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In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-level control schemes. However, additionally integrating…
Collision avoidance systems play a vital role in reducing the number of vehicle accidents and saving human lives. This paper extends the previous work using evolutionary neural networks for reactive collision avoidance. We are proposing a…
Computing spherical harmonic decompositions is a ubiquitous technique that arises in a wide variety of disciplines and a large number of scientific codes. Because spherical harmonics are defined by integrals over spheres, however, one must…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Interactive bodies collision detection and elimination is one of the most popular task nowadays. Collisions can be detected in different ways. Collision search using space voxelization is one of the most fast. This paper describes improved…
Moving objects are frequently seen in daily life and usually appear blurred in images due to their motion. While general object retrieval is a widely explored area in computer vision, it primarily focuses on sharp and static objects, and…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
Many computer vision challenges require continuous outputs, but tend to be solved by discrete classification. The reason is classification's natural containment within a probability $n$-simplex, as defined by the popular softmax activation…
We experimentally investigate the dynamics of a sphere rolling down a granular slope by varying the initial velocity, slope angle, and sphere density. The results show that the sphere rolls down with constant deceleration while sinking into…
We consider the classical contention resolution problem where nodes arrive over time, each with a message to send. In each synchronous slot, each node can send or remain idle. If in a slot one node sends alone, it succeeds; otherwise, if…
A robust corner and tangent point detection (CTPD) tool is critical for sketch-based engineering modeling. This paper proposes a robust CTPD approach for hand-drawn strokes with deep learning approach. Its robustness for users, stroke…
Object detection is a fundamental task in computer vision and has many applications in image processing. This paper proposes a new approach for object detection by applying scale invariant feature transform (SIFT) in an automatic…
This paper represents a sequel to the previous one, where numerical solution of a quasistatic contact problem is considered for an elastic body in frictional contact with a moving foundation. The model takes into account wear of the contact…
Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are…
This paper introduces a circle detection method based on Differential Evolution (DE) optimization. Just as circle detection has been lately considered as a fundamental component for many computer vision algorithms, DE has evolved as a…
We consider a one-dimensional system of four inelastic hard spheres, colliding with a fixed restitution coefficient $r$, and we study the inelastic collapse phenomenon for such a particle system. We study a periodic, asymmetric collision…
In this paper, we propose using the scattering surface area rather than the scattering cross section to characterize the scattering behavior of ellipsoidal rigid bodies. We examined the scattering behavior of ellipsoidal rigid bodies,…
A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
Soft adhesive contacts are ubiquitous in nature and are increasingly used in synthetic systems, such as flexible electronics and soft robots, due to their advantages over traditional joining techniques. While methods to study the failure of…