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Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-aware Consistent Model Predictive Control (CMPC) strategy. To…
Activity recognition is very useful in scenarios where robots interact with, monitor or assist humans. In the past years many types of activities -- single actions, two persons interactions or ego-centric activities, to name a few -- have…
Perceptive mobile network (PMN) is an emerging concept for next-generation wireless networks capable of conducting integrated sensing and communication (ISAC). A major challenge for realizing high performance sensing in PMNs is how to deal…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
Machine learning-based techniques open up many opportunities and improvements to derive deeper and more practical insights from data that can help businesses make informed decisions. However, the majority of these techniques focus on the…
Active Object Tracking (AOT) is crucial to many visionbased applications, e.g., mobile robot, intelligent surveillance. However, there are a number of challenges when deploying active tracking in complex scenarios, e.g., target is…
A critical requirement for automated driving systems is enabling situational awareness in dynamically changing environments. To that end vehicles will be equipped with diverse sensors, e.g., LIDAR, cameras, mmWave radar, etc. Unfortunately…
Urban traffic scenarios often require a high degree of cooperation between traffic participants to ensure safety and efficiency. Observing the behavior of others, humans infer whether or not others are cooperating. This work aims to extend…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…
A team of mobile robots monitors spatially distributed processes and delivers measurements to a base, where AoI is measured from sensing start, capturing both stochastic parallel sensing delays and hop-based propagation. At each non-base…
Monocular object detection and tracking have improved drastically in recent years, but rely on a key assumption: that objects are visible to the camera. Many offline tracking approaches reason about occluded objects post-hoc, by linking…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Detecting and tracking vehicles in urban scenes is a crucial step in many traffic-related applications as it helps to improve road user safety among other benefits. Various challenges remain unresolved in multi-object tracking (MOT)…
An occlusion based strategy for collective transport of a concave object using a swarm of mobile robots has been proposed in this paper. We aim to overcome the challenges of transporting concave objects using decentralized approach. The…
This paper presents a Vehicle-to-Everything (V2X) communication framework that enables decentralized cooperation among social robots operating in complex urban traffic environments. Building on ETSI Cooperative Awareness and Maneuver…
This paper reports a new hierarchical architecture for modeling autonomous multi-robot systems (MRSs): a nonlinear dynamical opinion process is used to model high-level group choice, and multi-objective behavior optimization is used to…
Active sensing refers to the process of choosing or tuning a set of sensors in order to track an underlying system in an efficient and accurate way. In a wireless environment, among the several kinds of features extracted by traditional…
This paper deals with the multi-object detection and tracking problem, within the scope of open Radio Access Network (RAN), for collision avoidance in vehicular scenarios. To this end, a set of distributed intelligent agents collocated with…
Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online…
Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…