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Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…
Multi-object tracking (MOT) aims to associate target objects across video frames in order to obtain entire moving trajectories. With the advancement of deep neural networks and the increasing demand for intelligent video analysis, MOT has…
Outdoor navigation on sidewalks in urban environments is the key technology behind important human assistive applications, such as last-mile delivery or neighborhood patrol. This paper aims to develop a quadruped robot that follows a route…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation…
Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been…
In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Recent advances in unsupervised learning for object detection, segmentation, and tracking hold significant promise for applications in robotics. A common approach is to frame these tasks as inference in probabilistic latent-variable models.…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
State estimation for legged robots remains challenging because legged odometry generally suffers from limited observability and therefore depends critically on measurement constraints to suppress drift. When exteroceptive sensors are…
Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…
Significant work has been done on advancing localization and mapping in underwater environments. Still, state-of-the-art methods are challenged by low-texture environments, which is common for underwater settings. This makes it difficult to…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…
In this study, we present and analyze a framework for geometric and topological estimation for mapping of unknown environments. We consider agents mimicking motion behaviors of cyborg insects, known as biobots, and exploit coordinate-free…
Dynamic target detection and target tracking are hot issues in the field of image. In order to explore its application value in the field of mobile robot, a dynamic target detection and tracking system is designed based on hexapod robot.…