Related papers: Ten Problems in Geobotics
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished…
Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…
It has been observed that the very important motion planning problem of robotics mathematically speaking boils down to the problem of finding a section to the path-space fibration, raising the notion of topological complexity, as introduced…
The problem of optimizing over random structures emerges in many areas of science and engineering, ranging from statistical physics to machine learning and artificial intelligence. For many such structures finding optimal solutions by means…
Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…
Trimming is a core technique in geometric modeling. Unfortunately, the resulting objects do not take the requirements of numerical simulations into account and yield various problems. This paper outlines principal issues of trimmed models…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
Geometric alignment appears in a variety of applications, ranging from domain adaptation, optimal transport, and normalizing flows in machine learning; optical flow and learned augmentation in computer vision and deformable registration…
Despite encouraging recent progresses in ensemble approaches, classification methods seem to have reached a plateau in development. Further advances depend on a better understanding of geometrical and topological characteristics of point…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
Sidewalk robots are increasingly common across the globe. Yet, their operation on public paths poses challenges for people with mobility disabilities (PwMD) who face barriers to accessibility, such as insufficient curb cuts. We interviewed…
This paper first gives a brief overview over some interesting descriptions of conic sections, showing formulations in the three geometric algebras of Euclidean spaces, projective spaces, and the conformal model of Euclidean space. Second…
We give a survey of algorithms for computing topological invariants of semi-algebraic sets with special emphasis on the more recent developments in designing algorithms for computing the Betti numbers of semi-algebraic sets. Aside from…
Machine learning has long since become a keystone technology, accelerating science and applications in a broad range of domains. Consequently, the notion of applying learning methods to a particular problem set has become an established and…
Nearly all spatial reasoning problems involve uncertainty of one sort or another. Uncertainty arises due to the inaccuracies of sensors used in measuring distances and angles. We refer to this as directional uncertainty. Uncertainty also…
Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the…
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…
Genetic algorithms, computer programs that simulate natural evolution, are increasingly applied across many disciplines. They have been used to solve various optimisation problems from neural network architecture search to strategic games,…
The aim of this paper is to discuss some applications of general topology in computer algorithms including modeling and simulation, and also in computer graphics and image processing. While the progress in these areas heavily depends on…