相关论文: Evaluation of Sampling Methods for Robotic Sedimen…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…
In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have…
Sintering, as a thermal process at elevated temperature below the melting point, is widely used to bond contacting particles into engineering products such as ceramics, metals, polymers, and cemented carbides. Modelling and simulation as…
Hydraulic structures such as dams have a direct or indirect influence on the hydro-sedimentary functioning of rivers. They can impact the sediment continuity of the river and can create a sediment imbalance with zones of sediment…
The accumulation of litter is increasing in many places and is consequently becoming a problem that must be dealt with. In this paper, we present a manipulator robotic system to collect litter in outdoor environments. This system has three…
Optimal sampling strategies are critical for surveys of deeper coral reef and shoal systems, due to the significant cost of accessing and field sampling these remote and poorly understood ecosystems. Additionally, well-established standard…
This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real…
Improper solid waste management represents both a serious threat to ecosystem health and a significant source of revenues for criminal organizations perpetrating environmental crimes. This issue can be mitigated thanks to the increasing…
Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…
Sampling from unnormalized target distributions is a fundamental yet challenging task in machine learning and statistics. Existing sampling algorithms typically require many iterative steps to produce high-quality samples, leading to high…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
Accurate and robust environmental perception is crucial for robot autonomous navigation. While current methods typically adopt optical sensors (e.g., camera, LiDAR) as primary sensing modalities, their susceptibility to visual occlusion…
Many core problems in robotics can be framed as constrained optimization problems. Often on these problems, the robotic system has uncertainty, or it would be advantageous to identify multiple high quality feasible solutions. To enable…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
Corrosion, a naturally occurring process leading to the deterioration of metallic materials, demands diligent detection for quality control and the preservation of metal-based objects, especially within industrial contexts. Traditional…
The proliferation of floating anthropogenic debris in rivers has emerged as a pressing environmental concern, exerting a detrimental influence on biodiversity, water quality, and human activities such as navigation and recreation. The…
Monitoring moisture level of land in a large-scale plantation is tedious. The main objective of this project is to use a robotic kit in collaboration with the on-field moisture sensor circuits, thereby creating an efficient and economical…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
The geotechnical evaluation of seabed sediments is important for engineering projects and naval applications, offering valuable insights into sediment properties, behavior, and strength. Obtaining high-quality seabed samples can be a…
Enhanced sampling algorithms have emerged as powerful methods to extend the utility of molecular dynamics simulations and allow the sampling of larger portions of the configuration space of complex systems in a given amount of simulation…