Related papers: Sensor Observability Analysis for Maximizing Task-…
Monitoring human activity in indoor environments is important for applications such as facility management, safety assessment, and space utilization analysis. While mobile robot teams offer the potential to actively improve observation…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…
In multiple realistic settings, a robot is tasked with grasping an object without knowing its exact pose and relies on a probabilistic estimation of the pose to decide how to attempt the grasp. We support settings in which it is possible to…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact with humans. Although a large body of literature has focused on safety-related…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
Tracking multiple moving objects of interest (OOI) with multiple robot systems (MRS) has been addressed by active sensing that maintains a shared belief of OOIs and plans the motion of robots to maximize the information quality. Mobility of…
This paper represents a systematic way for generation of Aaria, a simulated model for serial manipulators for the purpose of kinematic or dynamic analysis with a vast variety of structures based on Simulink SimMechanics. The proposed model…
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…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
Estimating human pose, classifying actions, and predicting movement progress are essential for human-robot interaction. While vision-based methods suffer from occlusion and privacy concerns in realistic environments, tactile sensing avoids…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Micro-expression recognition (MER) has achieved impressive accuracy in controlled laboratory settings. However, its real-world applicability faces a significant generalization cliff, severely hindering practical deployment due to poor…
Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…