Related papers: Minkowski Operations of Sets with Application to R…
This paper proposes a new design method to determine the feasible set of parameters of translational or position/orientation decoupled parallel robots for a prescribed singularity-free workspace of regular shape. The suggested method uses…
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…
We describe experiments testing the existence and investigating the properties of spatial solitons in nonlinear resonators. We investigate the properties of stationary and moving spatial solitons in lasers with saturable absorber, with a…
This paper formally defines a robot system, including its sensing and actuation components, as a general, topological dynamical system. The focus is on determining general conditions under which various environments in which the robot can…
We present two exact implementations of efficient output-sensitive algorithms that compute Minkowski sums of two convex polyhedra in 3D. We do not assume general position. Namely, we handle degenerate input, and produce exact results. We…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…
The past few decades has seen increased interest in the application of social robots to interventions for Autism Spectrum Disorder as behavioural coaches [4]. We consider that robots embedded in therapies could also provide quantitative…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
Location estimation is a fundamental sensing task in robotic applications, where the world is uncertain, and sensors and effectors are noisy. Most systems make various assumptions about the dependencies between state variables, and…
In this paper, the problem of computing the projection, and therefore the minimum distance, from a point onto a Minkowski sum of general convex sets is studied. Our approach is based on the minimum norm duality theorem originally stated by…
In this paper, we discuss an efficient algorithm for computing the growth distance between two compact convex sets with representable support functions. The growth distance between two sets is the minimum scaling factor such that the sets…
Structured optimization uses a prescribed set of atoms to assemble a solution that fits a model to data. Polarity, which extends the familiar notion of orthogonality from linear sets to general convex sets, plays a special role in a simple…
Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…
A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…
We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is…
In this paper, combining the covolume, we study the Minkowski theory for the non-compact convex set with an asymptotic boundary condition. In particular, the mixed covolume of two non-compact convex sets is introduced and its geometric…
In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1], we propose an estimation scheme that exploits the unit dual…
The space of unitary $C_{0}$-semigroups on separable infinite dimensional Hilbert space, when viewed under the topology of uniform weak convergence on compact subsets of $\mathbb{R}_{+}$, is known to admit various interesting residual…