Related papers: A New Collision Avoidance Fiber Assignment Algorit…
In many modern astronomical facilities, multi-object telescopes are crucial instruments. Most of these telescopes have thousands of robotic fiber positioners(RFPs) installed on their focal plane, sharing an overlapping workspace. Collisions…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
High-dimensional nonlinear systems pose considerable challenges for modeling and control across many domains, from fluid mechanics to advanced robotics. Such systems are typically approximated with reduced-order models, which often rely on…
Computer vision algorithms are known to be extremely sensitive to the environmental conditions in which the data is captured, e.g., lighting conditions and target density. Tuning of parameters or choosing a completely new algorithm is often…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Analyzing and identifying the shortcomings of current subdivision methods for finding intersections of rays with fibers defined by the surface of a circular contour swept along a B\'ezier curve, we present a new algorithm that improves…
Envisioned for fifth generation (5G) systems, millimeter-wave (mmWave) communications are under very active research worldwide. Although pencil beams with accurate beamtracking may boost the throughput of mmWave systems, this poses great…
WEAVE is the new wide-field spectroscopic facility for the prime focus of the William Herschel Telescope in La Palma, Spain. Its fibre positioner is essential for the accurate placement of the spectrograph's ~960-fibre multiplex. To…
This paper presents a methodology for optimal target detection in a multi sensor surveillance system. The system consists of mobile sensors that guard a rectangular surveillance zone crisscrossed by moving targets. Targets percolate the…
We propose a novel iterative method for optimally placing and orienting multiple cameras in a 3D scene. Sample applications include improving the accuracy of 3D reconstruction, maximizing the covered area for surveillance, or improving the…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
In this paper, we propose a new algorithm based on radial symmetry center method to track colloidal particles close to contact, where the optical images of the particles start to overlap in digital video microscopy. This overlapping effect…
Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…
Optimally selecting a subset of targets from a larger catalog is a common problem in astronomy and cosmology. A specific example is the selection of targets from an imaging survey for multi-object spectrographic follow-up. We present a new…
Modeling of microlensing events poses computational challenges for the resolution of the lens equation and the high dimensionality of the parameter space. In particular, numerical noise represents a severe limitation to fast and efficient…
Multi-robot coverage is crucial in numerous applications, including environmental monitoring, search and rescue operations, and precision agriculture. In modern applications, a multi-robot team must collaboratively explore unknown spatial…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…
Traditional task assignment approaches for multi-agent motion control do not take the possibility of collisions into account. This can lead to challenging requirements for path planning. We derive an assignment method that not only…