Related papers: Angular Divergent Component of Motion: A step towa…
We incorporate deep learning (DL) into coherent beam combining (CBC) systems for the first time, to the best of our knowledge. Using a well-trained convolutional neural network DL model, the phase error in CBC systems could be accurately…
The promise of machine learning has been explored in a variety of scientific disciplines in the last few years, however, its application on first-principles based computationally expensive tools is still in nascent stage. Even with the…
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing…
In this paper, we present an improved framework of the spectral-based Discrete Dislocation Dynamics (DDD) approach introduced in [1,2], that establishes a direct connection with the continuum Field Dislocation Mechanics (FDM) approach. To…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Cardiac anatomy segmentation is useful for clinical assessment of cardiac morphology to inform diagnosis and intervention. Deep learning (DL), especially with motion information, has improved segmentation accuracy. However, existing…
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…
The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver…
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable framework for generating collision-free, dynamically…
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…
Fishery surveys that call for the use of single or multiple underwater cameras have been an emerging technology as a non-extractive mean to estimate the abundance of fish stocks. Tracking live fish in an open aquatic environment posts…
This study presents a dynamic safety margin-based reinforcement learning framework for local motion planning in dynamic and uncertain environments. The proposed planner integrates real-time trajectory optimization with adaptive gap…
We present DIMO, a generative approach capable of generating diverse 3D motions for arbitrary objects from a single image. The core idea of our work is to leverage the rich priors in well-trained video models to extract the common motion…
Recent advances in robotic manipulation have highlighted the effectiveness of learning from demonstration. However, while end-to-end policies excel in expressivity and flexibility, they struggle both in generalizing to novel object…
Robots frequently face complex tasks that require more than one action, where sequential decision-making (SDM) capabilities become necessary. The key contribution of this work is a robot SDM framework, called LCORPP, that supports the…
Recently, acoustic communication employing Orbital Angular Momentum (OAM) opens another avenue for efficient data transmission in aquatic environments. Current topological charge (TC) detection of OAM beams relies on the orthogonality among…
As one of the core parts of flexible manufacturing systems, material handling involves storage and transportation of materials between workstations with automated vehicles. The improvement in material handling can impulse the overall…
Motion estimation of organs in a sequence of images is important in numerous medical imaging applications. The focus of this paper is the analysis of 4D Respiratory Correlated Computed Tomography (RCCT) Imaging. It is hypothesized that the…
We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion) space. To…