Related papers: DQ Robotics: a Library for Robot Modeling and Cont…
In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object modelling, well suited…
Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage…
In this paper, we present some applications of quaternions and octonions. We present the real matrix representations for complex octonions and some of their properties which can be used in computations where these elements are involved.…
Neural networks in the real domain have been studied for a long time and achieved promising results in many vision tasks for recent years. However, the extensions of the neural network models in other number fields and their potential…
Quantum algebras are a mathematical tool which provides us with a class of symmetries wider than that of Lie algebras, which are contained in the former as a special case. After a self-contained introduction to the necessary mathematical…
Arrays of quantum dots (QDs) are a promising candidate system to realize scalable, coupled qubit systems and serve as a fundamental building block for quantum computers. In such semiconductor quantum systems, devices now have tens of…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Quantum algebras are a mathematical tool which provides us with a class of symmetries wider than that of Lie algebras, which are contained in the former as a special case. After a self-contained introduction to the necessary mathematical…
Quaternions are important for a wide variety of rotation-related problems in computer graphics, machine vision, and robotics. We study the nontrivial geometry of the relationship between quaternions and rotation matrices by exploiting the…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
Much of the success of deep learning is drawn from building architectures that properly respect underlying symmetry and structure in the data on which they operate - a set of considerations that have been united under the banner of…
This paper establishes the basis of the quaternionic differential geometry ($\mathbbm H$DG) initiated in a previous article. The usual concepts of curves and surfaces are generalized to quaternionic constraints, as well as the curvature and…
Although deep learning (DL) has already become a state-of-the-art technology for various data processing tasks, data security and computational overload problems often arise due to their high data and computational power dependency. To…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
Frames in a separable quaternionic Hilbert space were introduced and studied in [17] to have more applications. In this paper, we extend the study of frames in quaternionic Hilbert spaces and introduce different types of duals of a frame in…
Quality Diversity (QD) has shown great success in discovering high-performing, diverse policies for robot skill learning. While current benchmarks have led to the development of powerful QD methods, we argue that new paradigms must be…
Let $L$ be a separable quadratic extension of either $\mathbb{Q}$ or $\mathbb{F}_q(t)$. We propose efficient algorithms for finding isomorphisms between quaternion algebras over $L$. Our techniques are based on computing maximal one-sided…
One of the challenges faced by Autonomous Aerial Vehicles is reliable navigation through urban environments. Factors like reduction in precision of Global Positioning System (GPS), narrow spaces and dynamically moving obstacles make the…
Imitation learning techniques have been used as a way to transfer skills to robots. Among them, dynamic movement primitives (DMPs) have been widely exploited as an effective and an efficient technique to learn and reproduce complex discrete…