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

In this paper, an approach of estimating signal parameters via rotational invariance technique (ESPRIT) is proposed for two-dimensional (2-D) localization of incoherently distributed (ID) sources in large-scale/massive multiple-input…

One of the goals of active information acquisition using multi-robot teams is to keep the relative uncertainty in each region at the same level to maintain identical acquisition quality (e.g., consistent target detection) in all the…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

Voronoi diagrams naturally produce convex, watertight, and topologically consistent cells, making them an appealing representation for 3D shape reconstruction. However, standard differentiable Voronoi approaches typically optimize generator…

Sound source tracking is commonly performed using classical array-processing algorithms, while machine-learning approaches typically rely on precise source position labels that are expensive or impractical to obtain. This paper introduces a…

This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…

As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…

Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amount of map storage space and online computing time, they are…

The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…

We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…

In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of…

Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information but also achieve open-vocabulary scene understanding.…

In this paper, we develop constructive algorithms for generating quasi-uniform point sets and sequences over arbitrary two-dimensional triangular domains. Our proposed method, called the \emph{Voronoi-guided greedy packing} algorithm,…

Voronoi diagrams are a fundamental geometric data structure for obtaining proximity relations. We consider collections of axis-aligned orthogonal polyhedra in two and three-dimensional space under the max-norm, which is a particularly…

This paper develops a method for robots to integrate stability into actively seeking out informative measurements through coverage. We derive a controller using hybrid systems theory that allows us to consider safe equilibrium policies…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

This paper analyzes the robustness of recent 3D shape descriptors to SO(3) rotations, something that is fundamental to shape modeling. Specifically, we formulate the task of rotated 3D object instance detection. To do so, we consider a…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the…

This work discusses a novel method for estimating the location of a gas source based on spatially distributed concentration measurements taken, e.g., by a mobile robot or flying platform that follows a predefined trajectory to collect…