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Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
Blind individuals face persistent challenges in last-mile navigation, including locating entrances, identifying obstacles, and navigating complex or cluttered spaces. Although wearable cameras are increasingly used in assistive systems,…
The issue of seamless identification of users previously tracked using existing real-time optical position tracking system such as the OptiTrack system and maintaining continuous tracking state (history) of each of those users is a hard…
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algorithms for walking over rough terrain are becoming…
Smart parking systems help reduce congestion and minimize users' search time, thereby contributing to smart city adoption and enhancing urban mobility. In previous works, we presented a system developed on a university campus to monitor…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
Human following is a crucial feature of human-robot interaction, yet it poses numerous challenges to mobile agents in real-world scenarios. Some major hurdles are that the target person may be in a crowd, obstructed by others, or facing…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Wearable robotics for lower-limb assistance have become a pivotal area of research, aiming to enhance mobility for individuals with physical impairments or augment the performance of able-bodied users. Accurate and adaptive control systems…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…
In this paper, a new Smartphone sensor based algorithm is proposed to detect accurate distance estimation. The algorithm consists of two phases, the first phase is for detecting the peaks from the Smartphone accelerometer sensor. The other…
This paper deals with the problem of detecting fallen people lying on the floor by means of a mobile robot equipped with a 3D depth sensor. In the proposed algorithm, inspired by semantic segmentation techniques, the 3D scene is…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
One of the major issues in Wireless Body Area Sensor Networks (WBASNs) is efficient localization. There are various techniques for indoor and outdoor environments to locate a person. This study evaluating and compares performance of…
At present, the existing gait recognition systems are focusing on developing methods to extract robust gait feature from silhouette images and they indeed achieved great success. However, gait can be sensitive to appearance features such as…
The wide spread use of positioning and photographing devices gives rise to a deluge of traffic trajectory data (e.g., vehicle passage records and taxi trajectory data), with each record having at least three attributes: object ID, location…
Person-tracking robots have many applications, such as in security, elderly care, and socializing robots. Such a task is particularly challenging when the person is moving in a Uniform crowd. Also, despite significant progress of trackers…
We introduce Walk4Me, a telehealth community mobility assessment system designed to facilitate early diagnosis, severity, and progression identification. Our system achieves this by 1) enabling early diagnosis, 2) identifying early…
Predicting human trajectories is a challenging task due to the complexity of pedestrian behavior, which is influenced by external factors such as the scene's topology and interactions with other pedestrians. A special challenge arises from…