Related papers: RETINA: a hardware-in-the-loop optical facility wi…
The quality of robot vision greatly affects the performance of automation systems, where occlusions stand as one of the biggest challenges. If the target is occluded from the sensor, detecting and grasping such objects become very…
Event-cameras have emerged as a revolutionary technology with a high temporal resolution that far surpasses standard active pixel cameras. This technology draws biological inspiration from photoreceptors and the initial retinal synapse.…
Traditionally multi-object tracking and object detection are performed using separate systems with most prior works focusing exclusively on one of these aspects over the other. Tracking systems clearly benefit from having access to accurate…
Optical coherence tomography angiography (OCTA) is a noninvasive imaging technique that can reveal high-resolution retinal vessels. In this work, we propose an accurate and efficient neural network for retinal vessel segmentation in OCTA…
The Stratospheric Observatory for Infrared Astronomy (SOFIA) has recently concluded a set of engineering flights for Observatory performance evaluation. These in-flight opportunities are viewed as a first comprehensive assessment of the…
Small spacecraft now have precise attitude control systems available commercially, allowing them to slew in 3 degrees of freedom, and capture images within short notice. When combined with appropriate software, this agility can…
Recently, the joint design of optical systems and downstream algorithms is showing significant potential. However, existing rays-described methods are limited to optimizing geometric degradation, making it difficult to fully represent the…
This paper presents the Marinarium, a modular and stand-alone underwater research facility designed to provide a realistic testbed for maritime and space-analog robotic experimentation in a resource-efficient manner. The Marinarium combines…
A new era of space exploration and exploitation is fast approaching. A multitude of spacecraft will flow in the future decades under the propulsive momentum of the new space economy. Yet, the flourishing proliferation of deep-space assets…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect…
Learning multi-fingered robot policies from humans performing daily tasks in natural environments has long been a grand goal in the robotics community. Achieving this would mark significant progress toward generalizable robot manipulation…
Small low-cost instruments enable new and exciting mission opportunities yet their constrained volume and limited budgets make them especially susceptible to suffering anomalies during flight. Radiation effects as well as sensor or actuator…
Robot perception under low light or high dynamic range is usually improved downstream - via more robust feature extraction, image enhancement, or closed-loop exposure control. However, all of these approaches are limited by the image…
We propose a framework for designing coherent optical environments that enable versatile and dynamic optical manipulation. In contrast to conventional material-based near-field platforms, our approach employs a structured coherent light…
Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
The exploration of planetary surfaces is predominately unmanned, calling for a landing vehicle and an autonomous and/or teleoperated rover. Artificial intelligence and machine learning techniques can be leveraged for better mission…
As autonomous systems become more prevalent in the real world, it is critical to ensure they operate safely. One approach is the use of Run Time Assurance (RTA), which is a real-time safety assurance technique that monitors a primary…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…