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Suction cups offer a useful gripping solution, particularly in industrial robotics and warehouse applications. Vision-based grasp algorithms, like Dex-Net, show promise but struggle to accurately perceive dark or reflective objects,…
This paper presents a solution to the problem of monitoring a region of interest (RoI) using a set of nodes that is not sufficient to achieve the required degree of monitoring coverage. In particular, sensing coverage of wireless sensor…
The rapid deployment of robotics technologies requires dedicated optimization algorithms to manage large fleets of autonomous agents. This paper supports robotic parts-to-picker operations in warehousing by optimizing order-workstation…
In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while…
The reliability of grasp detection for target objects in complex scenes is a challenging task and a critical problem that needs to be solved urgently in practical application. At present, the grasp detection location comes from searching…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Creating robots that can assist in farms and gardens can help reduce the mental and physical workload experienced by farm workers. We tackle the problem of object search in a farm environment, providing a method that allows a robot to…
Incident in water distribution systems (WDS) cause water loss and water contamination that requires the utility managers to assess the condition of pipelines in a timely manner. However, pipelines are long and access to all parts of it is a…
This paper addresses the challenges of optimally placing a finite number of sensors to detect Poisson-distributed targets in a bounded domain. We seek to rigorously account for uncertainty in the target arrival model throughout the problem.…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
In this study, we investigate the resource management challenges in next-generation mobile crowdsensing networks with the goal of minimizing task completion latency while ensuring coverage performance, i.e., an essential metric to ensure…
A method for online decorrelation of chemical sensor signals from the effects of environmental humidity and temperature variations is proposed. The goal is to improve the accuracy of electronic nose measurements for continuous monitoring by…
To meet the immediate needs of environmental monitoring or hazardous event detection, we consider the automatic deployment of a group of low-cost or disposable sensors by a drone. Introducing sensors by drones to an environment instead of…
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…
Task-aware navigation continues to be a challenging area of research, especially in scenarios involving open vocabulary. Previous studies primarily focus on finding suitable locations for task completion, often overlooking the importance of…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
Fingerprinting is a popular indoor localization technique since it can utilize existing infrastructures (e.g., access points). However, its site survey process is a labor-intensive and time-consuming task, which limits the application of…
Semantic scene understanding allows a robotic agent to reason about problems in complex ways, using information from multiple and varied sensors to make deductions about a particular matter. As a result, this form of intelligent robotics is…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…