Related papers: Adaptive Visual Servo Control for Autonomous Robot…

We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…

Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and…

Variable autonomy equips a system, such as a robot, with mixed initiatives such that it can adjust its independence level based on the task's complexity and the surrounding environment. Variable autonomy solves two main problems in robotic…

The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…

We develop a new approach to robust adaptive beamforming in the presence of signal steering vector errors. Since the signal steering vector is known imprecisely, its presumed (prior) value is used to find a more accurate estimate of the…

Robust Visual SLAM (vSLAM) is essential for autonomous systems operating in real-world environments, where challenges such as dynamic objects, low texture, and critically, varying illumination conditions often degrade performance. Existing…

In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…

Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…

Automated driving systems require monitoring mechanisms to ensure safe operation, especially if system components degrade or fail. Their runtime self-representation plays a key role as it provides a-priori knowledge about the system's…

Motivated by perception-based control problems in autonomous systems, this paper addresses the problem of developing feedback controllers to regulate the inputs and the states of a dynamical system to optimal solutions of an optimization…

Autonomous driving vehicles aim to free the hands of vehicle operators, helping them to drive easier and faster, meanwhile, improving the safety of driving on the highway or in complex scenarios. Automated driving systems (ADS) are…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…

Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…

Despite significant progress in robotics and embodied AI in recent years, deploying robots for long-horizon tasks remains a great challenge. Majority of prior arts adhere to an open-loop philosophy and lack real-time feedback, leading to…

Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally applicable without task-specific training, they often…

Self-adaptive software systems continuously adapt in response to internal and external changes in their execution environment, captured as contexts. The COP paradigm posits a technique for the development of self-adaptive systems, capturing…

Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…

Event cameras are increasingly popular in robotics due to beneficial features such as low latency, energy efficiency, and high dynamic range. Nevertheless, their downstream task performance is greatly influenced by the optimization of bias…

Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…

Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…