Related papers: Visual Room-Awareness for Humanoid Robot Self-Loca…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

This paper presents a solution to controlling humanoid robotic systems. The robot can be programmed to execute certain complex actions based on basic motion primitives. The humanoid robot is programmed using a PC. The software running on…

Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tasks requiring coordinated behaviors such as opening doors.…

The ability for an autonomous agent to self-localise is directly proportional to the accuracy and precision with which it can perceive salient features within its local environment. The identification of such features by recognising…

Vision is a popular and effective sensor for robotics from which we can derive rich information about the environment: the geometry and semantics of the scene, as well as the age, gender, identity, activity and even emotional state of…

Humanoid robots could replace humans in hazardous situations but most of such situations are equally dangerous for them, which means that they have a high chance of being damaged and falling. We hypothesize that humanoid robots would be…

Humanoid robots, characterized by numerous degrees of freedom and a high center of gravity, are inherently unstable. Safe omnidirectional locomotion on stairs requires both omnidirectional terrain perception and reliable foothold selection.…

Simultaneous localization and mapping (SLAM) algorithms are essential for the autonomous navigation of mobile robots. With the increasing demand for autonomous systems, it is crucial to evaluate and compare the performance of these…

With increasing attention paid to blimp research, I hope to build an indoor blimp to interact with humans. To begin with, I propose developing a visual localization system to enable blimps to localize themselves in an indoor environment…

In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…

In this paper, we learn visual features that we use to first build a map and then localize a robot driving autonomously across a full day of lighting change, including in the dark. We train a neural network to predict sparse keypoints with…

We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…

Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…

The deployment of humanoid robots for dexterous manipulation in unstructured environments remains challenging due to perceptual limitations that constrain the effective workspace. In scenarios where physical constraints prevent the robot…

Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…