our approach automatically converts a geometrical path description into a force based tasks specification for the hybrid con...
20 CitationsSource
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