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In modern society, service robots are increasingly recognized for their wide range of practical applications. In large and crowded social spaces, such as museums and hospitals, these robots are required to safely move in the environment…
Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing before field deployment. However, existing tools lack certain…
Computing needs for high energy physics are already intensive and are expected to increase drastically in the coming years. In this context, heterogeneous computing, specifically as-a-service computing, has the potential for significant…
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the excavator itself. Simulation is a useful tool to build…
Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communication delays and interferences. In nuclear inspection, robots…
The Function-as-a-Service (FaaS) execution model increases developer productivity by removing operational concerns such as managing hardware or software runtimes. Developers, however, still need to partition their applications into FaaS…
Function-as-a-Service (FaaS) is a cloud service model enabling developers to offload event-driven executable snippets of code. The execution and management of such functions becomes a FaaS provider's responsibility, hereby included their…
Within academia and industry, there has been a need for expansive simulation frameworks that include model-based simulation of sensors, mobile vehicles, and the environment around them. To this end, the modular, real-time, and open-source…
Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization often fail to capture fine-grained dynamics, limiting their…
Human-robot interaction plays a crucial role to make robots closer to humans. Usually, robots are limited by their own capabilities. Therefore, they utilise Cloud Robotics to enhance their dexterity. Its ability includes the sharing of…
We present the Light Augmented Reality System LARS as an open-source and cost-effective tool. LARS leverages light-projected visual scenes for indirect robot-robot and human-robot interaction through the real environment. It operates in…
Recent advances in combustion science have led to the generation of large volumes of data from high-fidelity simulations, detailed chemical-kinetic calculations and engine-relevant measurements and create new opportunities for data-driven…
Robots are integrating more huge-size models to enrich functions and improve accuracy, which leads to out-of-control computing pressure. And thus robots are encountering bottlenecks in computing power and battery capacity. Fog or cloud…
Trust in robots has been gathering attention from multiple directions, as it has special relevance in the theoretical descriptions of human-robot interactions. It is essential for reaching high acceptance and usage rates of robotic…
Functions-as-a-Service (FaaS) is a Serverless Cloud paradigm where a platform manages the scheduling (e.g., resource allocation, runtime environments) of stateless functions. Recent work proposed using domain-specific languages to express…
In many cyber-physical systems, imaging can be an important but expensive or 'difficult to deploy' sensing modality. One such example is detecting combustion instability using flame images, where deep learning frameworks have demonstrated…
The provision of fire services plays a vital role in ensuring the safety of residents' lives and property. The spatial layout of fire stations is closely linked to the efficiency of fire rescue operations. Traditional approaches have…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace…
In dynamic environments, robots often encounter constrained movement trajectories when manipulating objects with specific properties, such as doors. Therefore, applying the appropriate force is crucial to prevent damage to both the robots…