Related papers: Control Architecture and Design for a Multi-roboti…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…

Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear. In this paper we present a novel visual servoing approach…

Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…

A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…

Convolutional neural networks have shown to achieve superior performance on image segmentation tasks. However, convolutional neural networks, operating as black-box systems, generally do not provide a reliable measure about the confidence…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…

Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…

Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…

The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…

Robotic-assisted surgeries benefit both surgeons and patients, however, surgeons frequently need to adjust the endoscopic camera to achieve good viewpoints. Simultaneously controlling the camera and the surgical instruments is impossible,…

Quality control is a critical aspect of manufacturing, particularly in ensuring the proper assembly of small components in production lines. Existing solutions often rely on single-view imaging or manual inspection, which are prone to…

Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…