相关论文: SINGULAB - A Graphical user Interface for the Sing…

In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…

We propose a novel unifying scheme for parallel implementation of articulated robot dynamics algorithms. It is based on a unified Lie group notation for deriving the equations of motion of articulated robots, where various well-known…

We introduce SigmaCollab, a dataset enabling research on physically situated human-AI collaboration. The dataset consists of a set of 85 sessions in which untrained participants were guided by a mixed-reality assistive AI agent in…

This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…

We present the Matlab toolbox MacaulayLab, which implements numerical linear algebra algorithms for solving multivariate polynomial systems and rectangular multiparameter eigenvalue problems. Its structure and functionality are the result…

I describe a package written in MATHEMATICA that automatizes typical operations performed during evaluation of Feynman graphs with Mellin-Barnes (MB) techniques. The main procedure allows to analytically continue a MB integral in a given…

We propose a standalone monocular visual Simultaneous Localization and Mapping (vSLAM) initialization pipeline for autonomous space robots. Our method, a state-of-the-art factor graph optimization pipeline, extends Structure from Small…

Self-adaptive robots operate in dynamic, unpredictable environments where unaddressed uncertainties can lead to safety violations and operational failures. However, systematically identifying and analyzing these uncertainties, including…

The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…

Collaborative Simultaneous Localization and Mapping (CSLAM) is a critical capability for enabling multiple robots to operate in complex environments. Most CSLAM techniques rely on the transmission of low-level features for visual and…

The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools.…

The Simplex algorithm for solving linear programs-one of Computing in Science & Engineering's top 10 most influential algorithms of the 20th century-is an important topic in many algorithms courses. While the Simplex algorithm relies on…

Textures in images can often be well modeled using self-similar processes while they may at the same time display anisotropy. The present contribution thus aims at studying jointly selfsimilarity and anisotropy by focusing on a specific…

The diversification of information access systems, from RAG to autonomous agents, creates a critical need for comparative user studies. However, the technical overhead to deploy and manage these distinct systems is a major barrier. We…

Linguistic ambiguity is ubiquitous in our daily lives. Previous works adopted interaction between robots and humans for language disambiguation. Nevertheless, when interactive robots are deployed in daily environments, there are significant…

This study explores NotebookLM, a Google Gemini - powered AI platform that integrates Retrieval-Augmented Generation (RAG) as a Socratic tutor for physics education. In this implementation, NotebookLM was configured to support students in…

In this study, we introduce a methodology for automatically transforming user applications in the radar and communication domain written in C/C++ based on dynamic profiling to a parallel representation targeted for a heterogeneous SoC. We…

We present algorithms to classify isolated hypersurface singularities over the real numbers according to the classification by V.I. Arnold (Arnold et al., 1985). This first part covers the splitting lemma and the simple singularities; a…

The training methods in AI do involve semantically distinct pairs of samples. However, their role typically is to enhance the between class separability. The actual notion of similarity is normally learned from semantically identical pairs.…

In the realm of robotics, numerous downstream robotics tasks leverage machine learning methods for processing, modeling, or synthesizing data. Often, this data comprises variables that inherently carry geometric constraints, such as the…