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Whole Body Operational Space Control (WBOSC) is a pioneering algorithm in the field of human-centered Whole-Body Control (WBC). It enables floating-base highly-redundant robots to achieve unified motion/force control of one or more…
Existing RGB-based imitation learning approaches typically employ traditional vision encoders such as ResNet or ViT, which lack explicit 3D reasoning capabilities. Recent geometry-grounded vision models, such as VGGT~\cite{wang2025vggt},…
Robotic imitation learning has advanced from solving static tasks to addressing dynamic interaction scenarios, but testing and evaluation remain costly and challenging due to the need for real-time interaction with dynamic environments. We…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world…
This work arises on the environment of the ExaNeSt project aiming at design and development of an exascale ready supercomputer with low energy consumption profile but able to support the most demanding scientific and technical applications.…
Nowadays, the application of fully autonomous system like rotary wing unmanned air vehicles (UAVs) is increasing sharply. Due to the complex nonlinear dynamics, a huge research interest is witnessed in developing learning machine based…
To advance theoretical solutions and address limitations in modeling complex servo-driven actuation systems experiencing high non-linearity and load disturbances, this paper aims to design a practical model-free generic robust control (GRC)…
In this paper, we present a Computer Vision (CV) based tracking and fusion algorithm, dedicated to a 3D printed gimbal system on drones operating in nature. The whole gimbal system can stabilize the camera orientation robustly in a…
We study learning based controllers as a replacement for model predictive controllers (MPC) for the control of autonomous vehicles. We concentrate for the experiments on the simple yet representative bicycle model. We compare training by…
This paper aims to enhance the computational efficiency of safety verification of neural network control systems by developing a guaranteed neural network model reduction method. First, a concept of model reduction precision is proposed to…
This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…
The integration of drones into the medical field has revolutionized healthcare delivery by enabling rapid transportation of medical supplies, organs, and even emergency assistance in remote or disaster-stricken areas. While other survey…
When academic researchers develop and validate autonomous driving algorithms, there is a challenge in balancing high-performance capabilities with the cost and complexity of the vehicle platform. Much of today's research on autonomous…
Attitude control of spacecraft during an impulsive orbital maneuver is a vital task. Many spacecraft and launchers use the gimbaled thrust vector control (TVC) in their attitude control system during an orbital maneuver. Mathematical…
Despite the growing interest in Visible Light Communication (VLC), a reference networking platform based on commercial off-the-shelf components is not available yet. An open-source platform would lower the barriers to entry to VLC network…
With the advent of Intelligent Transportation Systems (ITS), data from diverse sensors either embedded into the vehicles or present along with the smart city infrastructure, are of utmost importance and require both processing power and…
Geometry-based point cloud compression (G-PCC), an international standard designed by MPEG, provides a generic framework for compressing diverse types of point clouds while ensuring interoperability across applications and devices. However,…
This paper presents a learning-based method for calibrating and denoising microelectromechanical system (MEMS) gyroscopes, which is designed based on a convolutional network, and only contains hundreds of parameters, so the network can be…