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Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
We present a two-level branch-and-bound (BB) algorithm to compute the optimal gripper pose that maximizes a grasp metric in a restricted search space. Our method can take the gripper's kinematics feasibility into consideration to ensure…
With the complexity of Integrated Circuits increasing, design verification has become the most time consuming part of the ASIC design flow. Nearly 70% of the SoC design cycle is consumed by verification. The most commonly used approach to…
This paper describes the development of a novel algorithm to tackle the problem of real-time video stabilization for unmanned aerial vehicles (UAVs). There are two main components in the algorithm: (1) By designing a suitable model for the…
This paper presents the development and integration of a vision-guided loco-manipulation pipeline for Northeastern University's snake robot, COBRA. The system leverages a YOLOv8-based object detection model and depth data from an onboard…
Hybrid model predictive control with both continuous and discrete variables is widely applicable to robotic control tasks, especially those involving contacts with the environment. Due to combinatorial complexity, the solving speed of…
Vision-language models (VLMs) exhibit a striking paradox: they can generate executable code that reconstructs a 3D scene from geometric primitives with correct object counts, classes, and approximate positions, yet the same models fail at…
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning. Despite the centrality of simulation in modern robotics,…
Quantum computer is the key to controlling complex processes. If its hardware, in general is successfully created on the basis of the physical baggage of the 20th century, the mathematical software is fundamentally lagging behind. Feynman's…
Simulating mantle convection often requires reaching a computationally expensive steady-state, crucial for deriving scaling laws for thermal and dynamical flow properties and benchmarking numerical solutions. The strong temperature…
Conic programming has well-documented merits in a gamut of signal processing and machine learning tasks. This contribution revisits a recently developed first-order conic descent (CD) solver, and advances it in three aspects: intuition,…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and…
The hypercube queueing model was initially developed to address spatial queueing problems and has found wide applications in emergency services, such as ambulance and police systems. While the model was originally designed for homogeneous…
Mamba-based vision models have gained extensive attention as a result of being computationally more efficient than attention-based models. However, spatial redundancy still exists in these models, represented by token and block redundancy.…
Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence and generating more realistic configurations. However,…
Combinatorial optimization problems are computationally hard in general, but they are ubiquitous in our modern life. A coherent Ising machine (CIM) based on a multiple-pulse degenerate optical parametric oscillator (DOPO) is an alternative…
In this study an automated software model using digital image processing techniques is proposed for extracting the image characteristics and contiguity of liquid phase sintered tungsten heavy alloys. The developed model takes a typical…
This paper discusses a vehicle prototype that recognizes streets' lanes and plans its motion accordingly without any human input. Pi Camera 1.3 captures real-time video, which is then processed by Raspberry-Pi 3.0 Model B. The image…