Zobrazeno 1 - 10
of 101
pro vyhledávání: '"Mohammadi, Ali"'
Autor:
Ginting, Muhammad Fadhil, Kim, Sung-Kyun, Fan, David D., Palieri, Matteo, Kochenderfer, Mykel J., Agha-Mohammadi, Ali-akbar
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify the target o
Externí odkaz:
http://arxiv.org/abs/2405.09822
Autor:
Stathoulopoulos, Nikolaos, Lindqvist, Björn, Koval, Anton, Agha-mohammadi, Ali-akbar, Nikolakopoulos, George
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned descriptor
Externí odkaz:
http://arxiv.org/abs/2404.18006
Autor:
Vlahov, Bogdan, Gibson, Jason, Fan, David D., Spieler, Patrick, Agha-mohammadi, Ali-akbar, Theodorou, Evangelos A.
Publikováno v:
IEEE Robotics and Automation Letters, vol. 9, no. 5, pp.4543-4550, 2024
Sampling-based model-predictive controllers have become a powerful optimization tool for planning and control problems in various challenging environments. In this paper, we show how the default choice of uncorrelated Gaussian distributions can be im
Externí odkaz:
http://arxiv.org/abs/2404.03094
This study investigates learning from demonstration (LfD) for contact-rich tasks. The procedure for choosing a task frame to express the learned signals for the motion and interaction wrench is often omitted or using expert insight. This article pres
Externí odkaz:
http://arxiv.org/abs/2404.01900
Autor:
Ginting, Muhammad Fadhil, Fan, David D., Kim, Sung-Kyun, Kochenderfer, Mykel J., Agha-mohammadi, Ali-akbar
This paper addresses the problem of autonomous robotic inspection in complex and unknown environments. This capability is crucial for efficient and precise inspections in various real-world scenarios, even when faced with perceptual uncertainty and l
Externí odkaz:
http://arxiv.org/abs/2401.17191
Autor:
Viswanathan, Vignesh Kottayam, Satpute, Sumeet Gajanan, Agha-mohammadi, Ali-akbar, Nikolakopoulos, George
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures is dealt w
Externí odkaz:
http://arxiv.org/abs/2309.00535
Autor:
Vochten, Maxim, Mohammadi, Ali Mousavi, Verduyn, Arno, De Laet, Tinne, Aertbeliën, Erwin, De Schutter, Joris
Invariant descriptors of point and rigid-body motion trajectories have been proposed in the past as representative task models for motion recognition and generalization. Currently, no invariant descriptor exists for representing force trajectories, w
Externí odkaz:
http://arxiv.org/abs/2306.10926
The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force estimator and a non-linear motion controller to handle collisions while
Externí odkaz:
http://arxiv.org/abs/2305.14680
Autor:
Gibson, Jason, Vlahov, Bogdan, Fan, David, Spieler, Patrick, Pastor, Daniel, Agha-mohammadi, Ali-akbar, Theodorou, Evangelos A.
Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly complex and di
Externí odkaz:
http://arxiv.org/abs/2305.02241
Autor:
Saucedo, Mario A. V., Patel, Akash, Sawlekar, Rucha, Saradagi, Akshit, Kanellakis, Christoforos, Agha-Mohammadi, Ali-Akbar, Nikolakopoulos, George
In this article, we propose a novel LiDAR and event camera fusion modality for subterranean (SubT) environments for fast and precise object and human detection in a wide variety of adverse lighting conditions, such as low or no light, high-contrast z
Externí odkaz:
http://arxiv.org/abs/2304.08908