相关论文: System-Level Error Propagation and Tail-Risk Ampli…
Bipedal robots have advantages in maneuvering human-centered environments, but face greater failure risk compared to other stable mobile platforms such as wheeled or quadrupedal robots. While learning-based traversability has been widely…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
Delineation of curvilinear structures is an important problem in Computer Vision with multiple practical applications. With the advent of Deep Learning, many current approaches on automatic delineation have focused on finding more powerful…
Perception components in autonomous systems are often developed and optimized independently of downstream decision-making and control components, relying on established performance metrics like accuracy, precision, and recall. Traditional…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
Classic hardware verification techniques (e.g., X-propagation and fault-propagation) and more recent hardware security verification techniques based on information flow tracking (IFT) aim to understand how information passes, affects, and…
Estimating the Remaining Useful Life (RUL) of mechanical systems is pivotal in Prognostics and Health Management (PHM). Rolling-element bearings are among the most frequent causes of machinery failure, highlighting the need for robust RUL…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
Deep learning is regarded as a promising solution for reversible steganography. There is an accelerating trend of representing a reversible steo-system by monolithic neural networks, which bypass intermediate operations in traditional…
This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…
In underwater navigation systems, strap-down inertial navigation system/Doppler velocity log (SINS/DVL)-based loosely coupled architectures are widely adopted. Conventional approaches project DVL velocities from the body coordinate system…
Traversing risky terrains with sparse footholds presents significant challenges for legged robots, requiring precise foot placement in safe areas. To acquire comprehensive exteroceptive information, prior studies have employed motion…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
The maturity of structural health monitoring technology brings ever-increasing opportunities for geotechnical structures and underground infrastructure systems to track the risk of structural failure, such as settlement-induced building…
Robot navigation traditionally relies on building an explicit map that is used to plan collision-free trajectories to a desired target. In deformable, complex terrain, using geometric-based approaches can fail to find a path due to…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
The high-pressure transportation process of pipeline necessitates an accurate hydraulic transient simulation tool to prevent slack line flow and over-pressure, which can endanger pipeline operations. However, current numerical solution…
Visual Place Recognition (VPR) systems often have imperfect performance, affecting the `integrity' of position estimates and subsequent robot navigation decisions. Previously, SVM classifiers have been used to monitor VPR integrity. This…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
Projection-based model order reduction of dynamical systems usually introduces an error between the high-fidelity model and its counterpart of lower dimension. This unknown error can be bounded by residual-based methods, which are typically…