Related papers: Spatial planning with constraints on translational…
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed insertion port. The robot often encounters angle limitations during…
In the geometric data model for spatio-temporal data, introduced by Chomicki and Revesz, spatio-temporal data are modelled as a finite collection of triangles that are transformed by time-dependent affinities of the plane. To facilitate…
Ordinal embedding aims at finding a low dimensional representation of objects from a set of constraints of the form "item $j$ is closer to item $i$ than item $k$". Typically, each object is mapped onto a point vector in a low dimensional…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Manifolds discovered by machine learning models provide a compact representation of the underlying data. Geodesics on these manifolds define locally length-minimising curves and provide a notion of distance, which are key for reduced-order…
This paper presents a method to estimate the 3D object position and occupancy given a set of object detections in multiple images and calibrated cameras. This problem is modelled as the estimation of a set of quadrics given 2D conics fit to…
Image stitching algorithms often adopt the global transformation, such as homography, and work well for planar scenes or parallax free camera motions. However, these conditions are easily violated in practice. With casual camera motions,…
The aim of the paper is to develop a unified algebraical approach to representing the Minkowski difference for convex polyhedra. Namely, there is proposed an exact analytical formulas of the Minkowski difference for convex polyhedra with…
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
We address the motion planning problem for multiple robotic manipulators in packed environments where shared workspace can result in goal positions occupied or blocked by other robots unless those other robots move away to make the goal…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…
In this paper we introduce and study a new concept of parametrised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high…
Rotation Averaging is a non-convex optimization problem that determines orientations of a collection of cameras from their images of a 3D scene. The problem has been studied using a variety of distances and robustifiers. The intrinsic (or…
We show that relativistic rotation transformations represent transfer maps between the laboratory system and a local observer on an observer manifold, rather than an event manifold, in the spirit of C-equivalence. Rotation is, therefore,…
Constraining motion to a flat surface is a fundamental requirement for equipment across science and engineering. Modern precision robotic motion systems, such as gantries, rely on the flatness of components, including guide rails and…
A polygon C is an intersecting polygon for a set O of objects in the plane if C intersects each object in O, where the polygon includes its interior. We study the problem of computing the minimum-perimeter intersecting polygon and the…
The definition of symbolic descriptions that consistently represent relevant geometrical aspects in manipulation tasks is a challenging problem that has received little attention in the robotic community. This definition is usually done…
We investigate the problem of computing a minimal-volume container for the non-overlapping packing of a given set of three-dimensional convex objects. Already the simplest versions of the problem are NP-hard so that we cannot expect to find…
We investigate the approximation of Monge--Kantorovich problems on general compact metric spaces, showing that optimal values, plans and maps can be effectively approximated via a fully discrete method. First we approximate optimal values…