相关论文: Voronoi-based Multi-Robot Formations for 3D Source…

When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…

We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of Geometric Source Separation and a post-filter that gives us a…

Most current results on coverage control using mobile sensors require that one partitioned cell is associated with precisely one sensor. In this paper, we consider a class of coverage control problems involving higher order Voronoi…

Grasp synthesis is a fundamental task in robotic manipulation which usually has multiple feasible solutions. Multimodal grasp synthesis seeks to generate diverse sets of stable grasps conditioned on object geometry, making the robust…

To decide whether a digital video has been captured by a given device, multimedia forensic tools usually exploit characteristic noise traces left by the camera sensor on the acquired frames. This analysis requires that the noise pattern…

In stark contrast to the case of images, finding a concise, learnable discrete representation of 3D surfaces remains a challenge. In particular, while polygon meshes are arguably the most common surface representation used in geometry…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Volumetric shape representations have become ubiquitous in multi-view reconstruction tasks. They often build on regular voxel grids as discrete representations of 3D shape functions, such as SDF or radiance fields, either as the full shape…

We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…

Radiation detection has largely been a manual inspection process with point sensors such as Geiger-Muller counters and scintillation spectrometers to date. While their observations of source proximity prove useful, they lack the directional…

Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…

Neural Radiance Fields (NeRFs) learn to represent a 3D scene from just a set of registered images. Increasing sizes of a scene demands more complex functions, typically represented by neural networks, to capture all details. Training and…

In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking robot planner is a model that can produce estimates of the…

This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…

Accurately localizing multiple sources is a critical task with various applications in wireless communications, such as emergency services, including natural post-disaster search and rescue operations. However, scenarios where the receiver…

3D object localisation based on a sequence of camera measurements is essential for safety-critical surveillance tasks, such as drone-based wildfire monitoring. Localisation of objects detected with a camera can typically be solved with…

In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…

This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…

Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…

Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…