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Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
This paper addresses multi-object systems, where objects may occlude one another relative to the sensor. The standard point-object model for detection-based sensors is enhanced so that the probability of detection considers the presence of…
With the rapid development of deep learning, object detection and tracking play a vital role in today's society. Being able to identify and track all the pedestrians in the dense crowd scene with computer vision approaches is a typical…
Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a…
When performing visual servoing or object tracking tasks, active sensor planning is essential to keep targets in sight or to relocate them when missing. In particular, when dealing with a known target missing from the sensor's field of…
Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…
Precise perception of articulated objects is vital for empowering service robots. Recent studies mainly focus on point cloud, a single-modal approach, often neglecting vital texture and lighting details and assuming ideal conditions like…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…
Recent reports from the World Health Organization highlight that Vulnerable Road Users (VRUs) have been involved in over half of the road fatalities in recent years, with occlusion risk - a scenario where VRUs are hidden from drivers' view…
The emerging ``Floor plan from human trails (PfH)" technique has great potential for improving indoor robot navigation by predicting the traversability of occluded floors. This study presents an innovative approach that replaces…
For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…
Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…
Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a HAR system combining a modular data glove equipped with…
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…
The problem of multi-object tracking is a fundamental computer vision research focus, widely used in public safety, transport, autonomous vehicles, robotics, and other regions involving artificial intelligence. Because of the complexity of…