Related papers: Control Architecture and Design for a Multi-roboti…
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with the introduction of…
Modern agriculture faces escalating challenges: increasing demand for food, labor shortages, and the urgent need to reduce environmental impact. Agricultural robotics has emerged as a promising response to these pressures, enabling the…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…
Camera parameters not only play an important role in determining the visual quality of perceived images, but also affect the performance of vision algorithms, for a vision-guided robot. By quantitatively evaluating four object detection…
Robotic interaction in fast-paced environments presents a substantial challenge, particularly in tasks requiring the prediction of dynamic, non-stationary objects for timely and accurate responses. An example of such a task is ping-pong,…
Vision Systems are quickly becoming a large component of Active Automotive Safety Systems. In order to be effective in critical safety applications these systems must produce high quality images in both daytime and night-time scenarios in…
Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and small, provide appearance information about the environment, and work in various weather conditions. They can be used for multiple purposes such as…
Nowadays, robots are dominating the manufacturing, entertainment and healthcare industries. Robot vision aims to equip robots with the ability to discover information, understand it and interact with the environment. These capabilities…
Purpose: We describe a 3D multi-view perception system for the da Vinci surgical system to enable Operating room (OR) scene understanding and context awareness. Methods: Our proposed system is comprised of four Time-of-Flight (ToF) cameras…
Pick-and-place robots are commonly used in modern industrial manufacturing. For complex devices/parts like camera modules used in smartphones, which contain optical parts, electrical components and interfacing connectors, the placement…
Occlusion-free video generation is challenging due to surgeons' obstructions in the camera field of view. Prior work has addressed this issue by installing multiple cameras on a surgical light, hoping some cameras will observe the surgical…
This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…
Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…
We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…
We present an online and data-driven uncertainty quantification method to enable the development of safe human-robot collaboration applications. Safety and risk assessment of systems are strongly correlated with the accuracy of…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associated with the overall kinematics of the system, and then…