相关论文: PHYSFRAME: Type Checking Physical Frames of Refere…

Adaptivity in multi-function radar systems is rapidly increasing, especially when moving towards fully adaptive, cognitive radar systems. However, the large number of available system configurations makes the rigorous verification and…

Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental…

Computer simulation models are widely used to study complex physical systems. A related fundamental topic is the inverse problem, also called calibration, which aims at learning about the values of parameters in the model based on…

Periodic control systems used in spacecrafts and automotives are usually period-driven and can be decomposed into different modes with each mode representing a system state observed from outside. Such systems may also involve intensive…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore,…

Robotic applications involving people often require advanced perception systems to better understand complex real-world scenarios. To address this challenge, photo-realistic and physics simulators are gaining popularity as a means of…

Robotic systems are widely used to interact with humans or to perform critical tasks. As a result, it is imperative to provide guarantees about their behavior. Due to the modularity and complexity of robotic systems, their design and…

Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…

Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…

Eyeframe lens tracing is an important process in the optical industry that requires sub-millimeter precision to ensure proper lens fitting and optimal vision correction. Traditional frame tracers rely on mechanical tools that need precise…

We consider the problem of detecting, in the visual sensing data stream of an autonomous mobile robot, semantic patterns that are unusual (i.e., anomalous) with respect to the robot's previous experience in similar environments. These…

In this work, we bridge the gap between recent pose estimation and tracking work to develop a powerful method for robots to track objects in their surroundings. Motion-Nets use a segmentation model to segment the scene, and separate…

Trusting software systems, particularly autonomous ones, is challenging. To address this, formal verification techniques can ensure these systems behave as expected. Runtime Verification (RV) is a leading, lightweight method for verifying…

The ability of robots to recognize human gestures facilitates a natural and accessible human-robot collaboration. However, most work in gesture recognition remains rooted in reference frame-dependent representations. This poses a challenge…

Automatic program verification has made tremendous strides, but is not yet for the masses. How do we make it less painful? This article addresses one of the obstacles: the need to specify explicit "frame clauses", expressing what properties…

Multi-object Tracking (MOT) generally can be split into two sub-tasks, i.e., detection and association. Many previous methods follow the tracking by detection paradigm, which first obtain detections at each frame and then associate them…

Linear perspectivecues deriving from regularities of the built environment can be used to recalibrate both intrinsic and extrinsic camera parameters online, but these estimates can be unreliable due to irregularities in the scene,…