Related papers: Surgical task-space optimisation of the CYCLOPS ro…
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for…
High performance computing (HPC) systems underwent a significant increase in their processing capabilities. Modern HPC systems combine large numbers of homogeneous and heterogeneous computing resources. Scalability is, therefore, an…
This paper considers downlink of reconfigurable intelligent surface (RIS) assisted cooperative non-orthogonal multiple access (CNOMA) systems. Our objective is to minimize the total transmit power by jointly optimizing the active…
Localisation of surgical tools constitutes a foundational building block for computer-assisted interventional technologies. Works in this field typically focus on training deep learning models to perform segmentation tasks. Performance of…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
The DBSCAN method for spatial clustering has received significant attention due to its applicability in a variety of data analysis tasks. There are fast sequential algorithms for DBSCAN in Euclidean space that take $O(n\log n)$ work for two…
Surgical phase segmentation is central to computer-assisted surgery, yet robust models remain difficult to develop when labeled surgical videos are scarce. We study data-efficient phase segmentation for manual small-incision cataract…
This thesis develops signal-processing algorithms and implementation schemes under constraints of minimal parallelism and memory space, with the goal of improving energy efficiency of low-power computing hardware. We propose (i) a…
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…
The workspace limits the operational capabilities and range of motion for the systems with robotic arms. Maximizing workspace utilization has the potential to provide more optimal solutions for aerial manipulation tasks, increasing the…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
Distribution system operators (DSO) world-wide foresee a rapid roll-out of distributed energy resources. From the system perspective, their reliable and cost effective integration requires accounting for their physical properties in…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic surgery systems pose significant challenges for training…
Mobile edge computing (MEC) deployment in a multi-robot cooperation (MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources…
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
The inherent support of sixth-generation (6G) systems enabling integrated sensing and communications (ISAC) paradigm greatly enhances the application area of intelligent transportation systems (ITS). One of the mission-critical applications…
We consider the problem of intelligent and efficient task allocation mechanism in large-scale mobile edge computing (MEC), which can reduce delay and energy consumption in a parallel and distributed optimization. In this paper, we study the…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…