Related papers: SaWa-ML: Structure-Aware Pose Correction and Weigh…
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…
Recently, machine learning (ML) methods have been developed for increasing the accuracy of robot mechanisms. Complex mechanical issues such as non-linear friction, backlash, flexibility of structure transmission elements can cause these…
We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with…
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the…
Researchers have identified various sources of tool positioning errors for articulated industrial robots and have proposed dedicated compensation strategies. However, these typically require individual, specialized experiments with separate…
This paper considers a radio-frequency (RF)-based simultaneous localization and source-seeking (SLASS) problem in multi-robot systems, where multiple robots jointly localize themselves and an RF source using distance-only measurements…
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wideband (UWB) time difference of arrival (TDOA)-based…
Deep visual odometry has demonstrated great advancements by learning-to-optimize technology. This approach heavily relies on the visual matching across frames. However, ambiguous matching in challenging scenarios leads to significant errors…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
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…
This paper proposes a novel approach for global localisation of mobile robots in large-scale environments. Our method leverages learning-based localisation and filtering-based localisation, to localise the robot efficiently and precisely…
This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
Model-based reinforcement learning (MBRL) has achieved remarkable success in robotics due to its high sample efficiency and planning capability. However, extending MBRL to physical multi-robot cooperation remains challenging due to the…
This paper presents the design of a pose estimator for a four wheel independent steer four wheel independent drive (4WIS4WID) wall climbing mobile robot, based on the fusion of multimodal measurements, including wheel odometry, visual…
Current pandemic has caused the medical system to operate under high load. To relieve it, robots with high autonomy can be used to effectively execute contactless operations in hospitals and reduce cross-infection between medical staff and…
In this work, the problem of 4 degree-of-freedom (3D position and heading) robot-to-robot relative frame transformation estimation using onboard odometry and inter-robot distance measurements is studied. Firstly, we present a theoretical…
Accurate visual state estimation has been a central topic in robotics with a wide range of applications in robot navigation, autonomous driving, and autonomous flight. Recent advances in robot perception have led to significant improvements…
Internet of Things (IoT)-based indoor localization has gained significant popularity recently to satisfy the ever-increasing requirements of indoor Location-based Services (LBS). In this context, Inertial Measurement Unit (IMU)-based…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…