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We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…
This paper presents the design, implementation, and evaluation of an IoT-based robotic system for mapping and monitoring indoor air quality. The primary objective was to develop a mobile robot capable of autonomously mapping a closed…
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…
We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
Grasp detection with consideration of the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical use of the robotic grasping approach. In this paper, a robotic grasp…
Ride-hailing platforms have a profound impact on urban transportation systems, and their performance largely depends on how intelligently they dispatch vehicles in real time. In this work, we develop a new approach to online vehicle…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
Designing a cost-effective sensor placement plan for sewage surveillance is a crucial task because it allows cost-effective early pandemic outbreak detection as supplementation for individual testing. However, this problem is…
Sensor placement for the purpose of detecting/tracking news outbreak and preventing rumor spreading is a challenging problem in a large scale online social network (OSN). This problem is a kind of subset selection problem: choosing a small…
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…
This paper addresses the deployment of sensors for a 2-D barrier coverage system. The challenge is to compute near-optimal sensor placements for detecting targets whose trajectories follow a log-Gaussian Cox line process. We explore sensor…
In this paper, we design an optimal sensor collaboration strategy among neighboring nodes while tracking a time-varying parameter using wireless sensor networks in the presence of imperfect communication channels. The sensor network is…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
Coverage is one of the fundamental issues in wireless sensor networks (WSNs). It reflects the ability of WSNs to detect the fields of interest. In a real sensor networks application, the detection area is always non-ideal and the terrain of…
Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online…
To work in unknown outdoor environments, autonomous sampling machines need the ability to target samples despite limited visibility and robotic arm reach distance. We design a heuristic guided search method to speed up the search process…
In this work, we analyze an efficient sampling-based algorithm for general-purpose reachability analysis, which remains a notoriously challenging problem with applications ranging from neural network verification to safety analysis of…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…