Related papers: Equivariant Systems Theory and Observer Design
The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in…
Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…
This paper discusses the interplay of symmetries and stability in the analysis and control of nonlinear dynamical systems and networks. Specifically, it combines standard results on symmetries and equivariance with recent convergence…
Autonomous robot operation in unstructured environments is often underpinned by spatial understanding through vision. Systems composed of multiple concurrently operating robots additionally require access to frequent, accurate and reliable…
Modeling symmetry breaking is essential for understanding the fundamental changes in the behaviors and properties of physical systems, from microscopic particle interactions to macroscopic phenomena like fluid dynamics and cosmic…
This paper explores the observability and estimation capability of dynamical systems using predominantly relative measurements of the system's state-space variables, with minimal to no reliance on absolute measurements of these variables.…
This paper addresses the problem of homography estimation using a nonlinear observer designed on the Lie group $\mathbf{SL}(3)$ that exploits the full image information through direct image registration. Unlike traditional feature-based…
The theory uses methods and language of linear algebra to study nonlinear spaces. These techniques can be used particularly to describe analytic geometry of non-linear elliptic, hyperbolic, De Sitter and Anti de Sitter spaces. The main…
We present a framework that allows an observer to determine occluded portions of a structure by finding the maximum-likelihood estimate of those occluded portions consistent with visible image evidence and a consistency model. Doing this…
Any representation of data involves arbitrary investigator choices. Because those choices are external to the data-generating process, each choice leads to an exact symmetry, corresponding to the group of transformations that takes one…
This paper provided empirical knowledge of the user experience for using collaborative visualization in a distributed asymmetrical setting through controlled user studies. With the ability to access various computing devices, such as…
Machine vision is critical to robotics due to a wide range of applications which rely on input from visual sensors such as autonomous mobile robots and smart production systems. To create the smart homes and systems of tomorrow, an overview…
Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D…
Continuum robots, known for their high flexibility and adaptability, offer immense potential for applications such as medical surgery, confined-space inspections, and wearable devices. However, their non-linear elastic nature and complex…
Incorporating symmetry priors as inductive biases to design equivariant Vision Transformers (ViTs) has emerged as a promising avenue for enhancing their performance. However, existing equivariant ViTs often struggle to balance performance…
Artificial visual attention systems aim to support technical systems in visual tasks by applying the concepts of selective attention observed in humans and other animals. Such systems are typically evaluated against ground truth obtained…
Feature-based homography estimation approaches rely on extensive image processing for feature extraction and matching, and do not adequately account for the information provided by the image. Therefore, developing efficient direct…
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…
Control and state estimation of nonlinear systems satisfying a Lipschitz continuity condition have been important topics in nonlinear system theory for over three decades, resulting in a substantial amount of literature. The main criticism…
Because of the variabilities of real-world image structures under the natural image transformations that arise when observing similar objects or spatio-temporal events under different viewing conditions, the receptive field responses…