Research
Research
Research
Research
52+ open-access research outputs.
The potential of Animal-Robot Interaction (ARI) in welfare applications depends on how much an animal perceives a robotic agent as socially relevant, non-threatening and potentially attractive (accept…
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…
Untethered mobile milli/microrobots hold transformative potential for interventional medicine by enabling more precise and entirely non-invasive diagnosis and therapy. Realizing this promise requires …
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…
The Circle of Willis (CoW), vital for ensuring consistent blood flow to the brain, is closely linked to ischemic stroke. Accurate assessment of the CoW is important for identifying individuals at risk…
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…
Despite the potential of synthetic medical data for augmenting and improving the generalizability of deep learning models, memorization in generative models can lead to unintended leakage of sensitive…
In this paper, we propose to improve image decomposition algorithms in the case of noisy images. In \cite{gilles1,aujoluvw}, the authors propose to separate structures, textures and noise from an imag…
Vascular diseases such as thrombosis, atherosclerosis, and aneurysm, which can lead to blockage of blood flow or blood vessel rupture, are common and life-threatening. Conventional minimally invasive …
The Circle of Willis (CoW) vessels is critical to connecting major circulations of the brain. The topology of the vascular structure is clinical significance to evaluate the risk, severity of the neur…
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…
We hereby present a full synthetic model, able to mimic the various constituents of the cerebral vascular tree: the cerebral arteries, the bifurcations and the intracranial aneurysms. By building this…
Topological accuracy in medical image segmentation is a highly important property for downstream applications such as network analysis and flow modeling in vessels or cell counting. Recently, signific…
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