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Nowadays, autonomous mobile robots support people in many areas where human presence either redundant or too dangerous. They have successfully proven themselves in expeditions, gas industry, mines, warehouses, etc. However, even legged…
Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while…
Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…
Part-level representations are essential for robust person re-identification. However, common errors that arise during pedestrian detection frequently result in severe misalignment problems for body parts, which degrade the quality of part…
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…
The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Peg-in-hole assembly is a challenging contact-rich manipulation task. There is no general solution to identify the relative position and orientation between the peg and the hole. In this paper, we propose a novel method to classify the…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational…
Many applications have been identified which require the deployment of large-scale low-power wireless sensor networks. Some of the deployment environments, however, impose harsh operation conditions due to intense cross-technology…
This paper introduces a new dual monocular visualinertial odometry (dual-VIO) strategy for a mobile manipulator operating under dynamic locomotion, i.e. coordinated movement involving both the base platform and the manipulator arm. Our…
In the recent years, there has been a huge advancement in wireless sensor computing technology. Today, wireless sensor network (WSN) has become a key technology for different types of smart environment. Nodes localization in WSN has arisen…
Millimeter-wave (mmWave) MIMO systems rely on highly directional beamforming to overcome severe path loss and ensure robust communication links. However, selecting the optimal beam pair efficiently remains a challenge due to the large…
This paper addresses the challenge of achieving reliable and robust positioning of a mobile agent, such as a radio device carried by a person, in scenarios where direct line-of-sight (LOS) links are obstructed or unavailable. The human body…
This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body based on commonly used local measurements. To the best of our…