Research
Research
Research
Research
31+ open-access research outputs.
Line following robots are fundamental platforms in robotics education, yet commercially available solutions remain prohibitively expensive ($150-300$) while lacking integrated obstacle detection capab…
Practical design and tuning of feedback controllers has to do often without any model of the given dynamic process. Only some general assumptions about the process, in this work type-one stable behavi…
Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essential in Human-Robot I…
We propose a novel diffusion-based action model for robotic motion planning. Commonly, established numerical planning approaches are used to solve general motion planning problems, but have significan…
This paper proposes a spectral-based tuning method for proportional-integral (PI) controllers in integrating-plus-dead-time (IPDT) systems. The design objective is to achieve unified exponential decay…
This paper presents a PID tuning method based on step response curve fitting (PID-SRCF) that utilizes L2-norm minimization for precise reference tracking and explicit transient response shaping. The a…
Classical PID control is widely applied in an engineering system, with parameter regulation relying on a method like Trial - Error Tuning or the Ziegler - Nichols rule, mainly for a Single - Input Sin…
Datasets for object detection often do not account for enough variety of glasses, due to their transparent and reflective properties. Specifically, open-vocabulary object detectors, widely used in emb…
The use of commercial Micro Aerial Vehicles (MAVs) has surged in the past decade, offering societal benefits but also raising risks such as airspace violations and privacy concerns. Due to the increas…
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current …
This paper introduces a novel zero-shot motion planning method that allows users to quickly design smooth robot motions in Cartesian space. A B\'ezier curve-based Cartesian plan is transformed into a …
Although there has been rapid progress in endowing robots with the ability to solve complex manipulation tasks, generating control policies for bimanual robots to solve tasks involving two hands is st…
The paper introduces CycleIK, a neuro-robotic approach that wraps two novel neuro-inspired methods for the inverse kinematics (IK) task, a Generative Adversarial Network (GAN), and a Multi-Layer Perce…
Multimodal integration is a key component of allowing robots to perceive the world. Multimodality comes with multiple challenges that have to be considered, such as how to integrate and fuse the data.…
Robotic platforms that can efficiently collaborate with humans in physical tasks constitute a major goal in robotics. However, many existing robotic platforms are either designed for social interactio…
Expressing various facial emotions is an important social ability for efficient communication between humans. A key challenge in human-robot interaction research is providing androids with the ability…
The act of reaching for an object is a fundamental yet complex skill for a robotic agent, requiring a high degree of visuomotor control and coordination. In consideration of dynamic environments, a ro…
Existing learning methods for LiDAR-based applications use 3D points scanned under a pre-determined beam configuration, e.g., the elevation angles of beams are often evenly distributed. Those fixed co…
Calcium imaging is an essential tool to study the activity of neuronal populations. However, the high level of background fluorescence in images hinders the accurate identification of neurons and the …
Invariant manifolds are important constructs for the quantitative and qualitative understanding of nonlinear phenomena in dynamical systems. In nonlinear damped mechanical systems, for instance, spect…
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