相关论文: State and Trajectory Estimation of Tensegrity Robo…

Given a suitably large and well connected (complex) graph state, any quantum algorithm can be implemented purely through local measurements on the individual qubits. Measurements can also be used to create the graph state: Path erasure…

Inspired by a series of remarkable papers in recent years that use Deep Neural Nets to substantially speed up the calibration of pricing models, we investigate the use of Chebyshev Tensors instead of Deep Neural Nets. Given that Chebyshev…

The design of methods for inference from time sequences has traditionally relied on statistical models that describe the relation between a latent desired sequence and the observed one. A broad family of model-based algorithms have been…

State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor…

We present semi-supervised deep learning approaches for traversability estimation from fisheye images. Our method, GONet, and the proposed extensions leverage Generative Adversarial Networks (GANs) to effectively predict whether the area…

Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for…

Heart rate variability studies depend on the robust calculation of the tachogram, the heart rate times series, usually by the detection of R peaks in the electrocardiogram (ECG). ECGs however are subject to a number of sources of noise…

Graph-based analyses have gained a lot of relevance in the past years due to their high potential in describing complex systems by detailing the actors involved, their relations and their behaviours. Nevertheless, in scenarios where these…

Existing short term voltage stability (STVS) methods typically address either voltage oscillations or delayed voltage recovery; however, the coexistence of both phenomena has not been adequately covered in the literature. Moreover, existing…

Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…

This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate similar physical quantities, such as each other's position…

Low-rank matrix estimation under heavy-tailed noise is challenging, both computationally and statistically. Convex approaches have been proven statistically optimal but suffer from high computational costs, especially since robust loss…

Existing state estimation algorithms for legged robots that rely on proprioceptive sensors often overlook foot slippage and leg deformation in the physical world, leading to large estimation errors. To address this limitation, we propose a…

Stability certificates play a critical role in ensuring the safety and reliability of robotic systems. However, deriving these certificates for complex, unknown systems has traditionally required explicit knowledge of system dynamics, often…

Many robotic tasks, such as inverse kinematics, motion planning, and optimal control, can be formulated as optimization problems. Solving these problems involves addressing nonlinear kinematics, complex contact dynamics, long-horizon…

Rapid reliability assessment of transportation networks can enhance preparedness, risk mitigation, and response management procedures related to these systems. Network reliability analysis commonly considers network-level performance and…

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…

We study multi-robot persistent monitoring on weighted graphs, where node weights encode monitoring priorities and edge weights encode travel distances. The goal is to design joint robot trajectories that minimize the worst-case weighted…

Harmonic Balance is one of the most popular methods for computing periodic solutions of nonlinear dynamical systems. In this work, we address two of its major shortcomings: First, we investigate to what extent the computational burden of…

Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, which the navigation depends on, can be degraded by…