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With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
Spatial reasoning, the ability to understand spatial relations, causality, and dynamic evolution, is central to human intelligence and essential for real-world applications such as autonomous driving and robotics. Existing studies, however,…
In the present work we focus on the case of (few-site) configurations respecting the PT-symmetry. We examine the case of such "oligomers" with not only 2-sites, as in earlier works, but also the cases of 3- and 4-sites. While in the former…
With the sphere $\mathbb{S}^2 \subset \mathbb{R}^3$ as a conductor holding a unit charge with logarithmic interactions, we consider the problem of determining the support of the equilibrium measure in the presence of an external field…
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical…
Multi-perspective cameras with potentially non-overlapping fields of view have become an important exteroceptive sensing modality in a number of applications such as intelligent vehicles, drones, and mixed reality headsets. In this work, we…
Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots. Motivated by recent advancements in 3D foundation models,…
We discuss the parallelization of algorithms for solving polynomial systems symbolically by way of triangular decomposition. Algorithms for solving polynomial systems combine low-level routines for performing arithmetic operations on…
This paper introduces a model that identifies spatial relationships for a structural analysis based on the concept of simplicial complex. The spatial relationships are identified through overlapping two map layers, namely a primary layer…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for…
This study examines the dynamics of the third body in an elliptic restricted three-body problem (ERTBP) framework, taking into account perturbations from radiation pressure, oblateness, and elongation of the primary bodies, as well as…
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…
This paper aims to solve the equations of geometrically exact 3D nonlinear Cosserat static rods under large displacements with a mesh free alternative method to finite elements: the shooting method. One of the main goal of the work…
We use trivariate spline functions for the numerical solution of the Dirichlet problem of the 3D elliptic Monge-Amp\'ere equation. Mainly we use the spline collocation method introduced in [SIAM J. Numerical Analysis, 2405-2434,2022] to…
In this paper we examine four different models for the realization space of a polytope: the classical model, the Grassmannian model, the Gale transform model, and the slack variety. Respectively, they identify realizations of the polytopes…
Relative localization is critical for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions or suffer from non-line-of-sight degradation and outliers in…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…