相关论文: Symmetry-Aware Robot Design with Structured Subgro…

The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and…

Whether a robot can perform some specific task depends on several aspects, including the robot's sensors and the plans it possesses. We are interested in search algorithms that treat plans and sensor designs jointly, yielding…

Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…

Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…

We propose a vision-based architecture search algorithm for robot manipulation learning, which discovers interactions between low dimension action inputs and high dimensional visual inputs. Our approach automatically designs architectures…

Synthesizing realistic and spatially precise anomalies is essential for enhancing the robustness of industrial anomaly detection systems. While recent diffusion-based methods have demonstrated strong capabilities in modeling complex defect…

The foundation of successful human collaboration is deeply rooted in the principles of fairness. As robots are increasingly prevalent in various parts of society where they are working alongside groups and teams of humans, their ability to…

Arbitrary Pattern Formation is a widely studied problem in autonomous robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any arbitrary pattern…

In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…

Symmetry plays a fundamental role in understanding natural phenomena and mathematical structures. This work develops a comprehensive theory for studying the persistent symmetries and degree of asymmetry of finite point configurations over…

Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…

The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…

Symmetry in mathematical programming may lead to a multiplicity of solutions. In nonconvex optimisation, it can negatively affect the performance of the branch-and-bound algorithm. Symmetry may induce large search trees with multiple…

Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based…

Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…

Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…

With the surge of multi- and manycores, much research has focused on algorithms for mapping and scheduling on these complex platforms. Large classes of these algorithms face scalability problems. This is why diverse methods are commonly…

While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…