Related papers: Aim My Robot: Precision Local Navigation to Any Ob…
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
How can a delivery robot navigate reliably to a destination in a new office building, with minimal prior information? To tackle this challenge, this paper introduces a two-level hierarchical approach, which integrates model-free deep…
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 prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
Modern driver assistance systems rely on a wide range of sensors (RADAR, LIDAR, ultrasound and cameras) for scene understanding and prediction. These sensors are typically used for detecting traffic participants and scene elements required…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…
In this project we trained a neural network to perform specific interactions between a robot and objects in the environment, through imitation learning. In particular, we tackle the task of moving the robot to a fixed pose with respect to a…
Classical navigation systems typically operate using a fixed set of hand-picked parameters (e.g. maximum speed, sampling rate, inflation radius, etc.) and require heavy expert re-tuning in order to work in new environments. To mitigate this…
Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…
When robots operate in unknown environments small errors in postions can lead to large variations in the contact forces, especially with typical high-impedance designs. This can potentially damage the surroundings and/or the robot. Series…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…
AI and robotics technologies have witnessed remarkable advancements in the past decade, revolutionizing work patterns and opportunities in various domains. The application of these technologies has propelled society towards an era of…