Related papers: MoRPI-PINN: A Physics-Informed Framework for Mobil…
Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus…
Safe navigation in uneven terrains is an important problem in robotic research. In this paper we propose a 2.5D navigation system which consists of elevation map building, path planning and local path following with obstacle avoidance. For…
We present the application of a class of deep learning, known as Physics Informed Neural Networks (PINN), to learning and discovery in solid mechanics. We explain how to incorporate the momentum balance and constitutive relations into PINN,…
This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
Precision Immobilization Technique (PIT) is a potentially effective intervention maneuver for emergency out-of-control vehicle, but its automation is challenged by highly nonlinear collision dynamics, strict safety constraints, and…
In complex engineering systems such as electro-thermal-fluid coupling, rapid and accurate prediction of multi-physics fields is essential for advanced applications like digital twins and real-time condition monitoring. Traditional numerical…
Motion planning (MP) is one of the core robotics problems requiring fast methods for finding a collision-free robot motion path connecting the given start and goal states. Neural motion planners (NMPs) demonstrate fast computational speed…
Modeling concentric tube robots (CTRs) involves complex nonlinear continuum mechanics, and despite recent progress, physics-based models often lack an accurate representation of the experimental setups. To overcome these limitations, deep…
This paper presents a deep learning strategy to simultaneously solve Partial Differential Equations (PDEs) and back-calculate their parameters in the context of deep tunnel excavation. A Physics-Informed Neural Network (PINN) model is…
Physics-informed neural networks (PINNs) represent a significant advancement in scientific machine learning by integrating fundamental physical laws into their architecture through loss functions. PINNs have been successfully applied to…
Navigation systems are used daily. While different types of navigation systems exist, inertial navigation systems (INS) have favorable properties for some wearables which, for battery and form factors may not be able to use GPS. Earables…
With the sustained rise in satellite deployment in Low Earth Orbits, the collision risk from untracked space debris is also increasing. Often small-sized space debris (below 10 cm) are hard to track using the existing state-of-the-art…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…
Physics-informed neural networks (PINNs) have been proposed to solve two main classes of problems: data-driven solutions and data-driven discovery of partial differential equations. This task becomes prohibitive when such data is highly…
Compared with conventional numerical approaches to solving partial differential equations (PDEs), physics-informed neural networks (PINN) have manifested the capability to save development effort and computational cost, especially in…
Physics-Informed Neural Networks (PINNs) solve physical systems by incorporating governing partial differential equations directly into neural network training. In electromagnetism, where well-established methodologies such as FDTD and FEM…
Autonomous off-road navigation requires robots to estimate terrain traversability from onboard sensors and plan motion accordingly. Conventional approaches typically rely on sampling-based planners such as MPPI to generate short-term…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…