Related papers: Mobile Robot Localization Using a Novel Whisker-Li…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Texture-based studies and designs have been in focus recently. Whisker-based multidimensional surface texture data is missing in the literature. This data is critical for robotics and machine perception algorithms in the classification and…
Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…
Localization in the environment is an essential navigational capability for animals and mobile robots. In the indoor environment, the global localization problem remains challenging to be perfectly solved with probabilistic methods.…
Mobile applications are being developed for automated logging of contacts via Bluetooth to help scale up digital contact tracing efforts in the context of the ongoing COVID-19 pandemic. A useful component of such applications is…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…
Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
A wireless sensor network comprises of small sensor nodes each of which consists of a processing device, small amount of memory, battery and radio transceiver for communication. The sensor nodes are autonomous and spatially distributed in…
My research objective is to explicitly bridge the gap between high computational performance and low power dissipation of robot on-board hardware by designing a bio-inspired tapered whisker neuromorphic computing (also called reservoir…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…