Related papers: Observability-Aware Active Calibration of Multi-Se…
Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…
Correct fusion of data from two sensors is not possible without an accurate estimate of their relative pose, which can be determined through the process of extrinsic calibration. When two or more sensors are capable of producing their own…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…
The future large adaptive telescopes will trigger new constraints for the calibration of Adaptive Optics (AO) systems equipped with pre-focal Deformable Mirrors (DM). The image of the DM actuators grid as seen by the Wave-Front Sensor (WFS)…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
In this work, we propose an approach for extrinsic sensor calibration from per-sensor ego-motion estimates. Our problem formulation is based on dual quaternions, enabling two different online capable solving approaches. We provide a…
In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuous ground manifold. Exteroceptive sensors such as cameras,…
The calibration of sensors comprising inertial measurement units is crucial for reliable and accurate navigation. Such calibration is usually performed with specialized expensive rotary tables or requires sophisticated signal processing…
A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…
The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs…
Scalable and effective calibration is a fundamental requirement for Low Cost Air Quality Monitoring Systems and will enable accurate and pervasive monitoring in cities. Suffering from environmental interferences and fabrication variance,…
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double…
Visual-inertial systems have been widely studied and applied in the last two decades (from the early 2000s to the present), mainly due to their low cost and power consumption, small footprint, and high availability. Such a trend…
Accurate global localization is crucial for autonomous navigation and planning. To this end, various GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms are proposed in the literature. This paper presents a novel GPS-VIO system…