Related papers: HGP-RL: Distributed Hierarchical Gaussian Processe…
This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…
Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…
The problem of resource constrained scheduling in a dynamic and heterogeneous wireless setting is considered here. In our setup, the available limited bandwidth resources are allocated in order to serve randomly arriving service demands,…
Multi-agent path finding in formation has many potential real-world applications like mobile warehouse robots. However, previous multi-agent path finding (MAPF) methods hardly take formation into consideration. Furthermore, they are usually…
This paper proposes a robust adversarial reinforcement learning (RARL)-based multi-access point (AP) coordination method that is robust even against unexpected decentralized operations of uncoordinated APs. Multi-AP coordination is a…
For decades, the determination of an objects location has been implemented utilizing different technologies. Despite GPS (Global Positioning System) provides a scalable efficient and cost effective location services however the satellite…
Indoor Positioning Systems (IPS) traditionally rely on odometry and building infrastructures like WiFi, often supplemented by building floor plans for increased accuracy. However, the limitation of floor plans in terms of availability and…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
WiFi fingerprint-based indoor localization has been widely studied, but most existing approaches focus on absolute positioning and rely on dense coordinate annotations, which are costly to obtain at scale. In this paper, we study a…
Visual place recognition (VPR) capabilities enable autonomous robots to navigate complex environments by discovering the environment's topology based on visual input. Most research efforts focus on enhancing the accuracy and robustness of…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
We propose a numerical method to evaluate the performance of the emerging Generalized Shiryaev--Roberts (GSR) change-point detection procedure in a "minimax-ish" multi-cyclic setup where the procedure of choice is applied repetitively…
The optimal placement of sensors for environmental monitoring and disaster management is a challenging problem due to its NP-hard nature. Traditional methods for sensor placement involve exact, approximation, or heuristic approaches, with…
Leveraging received signal strength (RSS) measurements for indoor localization is highly attractive due to their inherent availability in ubiquitous wireless protocols. However, prevailing RSS-based methods often depend on complex…
Location-based services in a wireless network require nodes to know their locations accurately. Conventional solutions rely on contention-based medium access, where only one node can successfully transmit at any time in any neighborhood. In…
Robot motion planning has made vast advances over the past decades, but the challenge remains: robot mobile manipulators struggle to plan long-range whole-body motion in common household environments in real time, because of…