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This paper presents a new algorithm for autonomous multitarget tracking of resident space objects using optical angles-only measurements from a spaceborne observer. To enable autonomous angles-only navigation of spacecraft swarms, an…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid…
Safe navigation with simultaneous localization and mapping (SLAM) for autonomous robots is crucial in challenging environments. To achieve this goal, detecting moving objects in the surroundings and building a static map are essential.…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Cognitive cooperative assistance in robot-assisted surgery holds the potential to increase quality of care in minimally invasive interventions. Automation of surgical tasks promises to reduce the mental exertion and fatigue of surgeons. In…
Robotic assistance for experimental manipulation in the life sciences is expected to enable precise manipulation of valuable samples, regardless of the skill of the scientist. Experimental specimens in the life sciences are subject to…
In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a…
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…
Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…
Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC). However, it is challenging to simulate human behaviors, and existing robotics simulators…
Amodal instance segmentation, which aims to detect and segment both visible and invisible parts of objects in images, plays a crucial role in various applications including autonomous driving, robotic manipulation, and scene understanding.…
Maintaining long-term accuracy of stereo camera calibration parameters is important for autonomous systems' perception. This work proposes Online Tracking of Essential Matrix by Stochastic Optimization (TESO). The core mechanisms of TESO…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Multi-object tracking (MOT) methods often rely on Intersection-over-Union (IoU) for association. However, this becomes unreliable when objects are similar or occluded. Also, computing IoU for segmentation masks is computationally expensive.…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
This paper addresses the challenge of achieving reliable and robust positioning of a mobile agent, such as a radio device carried by a person, in scenarios where direct line-of-sight (LOS) links are obstructed or unavailable. The human body…
Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an…
Medical image segmentation aims to delineate the anatomical or pathological structures of interest, playing a crucial role in clinical diagnosis. A substantial amount of high-quality annotated data is crucial for constructing high-precision…
The availability of large-scale remote sensing video data underscores the importance of high-quality interactive segmentation. However, challenges such as small object sizes, ambiguous features, and limited generalization make it difficult…