Related papers: A New Robot Arm Calibration Method Based on Cubic …
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
Recent advances in visuomotor policy learning have enabled robots to perform control directly from visual inputs. Yet, extending such end-to-end learning from single-arm to bimanual manipulation remains challenging due to the need for both…
We study $(\epsilon, \delta)$-PAC best arm identification, where a decision-maker must identify an $\epsilon$-optimal arm with probability at least $1 - \delta$, while minimizing the number of arm pulls (samples). Most of the work on this…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…
This paper presents an integrated robotic fused deposition modeling additive manufacturing system featuring closed-loop thermal control and intelligent in-situ defect correction using a 6-degree of freedom robotic arm and an Oak-D camera.…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
A matching platform is a system that matches different types of participants, such as companies and job-seekers. In such a platform, merely maximizing the number of matches can result in matches being concentrated on highly popular…
Perception-for-grasping is a challenging problem in robotics. Inexpensive range sensors such as the Microsoft Kinect provide sensing capabilities that have given new life to the effort of developing robust and accurate perception methods…
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…
The envisioned robotic aerial base station (RABS) concept is expected to bring further flexibility to integrated sensing and communication (ISAC) systems. In this letter, characterizing the spatial traffic distribution on a grid-based…
In integrated ground-air-space (IGAS) wireless networks, numerous services require sensing knowledge including location, angle, distance information, etc., which usually can be acquired during the beam training stage. On the other hand,…
In this paper, we study a best arm identification problem with dual objects. In addition to the classic reward, each arm is associated with a cost distribution and the goal is to identify the largest reward arm using the minimum expected…
Fitting concentric geometric objects to digitized data is an important problem in many areas such as iris detection, autonomous navigation, and industrial robotics operations. There are two common approaches to fitting geometric shapes to…
Surface cracks in infrastructure can lead to severe deterioration and expensive maintenance if not efficiently repaired. Manual repair methods are labor-intensive, time-consuming, and imprecise. While advancements in robotic perception and…
Selecting an optimal robot, its base pose, and trajectory for a given task is currently mainly done by human expertise or trial and error. To evaluate automatic approaches to this combined optimization problem, we introduce a benchmark…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…