Related papers: Continuum Robot Localization using Distributed Tim…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
In this paper, an analysis of the sensing volume coverage of robot workspace as well as the shared human-robot collaborative workspace for various configurations of on-robot Time-of-Flight (ToF) sensor array rings is presented. A…
Detecting and localizing contacts is essential for robot manipulators to perform contact-rich tasks in unstructured environments. While robot skins can localize contacts on the surface of robot arms, these sensors are not yet robust or…
The objective of this study is improving the location estimate of a mobile robot capable of motion on a plane and mounted with a conventional 2D LIDAR sensor, given an initial guess for its location on a 2D map of its surroundings.…
Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…
Accurate underwater localization remains a challenge for inexpensive autonomous platforms that require highfrequency position updates. In this paper, we present a robust, low-cost localization pipeline for buoyancy-driven microFloats…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…