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Strawberries naturally grow in clusters, interwoven with leaves, stems, and other fruits, which frequently leads to occlusion. This inherent growth habit presents a significant challenge for robotic picking, as traditional…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
This work introduces a novel bio-inspired reconfigurable stereo vision system for robotics, leveraging omnidirectional cameras and a novel algorithm to achieve flexible visual capabilities. Inspired by the adaptive vision of various…
This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation column trays. Leveraging quadruped robots equipped with roller…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
Robotic-assisted procedures offer numerous advantages over traditional approaches, including improved dexterity, reduced fatigue, minimized trauma, and superior outcomes. However, the main challenge of these systems remains the poor…
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
Ultrasound (US) imaging is a vital adjunct to mammography in breast cancer screening and diagnosis, but its reliance on hand-held transducers often lacks repeatability and heavily depends on sonographers' skills. Integrating US systems from…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
TraQuad is an autonomous tracking quadcopter capable of tracking any moving (or static) object like cars, humans, other drones or any other object on-the-go. This article describes the applications and advantages of TraQuad and the…
Colorectal cancer screening critically depends on colonoscopy, yet existing platforms offer limited support for systematically studying the coupled dynamics of operator control, instrument motion, and visual feedback. This gap restricts…
Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic Surgery (FLS). While human sur-geons teleoperate robots such as the da Vinci to perform this task with high speed and accuracy, it is challenging to…
Robotics can be defined as the connection of perception to action. Taking this further, this project aims to drive a robot using an automated computer vision embedded system, connecting the robot's vision to its behavior. In order to…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…
This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation control for localization. We utilize the clarity feature to…
Organ-at-risk contouring is still a bottleneck in radiotherapy, with many deep learning methods falling short of promised results when evaluated on clinical data. We investigate the accuracy and time-savings resulting from the use of an…
In the last decade, many medical companies and research groups have tried to convert passive capsule endoscopes as an emerging and minimally invasive diagnostic technology into actively steerable endoscopic capsule robots which will provide…