相关论文: A Cooperative Bearing-Rate Approach for Observabil…

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

Robust robotic task execution hinges on the reliable detection of execution failures in order to trigger safe operation modes, recovery strategies, or task replanning. However, many failure detection methods struggle to provide meaningful…

Tracking specific targets, such as pedestrians and vehicles, has been the focus of recent vision-based multitarget tracking studies. However, in some real-world scenarios, unseen categories often challenge existing methods due to…

Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Robots operating in open, unstructured real-world environments must rely on onboard visual perception while autonomously moving across different locations. Continuous changes in onboard camera viewpoints cause significant visual scale…

This paper studies the control-oriented identification problem of set-valued moving average systems with uniform persistent excitations and observation noises. A stochastic approximation-based (SA-based) algorithm without projections or…

Accurately modeling the friction torque in robotic joints has long been challenging due to the request for a robust mathematical description. Traditional model-based approaches are often labor-intensive, requiring extensive experiments and…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

This paper explores potential improvements to the Spatial-Temporal Matching algorithm for aligning the GPS trajectories to road networks. While this algorithm is effective, it presents some limitations in computational efficiency and the…

This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…

Event cameras action recognition (EAR) offers compelling privacy-protecting and efficiency advantages, where temporal motion dynamics is of great importance. Existing spatiotemporal multi-view representation learning (SMVRL) methods for…

Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…

This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…

This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…

The growing need for autonomous on-orbit services such as inspection, maintenance, and situational awareness calls for intelligent spacecraft capable of complex maneuvers around large orbital targets. Traditional control systems often fall…

In physical Human-Robot Collaboration (pHRC), accurate human intent estimation and rational human-robot role allocation are crucial for safe and efficient assistance. Existing methods that rely on short-term motion data for intention…

Unmanned aerial vehicle (UAV) tracking is critical for applications like surveillance, search-and-rescue, and autonomous navigation. However, the high-speed movement of UAVs and targets introduces unique challenges, including real-time…

Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…

The problem of estimating the parameters of a moving target in multiple-input multiple-output (MIMO) radar is considered and a new approach for estimating the moving target parameters by making use of the phase information associated with…