Related papers: Vector Fields for Path Following on Lie Groups wit…
We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms,…
Seamless situational awareness provided by modern radar systems relies on effective methods for multiobject tracking (MOT). This paper presents a graph-based Bayesian method for nonlinear and high-dimensional MOT problems that embeds…
We develop a new framework for trajectory planning on predefined paths, for general N-link manipulators. Different from previous approaches generating open-loop minimum time controllers or pre-tuned motion profiles by time-scaling, we…
Front-following is more technically difficult to implement than the other two human following technologies, but front-following technology is more practical and can be applied in more areas to solve more practical problems. In this paper,…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
We study object motion path editing in videos, where the goal is to alter a target object's trajectory while preserving the original scene content. Unlike prior video editing methods that primarily manipulate appearance or rely on…
This paper initiates the use of vector fields to design, optimize, and implement reactive schedules for safe cooperative robot patterns on planar graphs. We consider Automated Guided Vehicles (AGV's) operating upon a predefined network of…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
Legged robots have unparalleled mobility on unstructured terrains. However, it remains an open challenge to design locomotion controllers that can operate in a large variety of environments. In this paper, we address this challenge of…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…
Multi-object tracking (MOT) aims to associate target objects across video frames in order to obtain entire moving trajectories. With the advancement of deep neural networks and the increasing demand for intelligent video analysis, MOT has…
The aim of this work is to use Variational Autoencoder (VAE) to learn a representation of an indoor environment that can be used for robot navigation. We use images extracted from a video, in which a camera takes a tour around a house, for…
Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…
Vector fields and line fields, their counterparts without orientations on tangent lines, are familiar objects in the theory of dynamical systems. Among the techniques used in their study, the Morse--Smale decomposition of a (generic) field…
Although there is a significant development in 3D Multi-view Multi-person Tracking (3D MM-Tracking), current 3D MM-Tracking frameworks are designed separately for footprint and pose tracking. Specifically, frameworks designed for footprint…
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…
This paper develops a new approach for robot motion planning and control in obstacle-laden environments that is inspired by fundamentals of fluid mechanics. For motion planning, we propose a novel transformation between motion space, with…