Related papers: Interactive Robot-Environment Self-Calibration via…
The potential impact of autonomous robots on everyday life is evident in emerging applications such as precision agriculture, search and rescue, and infrastructure inspection. However, such applications necessitate operation in unknown and…
Enhancing robot navigation efficiency is a crucial objective in modern robotics. Robots relying on external navigation systems are often susceptible to electromagnetic interference (EMI) and encounter environmental disturbances, resulting…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…
Surface cracks in infrastructure can lead to severe deterioration and expensive maintenance if not efficiently repaired. Manual repair methods are labor-intensive, time-consuming, and imprecise. While advancements in robotic perception and…
Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the…
Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…
Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
In order to operate in and interact with the physical world, robots need to have estimates of the current and future state of the environment. We thus equip robots with sensors and build models and algorithms that, given some measurements,…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
Trustworthy robot behavior requires not only high levels of task success but also that the robot can reliably quantify how likely it is to succeed. To this end, we present a first-of-its-kind study of confidence calibration in…
In the typical urban intersection scenario, both vehicles and infrastructures are equipped with visual and LiDAR sensors. By successfully integrating the data from vehicle-side and road monitoring devices, a more comprehensive and accurate…
Robots are increasingly being deployed in public spaces. However, the general population rarely has the opportunity to nominate what they would prefer or expect a robot to do in these contexts. Since most people have little or no experience…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
Fusion of heterogeneous extroceptive sensors is the most effient and effective way to representing the environment precisely, as it overcomes various defects of each homogeneous sensor. The rigid transformation (aka. extrinsic parameters)…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…