相关论文: Robot Motion Prediction by Channel State Informati…

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…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

In this paper we develop the analytical framework for a novel Wireless signal-based Sensing capability for Robotics (WSR) by leveraging robots' mobility. It allows robots to primarily measure relative direction, or Angle-of-Arrival (AOA),…

Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…

With the fast growing demand of location-based services in indoor environments, indoor positioning based on fingerprinting has attracted a lot of interest due to its high accuracy. In this paper, we present a novel deep learning based…

In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

In this work, we propose a novel data-driven machine learning (ML) technique to model and predict the dynamics of the wireless propagation environment in latent space. Leveraging the idea of channel charting, which learns compressed…

Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this paper, we propose a…

The Brain-Computer Interface system is a profoundly developing area of experimentation for Motor activities which plays vital role in decoding cognitive activities. Classification of Cognitive-Motor Imagery activities from EEG signals is a…

This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…

Nowadays, Coronavirus disease (COVID-19) has become a global pandemic because of its fast spread in various countries. To build an anti-epidemic barrier, self-isolation is required for people who have been to any at-risk places or have been…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

Hand detection is essential for many hand related tasks, e.g. parsing hand pose, understanding gesture, which are extremely useful for robotics and human-computer interaction. However, hand detection in uncontrolled environments is…

In this paper, we consider the problem of wireless channel prediction, where we are interested in predicting the channel quality at unvisited locations in an area of interest, based on a small number of prior received power measurements…

Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…

Automated real-time prediction of the ergonomic risks of manipulating objects is a key unsolved challenge in developing effective human-robot collaboration systems for logistics and manufacturing applications. We present a foundational…

Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular…

This paper studies the performance of a user positioning system using Channel State Information (CSI) of a Massive MIMO (MaMIMO) system. To infer the position of the user from the CSI, a Convolutional Neural Network is designed and…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…