相关论文: ira_laser_tools: a ROS LaserScan manipulation tool…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
This paper introduces new algorithm for line extraction from laser range data including methodology for efficient computation. The task is cast to series of one dimensional problems in various spaces. A fast and simple specialization of…
Development of artificial intelligence (AI) for medical imaging demands curation and cleaning of large-scale clinical datasets comprising hundreds of thousands of images. Some modalities, such as mammography, contain highly standardized…
The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article. A monocular RGB camera mounted on the platform is utilized to collect the visual data. A…
KMOS is a multi-object near-infrared integral field spectrometer with 24 deployable cryogenic pick-off arms. Inevitably, data processing is a complex task that requires careful calibration and quality control. In this paper we describe all…
With the ability to use containers at the edge, they pose a unified solution to combat the complexity of distributed multi-host ROS deployments, as well as individual ROS-node and dependency deployment. The bidirectional communication in…
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction with data streamed from multiple robots and devices remains…
Simulating sonar devices requires modeling complex underwater acoustics, simultaneously rendering time-efficient data. Existing methods focus on basic implementation of one sonar type, where most of sound properties are disregarded. In this…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
Computer-assisted surgical (CAS) systems enhance surgical execution and outcomes by providing advanced support to surgeons. These systems often rely on deep learning models trained on complex, challenging-to-annotate data. While synthetic…
Agentic AI systems and Physical or Embodied AI systems have been two key research verticals at the forefront of Artificial Intelligence and Robotics, with Model Context Protocol (MCP) increasingly becoming a key component and enabler of…
Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…
Mobile smartphones compactly provide sensors such as cameras, IMUs, GNSS measurement units, and wireless and wired communication channels required for robotics projects. They are affordable, portable, and programmable, which makes them…
Since there are a number of Internet-of-Things (IoT) applications that need to collect data sets from a large number of sensors or devices in real-time, sensing and communication need to be integrated for efficient uploading from devices.…
As the popularity of on-orbit operations grows, so does the need for precise navigation around unknown resident space objects (RSOs) such as other spacecraft, orbital debris, and asteroids. The use of Simultaneous Localization and Mapping…
The presented work is part of a larger research program dealing with developing tools for coupling biogeochemical models in contaminated landscapes. The specific objective of this article is to provide the researchers a tool to build…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…