Related papers: Uncertainty-Aware Acoustic Localization and Mappin…
My research objective is to explicitly bridge the gap between high computational performance and low power dissipation of robot on-board hardware by designing a bio-inspired tapered whisker neuromorphic computing (also called reservoir…
The ability to localize and track acoustic events is a fundamental prerequisite for equipping machines with the ability to be aware of and engage with humans in their surrounding environment. However, in realistic scenarios, audio signals…
Performance measurement of robotic controllers based on fuzzy logic, operating under uncertainty, is a subject area which has been somewhat ignored in the current literature. In this paper standard measures such as RMSE are shown to be…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Deep learning methods for unsupervised registration often rely on objectives that assume a uniform noise level across the spatial domain (e.g. mean-squared error loss), but noise distributions are often heteroscedastic and input-dependent…
Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…
Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…
This paper proposes a control algorithm for a UAV to circumnavigate an unknown target at a fixed radius when the location information of the UAV is unavailable. By assuming that the UAV has a constant velocity, the control algorithm makes…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…
Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
Mapping the surrounding environment is essential for the successful operation of autonomous robots. While extensive research has focused on mapping geometric structures and static objects, the environment is also influenced by the movement…
Recent work on audio-visual navigation targets a single static sound in noise-free audio environments and struggles to generalize to unheard sounds. We introduce the novel dynamic audio-visual navigation benchmark in which an embodied AI…
Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…
Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
Underwater noise pollution from human activities, particularly shipping, has been recognised as a serious threat to marine life. The sound generated by vessels can have various adverse effects on fish and aquatic ecosystems in general. In…