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Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…
A novel probabilistic perception algorithm is presented as a real-time joint solution to data association, object tracking, and object classification for an autonomous ground vehicle in all-weather conditions. The presented algorithm…
Robots-based smart pharmacies are essential for modern healthcare systems, enabling efficient drug delivery. However, a critical challenge exists in the robotic handling of drugs with varying shapes and overlapping positions, which previous…
We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…
This paper proposes a novel algorithm to determine the optimal placement of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative…
In this paper, considering multiple interference regions simultaneously, an optimal antenna deployment problem for distributed Multi-Input Multi-Output (MIMO) radar is investigated. The optimal antenna deployment problem is solved by…
We present a novel solution to automated beam alignment optimization. This device is based on a Raspberry Pi computer, stepper motors, commercial optomechanics and electronic devices, and the open source machine learning algorithm M-LOOP.…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
This paper proposes and evaluates a new metric. This metric will overcome a limitation of the Optimal Subpattern Assignment (OSPA) metric mentioned by Schuhmacher et al.: the OSPA distance between two sets of points is insensitive to the…
One-stage object detectors are trained by optimizing classification-loss and localization-loss simultaneously, with the former suffering much from extreme foreground-background class imbalance issue due to the large number of anchors. This…
This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…
This paper deals with the multi-object detection and tracking problem, within the scope of open Radio Access Network (RAN), for collision avoidance in vehicular scenarios. To this end, a set of distributed intelligent agents collocated with…
In recent years there is a growing effort to provide learning algorithms for spectrum collaboration. In this paper we present a medium access control protocol which allows spectrum collaboration with minimal regret and high spectral…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
Pick-and-place robots are commonly used in modern industrial manufacturing. For complex devices/parts like camera modules used in smartphones, which contain optical parts, electrical components and interfacing connectors, the placement…
The discovery and subsequent study of optical counterparts to transient sources is crucial for their complete astrophysical understanding. Various gamma ray burst (GRB) detectors, and more notably the ground--based gravitational wave…
We consider unmanned aerial vehicle (UAV)-assisted wireless communication employing UAVs as relay nodes to increase the throughput between a pair of transmitter and receiver. We focus on developing effective methods to position the UAV(s)…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…