Related papers: Bio-Inspired Event-Based Visual Servoing for Groun…
Autonomous intelligent agents must bridge computational challenges at disparate levels of abstraction, from the low-level spaces of sensory input and motor commands to the high-level domain of abstract reasoning and planning. A key question…
Machine vision systems using convolutional neural networks (CNNs) for robotic applications are increasingly being developed. Conventional vision CNNs are driven by camera frames at constant sample rate, thus achieving a fixed latency and…
The paradigm of learning-based robotics holds immense promise, yet its translation to real-world applications is critically hindered by the sample inefficiency and brittleness of conventional model-free reinforcement learning algorithms. In…
This paper describes the integration of weighted delay-and-sum beamforming with speech source localization using image processing and robot head visual servoing for source tracking. We take into consideration the fact that the directivity…
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor-actuator-agents observe a dynamic process and sporadically exchange their measurements and inputs…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Service robots should be able to interact naturally with non-expert human users, not only to help them in various tasks but also to receive guidance in order to resolve ambiguities that might be present in the instruction. We consider the…
We present a fully event-driven vision and processing system for selective attention and tracking, realized on a neuromorphic processor Loihi interfaced to an event-based Dynamic Vision Sensor DAVIS. The attention mechanism is realized as a…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Lossy compression and rate-adaptive streaming are a mainstay in traditional video steams. However, a new class of neuromorphic ``event'' sensors records video with asynchronous pixel samples rather than image frames. These sensors are…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
Image-based visual servoing (IBVS) methods have been well developed and used in many applications, especially in pose (position and orientation) alignment. However, most research papers focused on developing control solutions when 3D point…
This paper proposes a new approach to achieve direct visual servoing (DVS) based on discrete orthogonal moments (DOMs). DVS is performed in such a way that the extraction of geometric primitives, matching, and tracking steps in the…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a…
Reliable visual place recognition (VPR) under dynamic real-world conditions is critical for autonomous robots, yet conventional deep networks remain limited by high computational and energy demands. Inspired by the mammalian navigation…
In social robotics, endowing humanoid robots with the ability to generate bodily expressions of affect can improve human-robot interaction and collaboration, since humans attribute, and perhaps subconsciously anticipate, such traces to…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…
Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…
Autonomous edge computing in robotics, smart cities, and autonomous vehicles relies on the seamless integration of sensing, processing, and actuation for real-time decision-making in dynamic environments. At its core is the…
We propose VISION-SLS, a method for nonlinear output-feedback control from high-resolution RGB images which provides robust constraint satisfaction guarantees under calibrated uncertainty bounds despite partial observability, sensor noise,…