Related papers: SINGULAB - A Graphical user Interface for the Sing…
The rise of graph analytic systems has created a need for ways to measure and compare the capabilities of these systems. Graph analytics present unique scalability difficulties. The machine learning, high performance computing, and visual…
Parallel robots (PRs) have singular configurations where the robot gains at least one degree of freedom and loses control. Theoretically, such singularity occurs when the Forward Jacobian-matrix determinant becomes zero (Type II). However,…
From a single image, visual cues can help deduce intrinsic and extrinsic camera parameters like the focal length and the gravity direction. This single-image calibration can benefit various downstream applications like image editing and 3D…
Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot planner must select grasps, placements, and motions that are…
Introducing parallelism and exploring its use is still a fundamental challenge for the computer algebra community. In high performance numerical simulation, on the other hand, transparent environments for distributed computing which follow…
The wavelet transform and related techniques are used to analyze singular and fractal signals. The normalized wavelet scalogram is introduced to detect singularities including jumps, cusps and other sharply changing points. The wavelet…
This paper studies the Craig variant of the Golub-Kahan bidiagonalization algorithm as an iterative solver for linear systems with saddle point structure. Such symmetric indefinite systems in 2x2 block form arise in many applications, but…
This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation, 3DGS has enabled unprecedented…
We present a scalability study of Golub-Kahan bidiagonalization for the parallel iterative solution of symmetric indefinite linear systems with a 2x2 block structure. The algorithms have been implemented within the parallel numerical…
In this paper, we propose a solution for graph-based global robot simultaneous localization and mapping (SLAM) using architectural plans. Before the start of the robot operation, the previously available architectural plan of the building…
One of the key objectives in many fields in machine learning is to discover causal relationships among a set of variables from observational data. In linear non-Gaussian acyclic models (LiNGAM), it can be shown that the true underlying…
A central challenge for multi-robot systems is fusing independently gathered perception data into a unified representation. Despite progress in Collaborative SLAM (C-SLAM), benchmarking remains hindered by the scarcity of dedicated…
This document presents the study of the problem of location and trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve location and trajectory estimation in an autonomous mobile differential robot. The…
The person re-identification task requires to robustly estimate visual similarities between person images. However, existing person re-identification models mostly estimate the similarities of different image pairs of probe and gallery…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
This paper introduces a novel paradigm for the analysis and verification of concurrent programs -- the Singularity Theory. We model the execution space of a concurrent program as a branched topological space, where program states are points…
The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline.…
We propose a novel criterion for evaluating user input for human-robot interfaces for known tasks. We use the mode insertion gradient (MIG)---a tool from hybrid control theory---as a filtering criterion that instantaneously assesses the…