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In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…
As Autonomous Driving Systems (ADS) progress towards commercial deployment, there is an increasing focus on ensuring their safety and reliability. While considerable research has been conducted on testing methods for detecting faults in…
This paper presents an advanced mapping system that combines drone imagery with machine learning and computer vision to overcome challenges in speed, accuracy, and adaptability across diverse terrains. By automating processes like feature…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
Environmental perception is a key element of autonomous driving because the information received from the perception module influences core driving decisions. An outstanding challenge in real-time perception for autonomous driving lies in…
Travel time is a crucial measure in transportation. Accurate travel time prediction is also fundamental for operation and advanced information systems. A variety of solutions exist for short-term travel time predictions such as solutions…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
This paper investigates the use of a networked system ($e.g.$, swarm of robots, smart grid, sensor network) to monitor a time-varying phenomenon of interest in the presence of communication and computation latency. Recent advances in edge…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the…
Process mining leverages event data extracted from IT systems to generate insights into the business processes of organizations. Such insights benefit from explicitly considering the frequency of behavior in business processes, which is…
Roadside perception systems are increasingly crucial in enhancing traffic safety and facilitating cooperative driving for autonomous vehicles. Despite rapid technological advancements, a major challenge persists for this newly arising…
Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…
Distributed algorithms have been playing an increasingly important role in many applications such as machine learning, signal processing, and control. Significant research efforts have been devoted to developing and analyzing new algorithms…
This paper proposes a set of technological solutions to transform existing transport systems into more intelligent, interactive systems by utilizing optimization and control methods that can be implemented in the near future. This will…
Several embedded application domains for reconfigurable systems tend to combine frequent changes with high performance demands of their workloads such as image processing, wearable computing and network processors. Time multiplexing of…
Real-time visual analysis tasks, like tracking and recognition, require swift execution of computationally intensive algorithms. Visual sensor networks can be enabled to perform such tasks by augmenting the sensor network with processing…
Object tracking systems play important roles in tracking moving objects and overcoming problems such as safety, security and other location-related applications. Problems arise from the difficulties in creating a well-defined and…