Detects anomalies in autonomous mobile robots using vision.
problem Anomaly detection for autonomous mobile robots.
method Unsupervised deep learning methods and a novel dataset.
result State-of-the-art approach tested on a new dataset.
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168,982 papers · 148 categories
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48 results for “Mobile Robotics”
We propose a physics-based method to learn environmental fields (EFs) using a mobile robot. Common purely data-driven methods require prohibitively many measurements to accurately learn such complex EFs. Alternatively, physics-based models provide global knowledge of EFs but require experimental validation, depend on u…
Distributed Reinforcement Learning of Targeted Grasping with Active Vision for Mobile Manipulatorscs.RO
Robotic grasping system learns to target objects from a single image.
problem Robotic grasping in unstructured environments.
method Distributed reinforcement learning, active vision, synchronous SGD.
result System learns to grasp unseen objects without retraining.
Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots get attacked, their communication channels get jammed, and their sensors may fail…
STM maps improve terrain perception for autonomous robots.
problem Perception of terrain for autonomous robots in general environments.
method Stochastic triangular mesh (STM) technique for 2.5-D surface mapping.
result STM maps are more accurate than standard elevation maps.
A decentralized routing framework for lunar exploration robots.
problem Routing data in intermittent connectivity lunar networks.
method Graph Attention-based Multi-Agent Reinforcement Learning (GAT-MARL).
result Higher delivery rates, no duplications, fewer packet losses.
Study detects anomalies in robot vision data to predict hazards.
problem Detecting unexpected hazards in robot exploration data.
method Anomaly detection using autoencoders at different scales.
result Autoencoders improve anomaly detection performance on diverse robot scenarios.
Paper simplifies deep RL for mobile robots on consumer hardware.
problem Training complex reasoning agents in 3D environments.
method Used ViZDoom for fast simulation and varied difficulty scenarios.
result Robust baseline agent architecture trained on consumer hardware.
Central to robot exploration and mapping is the task of persistent localization in environmental fields characterized by spatially correlated measurements. This paper presents a Gaussian process localization (GP-Localize) algorithm that, in contrast to existing works, can exploit the spatially correlated field measurem…
A novel controller for wheeled robots handles joystick inputs for smooth steering.
problem Steering control for differential-drive wheeled robots from indirect joystick inputs.
method Developed a geometric controller based on Darboux frame kinematics.
result Smooth trajectories achieved with safety constraints and no desired states.
Automates decision-making for human operators managing multiple robots.
problem Limited human operator attention when controlling multiple robots.
method Learned model of user preferences from easy settings to automatically identify the most critical robot.
result Automated decision-making can assist human operators in managing more robots than their attention allows.
Systematic review of machine vision in robotics, highlighting challenges and improvements.
problem Challenges in machine vision for robotics, especially occlusion and lighting variance.
method Systematic literature review of 172 papers from four databases, selecting 52 relevant papers.
result Robustness and computation time improvements, but occlusion and lighting variance remain major issues.
Deep learning has revolutionised many fields, but it is still challenging to transfer its success to small mobile robots with minimal hardware. Specifically, some work has been done to this effect in the RoboCup humanoid football domain, but results that are performant and efficient and still generally applicable outsi…
Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and high-dimensionality of sensorimotor spaces which are inherent in such problems. We present a nov…
Paper presents a new port-Hamiltonian model for vehicle manipulators.
problem Complex mechanical systems' energy flow and conservation.
method Derives port-Hamiltonian dynamics from Hamiltonian reduction theory.
result Establishes mathematical equivalence with existing formulations.
Building models, or maps, of robot environments is a highly active research area; however, most existing techniques construct unstructured maps and assume static environments. In this paper, we present an algorithm for learning object models of non-stationary objects found in office-type environments. Our algorithm exp…
We investigate different strategies for active learning with Bayesian deep neural networks. We focus our analysis on scenarios where new, unlabeled data is obtained episodically, such as commonly encountered in mobile robotics applications. An evaluation of different strategies for acquisition, updating, and final trai…
Proposes a new Gaussian factor for probabilistic inference with degenerate settings.
problem Handling linear dependencies among random variables in Gaussian networks.
method Introduces a parametrised factor that relaxes the positive-definite constraint of the covariance matrix.
result Accurately accommodates degeneracies in probabilistic inference without significant computational overhead.
A new network learns to prioritize messages for efficient multi-robot path planning.
problem Efficient path planning and coordination for large-scale multi-robot systems.
method Message-Aware Graph Attention Network (MAGAT) incorporating attention mechanisms.
result MAGAT achieves performance close to a coupled centralized expert algorithm.
Paper compares ML models for a wall-following robot, achieving high accuracy.
problem Improving prediction accuracy of a wall-following robot's direction.
method Trained various machine learning models on a dataset of ultrasound sensor readings.
result Presented machine learning models with higher accuracy than previous work.
The left-invariant sub-Riemannian problem on the Engel group is considered. The problem gives the nilpotent approximation to generic nonholonomic systems in four-dimensional space with two-dimensional control, for instance to a system which describes motion of mobile robot with a trailer. The global optimality of extre…
We study an adaptive source seeking problem, in which a mobile robot must identify the strongest emitter(s) of a signal in an environment with background emissions. Background signals may be highly heterogeneous and can mislead algorithms that are based on receding horizon control. We propose AdaSearch, a general algor…
Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the height the sensor is measuring. In this work, instead of estimating the distance…
Deep RL improves robot navigation in images.
problem Applying deep RL to visual navigation in realistic environments.
method Extended A2C algorithm with auxiliary tasks for segmentation, depth prediction, and target prediction.
result Method outperforms state-of-the-art visual navigation methods.
This paper describes and evaluates the use of Generative Adversarial Networks (GANs) for path planning in support of smart mobility applications such as indoor and outdoor navigation applications, individualized wayfinding for people with disabilities (e.g., vision impairments, physical disabilities, etc.), path planni…
This paper presents a solution for persistent monitoring of real-world stochastic phenomena, where the underlying covariance structure changes sharply across time, using a small number of mobile robot sensors. We propose an adaptive solution for the problem where stochastic real-world dynamics are modeled as a Gaussian…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in a generic, user-agnostic manner. However, to minimize confusion and navigation …
Due to recent advances - compute, data, models - the role of learning in autonomous systems has expanded significantly, rendering new applications possible for the first time. While some of the most significant benefits are obtained in the perception modules of the software stack, other aspects continue to rely on know…
TASO optimizes CNN models for memory-constrained devices.
problem Large CNN models are too resource-intensive for mobile devices.
method Integer Linear Programming (ILP) for selecting operations and workspace allocation.
result 8x speedup and 2.2x reduction in memory usage compared to greedy algorithms.
Survey on deep neural networks for vision and speech.
problem Improving intelligent vision and speech systems.
method Review of deep learning models and challenges.
result Emerging technologies show promise for future systems.
Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution of mission specific tasks such as imaging a room must be balanced against the n…
Convolutional Neural Networks (CNNs) are extremely computationally demanding, presenting a large barrier to their deployment on resource-constrained devices. Since such systems are where some of their most useful applications lie (e.g. obstacle detection for mobile robots, vision-based medical assistive technology), si…
We use copulas to improve SLAM in uncertain environments.
problem Uncertain data association and nonlinear transition models in SLAM.
method Integrate copulas into a Sequential Monte Carlo estimator for SLAM.
result Our method effectively handles SLAM in uncertain environments.
Mobile sensing is an emerging technology that utilizes agent-participatory data for decision making or state estimation, including multimedia applications. This article investigates the structure of mobile sensing schemes and introduces crowdsourcing methods for mobile sensing. Inspired by social network, one can estab…
This is a brief survey of the research performed by Grandata Labs in collaboration with numerous academic groups around the world on the topic of human mobility. A driving theme in these projects is to use and improve Data Science techniques to understand mobility, as it can be observed through the lens of mobile phone…
Introduces mobility algebra for modeling geodesics on n-spheres.
problem Modeling geodesics on n-spheres using algebraic structures.
method Introduces mobility algebra and mobility spaces, showing connections to modules and affine spaces.
result Shows geodesics on n-spheres as mobility spaces over unit interval mobility algebra.
The paper presents a probabilistic method to discover daily human mobility patterns from mobile data.
problem Discovering daily human mobility patterns from mobile data.
method A non-parameter Bayesian modeling method, Infinite Gaussian Mixture Model, combined with Kullback-Leibler divergence for automatic clustering.
result The IGMM-based algorithm outperforms the GMM-based algorithm in discovering mobility patterns.
Framework allows organizations to collaborate on learning tasks securely.
problem Limited collaboration due to security constraints.
method Assisted Learning framework for supervised learning tasks.
result Near-oracle learning performance achieved without revealing sensitive information.
FLAME auto-labels mobile data efficiently on diverse processors.
problem Accurately and efficiently labeling mobile data with unknown labels on heterogeneous processors.
method Self-adaptive auto-labeling system Flame that schedules and executes workloads on mobile processors.
result Flame achieves high labeling accuracy and performance on heterogeneous mobile processors.
Mobile SoCs can improve ML inference by 2x when all components are used concurrently.
problem Power-performance trade-offs in mobile ML inference on heterogeneous SoCs.
method Quantitative evaluation of different ML components on mobile SoCs.
result Mobile SoCs can achieve up to 2x improvement in inference performance by using all components concurrently.
Graphs model human mobility patterns, reducing errors in data matching.
problem Lack of high-quality data and computational resources for graph-based mobility analysis.
method Embedding graphs into a continuous space to address matching, modeling, and visualization challenges.
result Approx 40% decrease in error on average in matched graphs vs unmatched ones.
Model predicts urban population using mobile data traffic.
problem Estimating urban population dynamics from mobile data.
method Data-driven approach combining NetMob 2023 and ENACT datasets.
result NetMob 2023 data can estimate urban population with XGBoost models.
The Economic Mobility in Money Transferphysics.soc-ph
In this paper, we investigate the economic mobility in some money transfer models which have been applied into the research on wealth distribution. We demonstrate the mobility by recording the time series of agents' ranks and observing their volatility. We also compare the mobility quantitatively by employing an index,…
The paper optimizes neural network inference on mobile GPUs.
problem Limited computing power and thermal constraints on mobile CPUs.
method Leverage mobile GPUs for neural network inference.
result Real-time inference of deep neural networks on Android and iOS devices.
Kernel Bayesian inference is a principled approach to nonparametric inference in probabilistic graphical models, where probabilistic relationships between variables are learned from data in a nonparametric manner. Various algorithms of kernel Bayesian inference have been developed by combining kernelized basic probabil…
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to deduce geometric integrators for continuous nonholonomic systems (reduced or not). The formalism is given in terms of Lie groupoids, specifyin…
MobILE learns from expert demonstrations without access to actions, achieving strong performance guarantees.
problem Imitation Learning from Observations alone (ILFO) where actions are not observed.
method MobILE integrates optimism in the face of uncertainty into distribution matching IL framework, trading off exploration and imitation.
result MobILE provides strong performance guarantees for certain MDP dynamics and demonstrates efficacy on OpenAI Gym tasks.
Human mobility is well described by closed-form gravity-like models learned automatically from dataphysics.soc-ph
New models predict mobility flows as well as complex machine learning but are simpler and interpretable.
problem Incomplete understanding and modeling of human mobility flows.
method Developed simple machine-learned, closed-form models of mobility.
result These models predict mobility flows more accurately than gravity or complex machine/deep learning models.