相关论文: PiDR: Physics-Informed Inertial Dead Reckoning for…

We use a space-time discretization based on physics informed deep learning (PIDL) to approximate solutions of a class of rate-dependent strain gradient plasticity models. The differential equation governing the plastic flow, the so-called…

We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…

Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor-based odometry approaches should be robust across sensor…

A recent development in machine learning - physics-informed deep learning (PIDL) - presents unique advantages in transportation applications such as traffic state estimation. Consolidating the benefits of deep learning (DL) and the…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

Modern canine applications span medical and service roles, while robotic legged dogs serve as autonomous platforms for high-risk industrial inspection, disaster response, and search and rescue operations. For both, accurate positioning…

Variational quantum algorithms are promising for near-term quantum computing, but are severely limited by hardware noise and the substantial circuit overhead required for error mitigation methods such as Zero-Noise Extrapolation (ZNE). We…

This paper presents a scalable method for friction identification in robots equipped with electric motors and high-ratio harmonic drives, utilizing Physics-Informed Neural Networks (PINN). This approach eliminates the need for dedicated…

Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…

In this work, we demonstrate how physical principles -- such as symmetries, invariances, and conservation laws -- can be integrated into the dynamic mode decomposition (DMD). DMD is a widely-used data analysis technique that extracts…

For its robust predictive power (compared to pure physics-based models) and sample-efficient training (compared to pure deep learning models), physics-informed deep learning (PIDL), a paradigm hybridizing physics-based models and deep…

Accurate dynamic modeling is critical for autonomous racing vehicles, especially during high-speed and agile maneuvers where precise motion prediction is essential for safety. Traditional parameter estimation methods face limitations such…

This article proposes a method to diminish the pose (position plus attitude) drift experienced by an SVO (Semi-Direct Visual Odometry) based visual navigation system installed onboard a UAV (Unmanned Air Vehicle) by supplementing its pose…

The inclusion of physical information in machine learning frameworks has revolutionized many application areas. This involves enhancing the learning process by incorporating physical constraints and adhering to physical laws. In this work…

Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…

Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…

Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

Cardiovascular diseases remain the leading cause of global mortality, with minimally invasive treatment options offered through endovascular interventions. However, the precision and adaptability of current robotic systems for endovascular…

Physics-Informed Neural Networks (PINNs) have been shown to be an effective way of incorporating physics-based domain knowledge into neural network models for many important real-world systems. They have been particularly effective as a…