相关论文: Viconmavlink: A software tool for indoor positioni…
Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designed for individual motions and lack the features necessary to…
Recognizing user location with WiFi fingerprints is a popular approach for accurate indoor positioning problems. In this work, our goal is to interpret WiFi fingerprints into actual user locations. However, WiFi fingerprint data can be very…
Robot localization is an inverse problem of finding a robot's pose using a map and sensor measurements. In recent years, Invertible Neural Networks (INNs) have successfully solved ambiguous inverse problems in various fields. This paper…
In this communication revolution era, visible light communication (VLC) is the optimum efficacious answer to the increased request for high-speed data transmission with reduced cost, besides the illumination. This technology is considered…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
In this paper, a digital twinning framework for indoor integrated sensing, communications, and robotics is proposed, designed, and implemented. Besides leveraging powerful robotics and ray-tracing technologies, the framework also enables…
Virtual reality (VR) is increasingly used to enhance the ecological validity of motor control and learning studies by providing immersive, interactive environments with precise motion tracking. However, designing realistic VR-based motor…
We present a tool AUTONAV that automates the mapping, localization, and path-planning tasks for autonomous navigation of robots. The modular architecture allows easy integration of various algorithms for these tasks for comparison. We…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering…
Visually recognising a traversed route - regardless of whether seen during the day or night, in clear or inclement conditions, or in summer or winter - is an important capability for navigating robots. Since SeqSLAM was introduced in 2012,…
A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…