This thesis investigates how foundation models can be systematically leveraged to enhance robotic capabilities, enabling more effective localization, interaction, and manipulation in unstructured environments. The work is structured around four core lines of inquiry, each addressing a fundamental challenge in robotics while collectively contributing to a cohesive framework for semantics-aware robotic intelligence.
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
This technical description details the design and engineering process of a semi-autonomous robotic partition. This robotic partition prototype was subsequently employed in a longer-term evaluation in-the-wild study conducted by the authors in a real-world office setting.
Stefan Balev, Juan Jiménez Laredo, Ioannis Lamprou
et al.
We examine the classic game of Cops and Robbers played on models of dynamic graphs, that is, graphs evolving over discrete time steps. At each time step, a graph instance is generated as a subgraph of the underlying graph of the model. The cops and the robber take their turns on the current graph instance. The cops win if they can capture the robber at some point in time. Otherwise, the robber wins. In the offline case, the players are fully aware of the evolution sequence, up to some finite time horizon T. We provide a O(n 2k+1 T) algorithm to decide whether a given evolution sequence for an underlying graph with n vertices is k-cop-win via a reduction to a reachability game. In the online case, there is no knowledge of the evolution sequence, and the game might go on forever. Also, each generated instance is required to be connected. We provide a nearly tight characterization for sparse underlying graphs, i.e., with at most linear number of edges. We prove λ + 1 cops suffice to capture the robber in any underlying graph with n − 1 + λ edges. Further, we define a family of underlying graphs with n−1+λ edges where λ−1 cops are necessary (and sufficient) for capture.
In this work, we tackle the problem of online camera-to-robot pose estimation from single-view successive frames of an image sequence, a crucial task for robots to interact with the world.
Viorica Nagavciuc, Aurel Perșoiu, Carmen-Andreea Bădăluță
et al.
The eastern part of Europe is very poorly represented in the Global Network for Isotopes in Precipitation (GNIP) database, mainly because the monitoring of the stable isotopes in precipitation started only recently compared with other regions. In this respect, the main objective of this article is to fill the gap in the GNIP database over the eastern part of Europe and show the temporal variability and potential drivers of an extended network of δ18O values in precipitation collected from 27 locations in Romania and the Republic of Moldova. We also present the first high-resolution map of the spatio-temporal distribution of δ18O values in precipitation in Romania and the Republic of Moldova, according to an observational dataset. According to our results, the stations from western and northern Romania tend to have LMWLS with higher values than those from southwestern Romania. The monthly variation of the δ18O and δ2H showed a clearly interannual variation, with distinct seasonal differences, following the seasonal temperatures. The analysis of the spatial distribution of stable isotopes in precipitation water was made on the basis of both observational data and modeled data. This allowed us to study the origin of the air moisture and the interaction with regional and local patterns and to analyze the link between the spatial δ18O variations and the large-scale circulation patterns on a seasonal scale.
In this paper, a robot with parallel architecture is proposed for charging an electric vehicle having the charging socket on its front side. Kinematic models are developed to design the robot for a given workspace that corresponds to the car's plug placements. A demonstrator composed by commercial components is shown.
Recent developments in autonomous driving technology have proven that map data may be used, not only for general routing purposes, but also for to enhance and complement common sensor data. This document reviews the most commonly used interfaces and formats at each step of a selfhealing map data chain.
This paper summarizes the most recent research in soft robotic field from the factors of material, actuation, mechanicsproperty, dimension & scale and architecture, and then presents the relations among the functionalities, manufacturing process and the factors mentioned above.
We demonstrated multi-mobile robot navigation based on Visible Light Positioning(VLP) localization. From our experiment, the VLP can accurately locate robots' positions in navigation.
Unmanned ground vehicles can capture a sub-canopy perspective for plant phenotyping, but their design and construction can be a challenge for scientists unfamiliar with robotics. Here we describe the necessary components and provide guidelines for designing and constructing an autonomous ground robot that can be used for plant phenotyping.
Book chapter that summarizes recent research on agricultural robotics in orchard management, including Robotic pruning, Robotic thinning, Robotic spraying, Robotic harvesting, Robotic fruit transportation, and future trends.
This paper introduces a modified self-organized task allocation algorithm, where robots are assigned to pick up one of the two types of object. This paper also demonstrates both algorithms by showing the simulation results of the conventional self-organized task allocation algorithm and the simulation results of its modification.
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the attitude encoding the body frame changes and gyroscopes drift biases are estimated through attitude estimation while the attitude encoding the constant value at the very start and accelerometers drift biases are determined through online optimization.
We propose an economical, viable, approach to eliminate almost all car accidents. Our method relies on a mathematical model of safety and can be applied to all modern cars at a mild cost.
Robots interacting with the physical world plan with models of physics. We advocate that robots interacting with people need to plan with models of cognition. This writeup summarizes the insights we have gained in integrating computational cognitive models of people into robotics planning and control. It starts from a general game-theoretic formulation of interaction, and analyzes how different approximations result in different useful coordination behaviors for the robot during its interaction with people.
In January 2015 we distributed an online survey about failures in robotics and intelligent systems across robotics researchers. The aim of this survey was to find out which types of failures currently exist, what their origins are, and how systems are monitored and debugged - with a special focus on performance bugs. This report summarizes the findings of the survey.
In this paper, we define and study the concept of double weighted lacunary almost statistical convergence of order α. Further, some inclusion relations have been examined.
An H-magic labeling in a H-decomposable graph G is a bijection f :
V (G) ∪ E(G) → {1, 2, ..., p + q} such that for every copy H in the decomposition, \sum\limits_{v∈V (H)}{f(v)}+\sum\limits_{e∈E(H)}{
f(e)} is constant. f is said to be H-V -super magic if f(V (G)) =
{1, 2, ..., p}. Suppose that V (G) = U(G) ∪ W(G) with |U(G)| = m and |W(G)| = n. Then f is said to be H-V -super-strong magic labeling if f(U(G)) = {1, 2, ..., m} and f(W(G)) = {m + 1, m + 2, ...,(m + n = p)}. A graph that admits a H-V -super-strong
magic labeling is called a H-V -super-strong magic decomposable graph. In this paper, we pay our attention to provide a mathematical modeling of campus information system.