相关论文: Technical report on Optimization-Based Bearing-Onl…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
Video Anomaly Detection (VAD) has traditionally been framed as binary classification or outlier detection, providing neither interpretable reasoning nor precise spatial localization of anomalous events. While Vision-Language Models (VLMs)…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…
We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…
In this paper, we present a novel control law for longitudinal speed control of autonomous vehicles. The key contributions of the proposed work include the design of a control law that reactively integrates the longitudinal surface gradient…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…
The homography matrix is a key component in various vision-based robotic tasks. Traditionally, homography estimation algorithms are classified into feature- or intensity-based. The main advantages of the latter are their versatility,…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
We consider the visual feature selection to improve the estimation quality required for the accurate navigation of a robot. We build upon a key property that asserts: contributions of trackable features (landmarks) appear linearly in the…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D…
Biological sensory systems are inherently adaptive, filtering out constant stimuli and prioritizing relative changes, likely enhancing computational and metabolic efficiency. Inspired by active sensing behaviors across a wide range of…
The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…
This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
3D visual grounding (VG) aims to locate objects or regions within 3D scenes guided by natural language descriptions. While indoor 3D VG has advanced, outdoor 3D VG remains underexplored due to two challenges: (1) large-scale outdoor LiDAR…