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The machine vision systems have been playing a significant role in visual monitoring systems. With the help of stereovision and machine learning, it will be able to mimic human-like visual system and behaviour towards the environment. In…
Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…
Visual localization is one of the primary capabilities for mobile robots. Long-term visual localization in real time is particularly challenging, in which the robot is required to efficiently localize itself using visual data where…
Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…
Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…
The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. The gaze is detected by an eye-tracker, allowing the…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
Robotic manipulators are increasingly used to assist individuals with mobility impairments in object retrieval. However, the predominant joystick-based control interfaces can be challenging due to high precision requirements and unintuitive…
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…
This paper introduces iRoCo (intuitive Robot Control) - a framework for ubiquitous human-robot collaboration using a single smartwatch and smartphone. By integrating probabilistic differentiable filters, iRoCo optimizes a combination of…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…
We present a Real-Time Operator Takeover (RTOT) paradigm that enables operators to seamlessly take control of a live visuomotor diffusion policy, guiding the system back to desirable states or providing targeted corrective demonstrations.…
In this study Arduino card based mobile robot design was realized. This robot can serve as a security robot, an auxiliary robot or a control robot. The designed robot has two operation modes. The first operating mode is autonomous mode. In…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…