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Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
As the reliability of the robot's perception correlates with the number of integrated sensing modalities to tackle uncertainty, a practical solution to manage these sensors from different computers, operate them simultaneously, and maintain…
In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…
Simulation-based Dynamic Traffic Assignment models have important applications in real-time traffic management and control. The efficacy of these systems rests on the ability to generate accurate estimates and predictions of traffic states,…
Accurate structural response prediction forms a main driver for structural health monitoring and control applications. This often requires the proposed model to adequately capture the underlying dynamics of complex structural systems. In…
Autonomous vehicles and mobile robotic systems are typically equipped with multiple sensors to provide redundancy. By integrating the observations from different sensors, these mobile agents are able to perceive the environment and estimate…
To enhance accuracy of robot state estimation, active sensing (or perception-aware) methods seek trajectories that maximize the information gathered by the sensors. To this aim, one possibility is to seek trajectories that minimize the…
Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
This paper proposes an algorithm for combined contact detection and state estimation for legged robots. The proposed algorithm models the robot's movement as a switched system, in which different modes relate to different feet being in…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…
In this paper, we present a effective state estimation algorithm that combined with various sensors information (Inertial measurement unit, joints encoder, camera and LIDAR)
Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…
This article examines state estimation in discrete-time nonlinear stochastic systems with finite-dimensional states and infinite-dimensional measurements, motivated by real-world applications such as vision-based localization and tracking.…
This paper considers the problem of cooperative localization (CL) using inter-robot measurements for a group of networked robots with limited on-board resources. We propose a novel recursive algorithm in which each robot localizes itself in…
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…
In this paper, we introduce a software and hardware structure for on-line mobile robotic systems. The hardware mainly consists of a Multi-Sensor Smart Robot connected to the Internet through 3G mobile network. The system employs a…