Related papers: Optimal Multi-robot Formations for Relative Pose E…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
The future will be replete with scenarios where humans are robots will be working together in complex environments. Teammates interact, and the robot's interaction has to be about getting useful information about the human's (teammate's)…
In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…
To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…
Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these typically unwanted reflections for onboard relative…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
Estimating camera intrinsics and extrinsics is a fundamental problem in computer vision, and while advances in structure-from-motion (SfM) have improved accuracy and robustness, open challenges remain. In this paper, we introduce a robust…
Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…
This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…
Pose estimation is an important technique for nonverbal human-robot interaction. That said, the presence of a camera in a person's space raises privacy concerns and could lead to distrust of the robot. In this paper, we propose a…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
Autonomous driving systems rely on accurate perception and localization of the ego car to ensure safety and reliability in challenging real-world driving scenarios. Public datasets play a vital role in benchmarking and guiding advancement…
Accurate robot kinematics is essential for precise tool placement in articulated robots, but non-geometric factors can introduce configuration-dependent model discrepancies. This paper presents a configuration-dependent kinematic…
This paper studies the problem of multi-robot pursuit of how to coordinate a group of defending robots to capture a faster attacker before it enters a protected area. Such operation for defending robots is challenging due to the unknown…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
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…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…