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The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…
Accurate fall detection for the assistance of older people is crucial to reduce incidents of deaths or injuries due to falls. Meanwhile, a vision-based fall detection system has shown some significant results to detect falls. Still,…
An active approach to fault tolerance is essential for robot swarms to achieve long-term autonomy. Previous efforts have focused on responding to spontaneous electro-mechanical faults and failures. However, many faults occur gradually over…
This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…
Agentic AI, with goal-directed, proactive, and autonomous decision-making capabilities, offers a compelling opportunity to address movement-related risks in human activity, including the persistent hazard of falls among elderly populations.…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…
Fault detection in industrial plants is a hot research area as more and more sensor data are being collected throughout the industrial process. Automatic data-driven approaches are widely needed and seen as a promising area of investment.…
Fall detection, particularly critical for high-risk demographics like the elderly, is a key public health concern where timely detection can greatly minimize harm. With the advancements in radio frequency technology, radar has emerged as a…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
This paper deals with the problem of detecting fallen people lying on the floor by means of a mobile robot equipped with a 3D depth sensor. In the proposed algorithm, inspired by semantic segmentation techniques, the 3D scene is…
Lighthouses play a crucial role in ensuring maritime safety by signaling hazardous areas such as dangerous coastlines, shoals, reefs, and rocks, along with aiding harbor entries and aerial navigation. This is achieved through the use of…
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
Fall detection is an important problem from both the health and machine learning perspective. A fall can lead to severe injuries, long term impairments or even death in some cases. In terms of machine learning, it presents a severely class…
Learning-based navigation systems are widely used in autonomous applications, such as robotics, unmanned vehicles and drones. Specialized hardware accelerators have been proposed for high-performance and energy-efficiency for such…
This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in…
Falls are a major cause of injuries and deaths among older adults worldwide. Accurate fall detection can help reduce potential injuries and additional health complications. Different types of video modalities can be used in a home setting…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
Despite the rapid advancement of navigation algorithms, mobile robots often produce anomalous behaviors that can lead to navigation failures. The ability to detect such anomalous behaviors is a key component in modern robots to achieve…