相关论文: An abstract theory of sensor eventification

The viability of automated driving is heavily dependent on the performance of perception systems to provide real-time accurate and reliable information for robust decision-making and maneuvers. These systems must perform reliably not only…

The exploration of complex physical or technological processes usually requires exploiting available information from different sources: (i) physical laws often represented as a family of parameter dependent partial differential equations…

In studying robots and planning problems, a basic question is what is the minimal information a robot must obtain to guarantee task completion. Erdmann's theory of action-based sensors is a classical approach to characterizing fundamental…

By monitoring temporal contrast, event-based vision sensors can provide high temporal resolution and low latency while maintaining low power consumption and simplicity in circuit structure. These characteristics have garnered significant…

We demonstrate the first reinforcement-learning application for robots equipped with an event camera. Because of the considerably lower latency of the event camera, it is possible to achieve much faster control of robots compared with the…

This paper investigates the fundamental information-theoretic limits for the control and sensing of noiseless linear dynamical systems subject to a broad class of nonlinear observations. We analyze the interactions between the control and…

In this paper, we confront the problem of applying reinforcement learning to agents that perceive the environment through many sensors and that can perform parallel actions using many actuators as is the case in complex autonomous robots.…

Event cameras are novel bio-inspired vision sensors that measure pixel-wise brightness changes asynchronously instead of images at a given frame rate. They offer promising advantages, namely a high dynamic range, low latency, and minimal…

For the assessment of machine perception for automated driving it is important to understand the influence of certain environment factors on the sensors used. Especially when investigating large amounts of real-world data to find and…

Background: Large engineering structures, such as space launch towers and suspension bridges, are subjected to extreme forces that cause high-speed 3D deformation and compromise safety. These structures typically operate under extreme…

Our goal is to enable robots to \emph{time} their motion in a way that is purposefully expressive of their internal states, making them more transparent to people. We start by investigating what types of states motion timing is capable of…

Despite surveillance systems are becoming increasingly ubiquitous in our living environment, automated surveillance, currently based on video sensory modality and machine intelligence, lacks most of the time the robustness and reliability…

This paper addresses the topic of robustness under sensing noise, ambiguous instructions, and human-robot interaction. We take a radically different tack to the issue of reliable embodied AI: instead of focusing on formal verification…

Camera parameters not only play an important role in determining the visual quality of perceived images, but also affect the performance of vision algorithms, for a vision-guided robot. By quantitatively evaluating four object detection…

Star trackers are primarily optical devices that are used to estimate the attitude of a spacecraft by recognising and tracking star patterns. Currently, most star trackers use conventional optical sensors. In this application paper, we…

Anomaly detection aims to identify observations that deviate from expected behavior. Because anomalous events are inherently sparse, most frameworks are trained exclusively on normal data to learn a single reference model of normality. This…

In many interesting physical settings, such as the vulcanization of rubber, the introduction of permanent random constraints between the constituents of a homogeneous fluid can cause a phase transition to a random solid state. In this…

This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…

Recognising new or unusual features of an environment is an ability which is potentially very useful to a robot. This paper demonstrates an algorithm which achieves this task by learning an internal representation of `normality' from sonar…

Table tennis robots gained traction over the last years and have become a popular research challenge for control and perception algorithms. Fast and accurate ball detection is crucial for enabling a robotic arm to rally the ball back…