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Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
A significant portion of driving hazards is caused by human error and disregard for local driving regulations; Consequently, an intelligent assistance system can be beneficial. This paper proposes a novel vision-based modular package to…
Generalist robot manipulation policies are becoming increasingly capable, but are limited in evaluation to a small number of hardware rollouts. This strong resource constraint in real-world testing necessitates both more informative…
The Robotic Mobile Fulfillment Systems (RMFS) is a new type of robotized, parts-to-picker material handling system, designed especially for e-commerce warehouses. Robots bring movable shelves, called pods, to workstations where inventory is…
With their potential to significantly reduce traffic accidents, enhance road safety, optimize traffic flow, and decrease congestion, autonomous driving systems are a major focus of research and development in recent years. Beyond these…
Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
The potential for deploying autonomous systems can be significantly increased by improving the perception and interpretation of the environment. However, the development of deep learning-based techniques for autonomous systems in…
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…
AI-controlled robotic systems pose a risk to human workers and the environment. Classical risk assessment methods cannot adequately describe such black box systems. Therefore, new methods for a dynamic risk assessment of such AI-controlled…
This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for…
A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…
Over the last decade, one of the most relevant public datasets for evaluating odometry accuracy is the KITTI dataset. Beside the quality and rich sensor setup, its success is also due to the online evaluation tool, which enables researchers…
Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…