相关论文: Visually Guided UGV for Autonomous Mobile Manipula…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
Enabling mobile robots to perform long-term tasks in dynamic real-world environments is a formidable challenge, especially when the environment changes frequently due to human-robot interactions or the robot's own actions. Traditional…
Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
One of the most critical applications undertaken by coalitions of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is reaching predefined targets by following the most time-efficient routes while avoiding collisions.…
Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independent components, i.e., interception and enclosing, which are…
Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…
Generalizable perception is one of the pillars of high-level autonomy in space robotics. Estimating the structure and motion of unknown objects in dynamic environments is fundamental for such autonomous systems. Traditionally, the solutions…
The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…
Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous works leverage Extrinsic Dexterity like walls or table edges…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…
The interface for the next generation of Unmanned Vehicle Systems should be an interface with multi-modal displays and input controls. Then, the role of the interface will not be restricted to be a support of the interactions between the…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…