Related papers: Robust Collaborative Perception without External L…
Robots operating in open, unstructured real-world environments must rely on onboard visual perception while autonomously moving across different locations. Continuous changes in onboard camera viewpoints cause significant visual scale…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…
Autonomous robots enjoy a wide popularity nowadays and have been applied in many applications, such as home security, entertainment, delivery, navigation and guidance. It is vital to robots to track objects accurately in these applications,…
We introduce robust learning equilibrium. The idea of learning equilibrium is that learning algorithms in multi-agent systems should themselves be in equilibrium rather than only lead to equilibrium. That is, learning equilibrium is immune…
In this paper we propose an efficient data-driven solution to self-localization within a floorplan. Floorplan data is readily available, long-term persistent and inherently robust to changes in the visual appearance. Our method does not…
Spatio-temporal kriging is an important problem in web and social applications, such as Web or Internet of Things, where things (e.g., sensors) connected into a web often come with spatial and temporal properties. It aims to infer knowledge…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
Modern robotic systems sense the environment geometrically, through sensors like cameras, lidar, and sonar, as well as semantically, often through visual models learned from data, such as object detectors. We aim to develop robots that can…
This papers studies multi-agent (convex and \emph{nonconvex}) optimization over static digraphs. We propose a general distributed \emph{asynchronous} algorithmic framework whereby i) agents can update their local variables as well as…
Service robots are expected to reliably make sense of complex, fast-changing environments. From a cognitive standpoint, they need the appropriate reasoning capabilities and background knowledge required to exhibit human-like Visual…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
We present a synchronization algorithm to let nodes in a sensor network simultaneously execute a task at a given point in time. In contrast to other time synchronization algorithms we do not provide a global time basis that is shared on all…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous…