Refine
H-BRS Bibliography
- yes (54)
Departments, institutes and facilities
- Fachbereich Informatik (44)
- Institute of Visual Computing (IVC) (7)
- Fachbereich Ingenieurwissenschaften und Kommunikation (3)
- Fachbereich Wirtschaftswissenschaften (2)
- Institut für Technik, Ressourcenschonung und Energieeffizienz (TREE) (2)
- Präsidium (2)
- Fachbereich Sozialpolitik und Soziale Sicherung (1)
- Institut für Medienentwicklung und -analyse (IMEA) (1)
- Internationales Zentrum für Nachhaltige Entwicklung (IZNE) (1)
- Stabsstelle Kommunikation und Marketing (1)
Document Type
- Report (54) (remove)
Year of publication
Has Fulltext
- yes (54) (remove)
Keywords
- Robotik (5)
- Cutting sticks-Problem (3)
- Teilsummenaufteilung (3)
- Virtuelle Realität (3)
- Deep Learning (2)
- Forschungsbericht (2)
- Gravitation (2)
- Machine Learning (2)
- Mengenpartitionsproblem (2)
- Perceptual Upright (2)
- Raumwahrnehmung (2)
- Verkehrssimulation (2)
- virtuelle Umgebungen (2)
- 3D Segmentation (1)
- 3D-Scanner (1)
- 802.11 (1)
- AOD (1)
- Adaptive Behavior (1)
- Adaptive Case Management (1)
- Agents (1)
- Algorithmische Informationstheorie (1)
- Allgegenwärtige Spiele (1)
- Analyse (1)
- Apprenticeship Learning (1)
- Assistenzsystem (1)
- Aufrecht (1)
- Benchmark (1)
- Bildverarbeitung (1)
- Bioinformatics (1)
- Blockchain (1)
- Bubble-Chart (1)
- COD (1)
- Calibration (1)
- Centrifuge (1)
- Chaitin-Konstante (1)
- Cloud Computing (1)
- Codierung (1)
- Collaboration/Cooperation (1)
- Comparative Analysis (1)
- Convexity (1)
- Created Gravity (1)
- Cryptography (1)
- Curriculum (1)
- CyberGlove (1)
- DCF (1)
- Declarative Process Modeling (1)
- Disco (1)
- Distribution grid management (1)
- Domain-Specific Language (1)
- Domestic Robots (1)
- Dynamic Case Management (1)
- Emotion (1)
- EnOcean (1)
- Energiemeteorologie (1)
- Erweiterte Realität (1)
- Erzeugungsprognose (1)
- FIVIS (1)
- FPGA (1)
- FS20 (1)
- Fahrradfahrsimulator (1)
- Fahrsimulator (1)
- Five Factor Model (1)
- Fuzzy Miner (1)
- GDDL (1)
- Gabor filters (1)
- Gefahrenprävention (1)
- Graph Convolutional Neural Networks (1)
- Grasp Domain Definition Language (1)
- Grasp Planner (1)
- Grasping (1)
- Handzeichenerkennung (1)
- Healthcare logistics (1)
- Hochschule Bonn-Rhein-Sieg (1)
- HomeMatic (1)
- Human-Centered Robotics (1)
- Human-Computer-Interaction (HCI) (1)
- ICF (1)
- ISO9999 (1)
- Image Classification (1)
- Inductive Visual Miner (1)
- Instantaneous assignment (1)
- Interaktion (1)
- Inversion (1)
- KNX (1)
- Knowledge Graphs (1)
- Knowledge Worker (1)
- Knowledge-intensive Process (1)
- Kollaboration/Kooperation (1)
- Kolmogorov-Komplexität (1)
- Kompression und Zufälligkeit von Zeichenketten (1)
- Künstliche Gravitation (1)
- LBP (1)
- LDP (1)
- LSTM (1)
- Learning and Adaptive Systems (1)
- Lehren (1)
- Long-Term Autonomy (1)
- METEOR score (1)
- Mathematisch-naturwissenschaftlicher Unterricht (1)
- Mengenpartitionierungsproblem (1)
- Mensch-Computer-Interaktion (1)
- Mensch-Maschine-Kommunikation (1)
- Mixed-Reality (MR) (1)
- Mobiler Roboter (1)
- Multi-robot systems (1)
- Naive physics (1)
- Natural Language Processing (1)
- Object Segmentation (1)
- Out Of Distribution (OOD) data (1)
- Outer Space Research (1)
- Part Segmentation (1)
- Perception (1)
- Personality (1)
- Pervasive Gaming (1)
- Photovoltaik (1)
- Point Cloud Segmentation (1)
- Point Clouds (1)
- ProM (1)
- Process Automation (1)
- Process Mining (1)
- Proof-of-Stake (1)
- Proof-of-Work (1)
- Prozessautomation (1)
- Qualitative reasoning (1)
- RGB-D (1)
- ROPOD (1)
- Radfahren (1)
- RapidMiner (1)
- Reflektanz (1)
- Regionalentwicklung (1)
- Regionalwirtschaft (1)
- Robotic faults (1)
- Roleplaying Game (RPG) (1)
- Rollenspiel (1)
- Rollenspiele (1)
- Satellitenprodukte (1)
- Scene understanding through Deep Learning (1)
- Segmentation (1)
- Semantic Segmentation (1)
- Si reference cells (1)
- Si-Referenzzellen (1)
- Spatio-Temporal (1)
- Spectral Analysis (1)
- Spectral Clustering (1)
- Spektraler Einfluss (1)
- Strahlung (1)
- Strahlungsvariabilität (1)
- Studienverlauf (1)
- Studium (1)
- Task allocation (1)
- Temporal constraints (1)
- Time extended assignment (1)
- Transformers (1)
- Uncertainty Estimation (1)
- Verkehrserziehung (1)
- Verkehrsnetz (1)
- Verkehrsnetzwerke (1)
- Verteilnetzbetriebsführung (1)
- Virtual Reality (1)
- Wahrnehmung (1)
- Weltraumforschung (1)
- Wolkenparameter (1)
- ZWave (1)
- Zentrifuge (1)
- ZigBee (1)
- assistive robots (1)
- automatic music generation (1)
- automatisierte Netzwerkgenerierung (1)
- binary classification (1)
- building automation (1)
- camera (1)
- cloud parameters (1)
- computer vision (1)
- constraint relaxation (1)
- control (1)
- control architectures (1)
- convex optimization (1)
- data glove (1)
- database (1)
- dynamics (1)
- energy (1)
- energy meteorology (1)
- energy saving (1)
- external faults (1)
- facial expression recognition (1)
- fiducial marker (1)
- generation forecast (1)
- grasp motions (1)
- grasping (1)
- hybrid dynamics solver (1)
- hybrid system (1)
- image captioning (1)
- immersive Visualisierung (1)
- infrared pattern (1)
- intelligente Agenten (1)
- intelligente virtuelle Agenten (1)
- interaction (1)
- inversion (1)
- long-distance modeling (1)
- mobile manipulators (1)
- mobility assistance system (1)
- motion capture (1)
- music analysis (1)
- numerical weather prediction (1)
- numerische Wettervorhersage (1)
- optical character recognition (1)
- optical tracking (1)
- photovoltaics (1)
- prehensile motions (1)
- radiation (1)
- radiation variability (1)
- reflectance (1)
- representation learning (1)
- road (1)
- robot control (1)
- robot dynamics (1)
- robotic arm (1)
- robotic evaluation (1)
- robotics (1)
- satellite products (1)
- scene-segmentation (1)
- scenes (1)
- security (1)
- spectral influence (1)
- static friction (1)
- task models (1)
- taxonomie (1)
- technology mapping (1)
- text detection (1)
- text localization (1)
- traffic sign detection (1)
- traffic sign localization (1)
- user input (1)
- user interaction (1)
Neuromorphic computing aims to mimic the computational principles of the brain in silico and has motivated research into event-based vision and spiking neural networks (SNNs). Event cameras (ECs) capture local, independent changes in brightness, and offer superior power consumption, response latencies, and dynamic ranges compared to frame-based cameras. SNNs replicate neuronal dynamics observed in biological neurons and propagate information in sparse sequences of ”spikes”. Apart from biological fidelity, SNNs have demonstrated potential as an alternative to conventional artificial neural networks (ANNs), such as in reducing energy expenditure and inference time in visual classification. Although potentially beneficial for robotics, the novel event-driven and spike-based paradigms remain scarcely explored outside the domain of aerial robots.
To investigate the utility of brain-inspired sensing and data processing in a robotics application, we developed a neuromorphic approach to real-time, online obstacle avoidance on a manipulator with an onboard camera. Our approach adapts high-level trajectory plans with reactive maneuvers by processing emulated event data in a convolutional SNN, decoding neural activations into avoidance motions, and adjusting plans in a dynamic motion primitive formulation. We conducted simulated and real experiments with a Kinova Gen3 arm performing simple reaching tasks involving static and dynamic obstacles. Our implementation was systematically tuned, validated, and tested in sets of distinct task scenarios, and compared to a non-adaptive baseline through formalized quantitative metrics and qualitative criteria.
The neuromorphic implementation facilitated reliable avoidance of imminent collisions in most scenarios, with 84% and 92% median success rates in simulated and real experiments, where the baseline consistently failed. Adapted trajectories were qualitatively similar to baseline trajectories, indicating low impacts on safety, predictability and smoothness criteria. Among notable properties of the SNN were the correlation of processing time with the magnitude of perceived motions (captured in events) and robustness to different event emulation methods. Preliminary tests with a DAVIS346 EC showed similar performance, validating our experimental event emulation method. These results motivate future efforts to incorporate SNN learning, utilize neuromorphic processors, and target other robot tasks to further explore this approach.