Related papers: A Cooperative Bearing-Rate Approach for Observabil…
Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
This paper proposes an improved prediction update for extended target tracking with the random matrix model. A key innovation is to employ a generalised non-central inverse Wishart distribution to model the state transition density of the…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
Deploying Vision Transformers on edge devices is challenging due to their high computational complexity, while full offloading to cloud resources presents significant latency overheads. We propose a novel collaborative inference framework,…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Imitation learning is a promising paradigm for training robot agents; however, standard approaches typically require substantial data acquisition -- via numerous demonstrations or random exploration -- to ensure reliable performance.…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
Despite progress developing experimentally-consistent models of insect in-flight sensing and feedback for individual agents, a lack of systematic understanding of the multi-agent and group performance of the resulting bio-inspired sensing…
This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Riccati observer-based estimator that fuses measurements from a…
Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…
In recent years, computational power and data availability breakthroughs have revolutionized our ability to analyze complex physical systems through the inverse problem approach. Data-driven techniques like system identification and machine…
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot's information…
This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target both in the 2D and 3D space. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is…
This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
Multiple object tracking (MOT) from unmanned aerial vehicle (UAV) platforms requires efficient motion modeling. This is because UAV-MOT faces both local object motion and global camera motion. Motion blur also increases the difficulty of…