相关论文: Robot Development and Path Planning for Indoor Ult…
Robots with the ability to actively acquire power from surroundings will be greatly beneficial for long-term autonomy and to survive in uncertain environments. In this work, we present a robot capable of drawing circuits with conductive ink…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to…
Robots with the ability to actively acquire power from surroundings will be greatly beneficial for long-term autonomy, and to survive in dynamic, uncertain environments. In this work, a scenario is presented where a robot has limited…
Visual slam technology is one of the key technologies for robot to explore unknown environment independently. Accurate estimation of camera pose based on visual sensor is the basis of autonomous navigation and positioning. However, most…
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…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which operates on an individual lidar scan to localize it within a…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…
In this paper, we propose a joint indoor localization and navigation algorithm to enable a swarm of unmanned aerial vehicles (UAVs) to deploy in a specific spatial formation in indoor environments. In the envisioned scenario, we consider a…
Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding…
In a typical path planning pipeline for a ground robot, we build a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating indoors, a ground robot's knowledge about the environment may be limited due to…
We study the {\sc Uniform Circle Formation} ({\sc UCF}) problem for a swarm of $n$ autonomous mobile robots operating in \emph{Look-Compute-Move} (LCM) cycles on the Euclidean plane. We assume our robots are \emph{luminous}, i.e. embedded…
Digital maps will revolutionize our experience of perceiving and navigating indoor environments. While today we rely only on the representation of the outdoors, the mapping of indoors is mainly a part of the traditional SLAM problem where…
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…
In the last decade, various robotic platforms have been introduced that could support delicate retinal surgeries. Concurrently, to provide semantic understanding of the surgical area, recent advances have enabled microscope-integrated…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…