Related papers: IK-Geo: Unified Robot Inverse Kinematics Using Sub…
Humans naturally perceive the geometric structure and semantic content of a 3D world as intertwined dimensions, enabling coherent and accurate understanding of complex scenes. However, most prior approaches prioritize training large…
This paper presents a framework for the localization of Unmanned Aerial Vehicles (UAVs) in unstructured environments with the help of deep learning. A real-time rendering engine is introduced that generates optical and depth images given a…
The paper proposes an efficient algebraic solution to the problem of forward kinematics for a general Stewart-Gough platform. The problem involves determining all possible postures of a mobile platform connected to a fixed base by six legs,…
A new framework is introduced for constructing interpretable and truly reliable reduced models for multiscale problems in situations without scale separation. Hydrodynamic approximation to the kinetic equation is used as an example to…
Robots sense, move and act in the physical world. It is therefore natural that algorithmic problems in robotics and automation have a geometric component, often central to the problem. Below we review ten challenging problems at the…
In this paper we develop randomized Krylov subspace methods for efficiently computing regularized solutions to large-scale linear inverse problems. Building on the recently developed randomized Gram-Schmidt process, where sketched inner…
The solution and implementation of the inverse kinematics computation of a three degree-of-freedom (DOF) robot manipulator using an algorithm for real quantifier elimination with Comprehensive Gr\"obner Systems (CGS) are presented. The…
With new advancements in interaction techniques, character animation also requires new methods, to support fields such as robotics, and VR/AR. Interactive characters in such fields are becoming driven by AI which opens up the possibility of…
Intrinsic Image Decomposition (IID) is a challenging inverse problem that seeks to decompose a natural image into its underlying intrinsic components such as albedo and shading. While recent image decomposition methods rely on…
The growing adoption of robotics and augmented reality in real-world applications has driven considerable research interest in 3D object detection based on point clouds. While previous methods address unified training across multiple…
In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other objects. Previous works perform unseen object instance…
Rotation search and point cloud registration are two fundamental problems in robotics and computer vision, which aim to estimate the rotation and the transformation between the 3D vector sets and point clouds, respectively. Due to the…
This paper studies path synthesis for nonholonomic mobile robots moving in two-dimensional space. We first address the problem of interpolating paths expressed as sequences of straight line segments, such as those produced by some planning…
This paper introduces a novel zero-shot motion planning method that allows users to quickly design smooth robot motions in Cartesian space. A B\'ezier curve-based Cartesian plan is transformed into a joint space trajectory by our…
This work presents Kinodynamic Adaptive Robot Coordination (K-ARC), a novel algorithm for multi-robot kinodynamic planning. Our experimental results show the capability of K-ARC to plan for up to 32 planar mobile robots, while achieving up…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in which all pairs of adjacent joint axes are…
Mixed-integer quadratic programs (MIQPs) are a versatile way of formulating vehicle decision making and motion planning problems, where the prediction model is a hybrid dynamical system that involves both discrete and continuous decision…
In this paper we present a new ultra efficient numerical method for solving kinetic equations. In this preliminary work, we present the scheme in the case of the BGK relaxation operator. The scheme, being based on a splitting technique…
Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…