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Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Human mobility clustering is an important problem for understanding human mobility behaviors (e.g., work and school commutes). Existing methods typically contain two steps: choosing or learning a mobility representation and applying a…
We introduce ForeSight, a novel joint detection and forecasting framework for vision-based 3D perception in autonomous vehicles. Traditional approaches treat detection and forecasting as separate sequential tasks, limiting their ability to…
Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
At a time when drones are increasingly associated with hostile operations, we re-purpose them for humanitarian and life-saving applications. However, adapting search and rescue drones for battlefield triage remains extremely challenging;…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
This paper introduces a novel deep learning-based multimodal fusion architecture aimed at enhancing the perception capabilities of autonomous navigation robots in complex environments. By utilizing innovative feature extraction modules,…
Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…
As robotic systems become more popular in household environments, the complexity of required tasks also increases. In this work we focus on a domestic chore deemed dull by a majority of the population, the task of ironing. The presented…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…
In recent years, the demand for customized, on-demand production has grown in the manufacturing sector. Additive Manufacturing (AM) has emerged as a promising technology to enhance customization capabilities, enabling greater flexibility,…
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…
In this paper, a multi-modal 360$^{\circ}$ framework for 3D object detection and tracking for autonomous vehicles is presented. The process is divided into four main stages. First, images are fed into a CNN network to obtain instance…
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…
There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…
3D object detection plays a pivotal role in many applications, most notably autonomous driving and robotics. These applications are commonly deployed on edge devices to promptly interact with the environment, and often require near…