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.
On-device research index
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169,181 papers · 148 categories
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48 results for “mobile robots”
A robot learns environmental fields using physics-based models and Bayesian methods.
problem Accurately learning complex environmental fields from limited robot measurements.
method Bayesian framework with Gaussian processes to select and update physics-based models in real-time.
result The robot's learned flow field approximates real flow better than prior solutions and data-driven methods.
Robots gather information resiliently despite failures and attacks.
problem Resilient information gathering in adversarial or failure-prone environments.
method First scalable algorithm for minimal communication, system-wide resiliency, and provable approximation performance.
result Algorithm ensures optimal or near-optimal solutions for any number of failures and attacks.
Deep learning approach for efficient semantic segmentation on low-power devices.
problem Challenges in applying deep learning to small mobile robots with minimal hardware.
method Semantic segmentation approach on a low-power mobile processor.
result Achieves real-time processing of full VGA images on low-power mobile processors.
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.
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.
Deep RL for wheel-legged robots in complex environments.
problem Mobile robot navigation in complex and dynamic environments.
method Deep reinforcement learning to map height-map observations to motor commands.
result Significant improvement in data-efficiency, success rate, robustness, and maneuver quality.
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.
GANs improve path planning for smart mobility applications.
problem Improving path planning for smart mobility applications.
method Generative Adversarial Networks (GANs) for path planning.
result Generated paths are correct and reliable with high accuracy and quality.
Robots infer distances to invisible obstacles from 2D laser scans.
problem Mobile robots struggle with accurate distance estimation from 2D laser scanners.
method Trained a neural network to map raw 2D laser distances to actual obstacle distances.
result Trained network successfully infers distances from partial 2D laser readings in real-time.
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…
Machine learning enhances autonomous systems, especially perception modules.
problem Manual procedures based on prior knowledge are still used in robotics.
method Exploiting recent advances in computing, data, and models for learning.
result Learning is gaining importance in perception modules of autonomous systems.
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.
AdaSearch improves adaptive sensing in noisy environments.
problem Adaptive source seeking in environments with variable background signals.
method Combines global trajectory planning with principled confidence intervals.
result AdaSearch outperforms uniform sampling and other methods in simulations and hardware tests.
Robots adaptively monitor changing phenomena with MCMC and GM.
problem Persistent monitoring of changing real-world phenomena with limited resources.
method Adaptive Gaussian Mixture model for covariance learning, Sequential Monte Carlo for adaptation, greedy entropy maximization.
result Robots optimize informative regions locally and adaptively.
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…
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.
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.
Personalized navigation system for visually impaired users improves accuracy and adaptability.
problem Inconsistent navigation guidance for visually impaired users.
method Model-based reinforcement learning framework with weighted experts model for personalization and transfer learning.
result Improved long-term human behavior prediction and quick adaptation for new users.
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.
Survey of mobility studies using mobile phone data.
problem Understanding human mobility patterns.
method Data Science techniques applied to mobile phone datasets.
result Applications in urban planning, data traffic prediction, etc.
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…
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…
Study shows mobile money adoption varies by social groups in Pakistan.
problem Mobile money adoption patterns in Pakistan.
method Analysis of call detail records from a major telecom company.
result User mobility features are crucial for mobile money adoption.
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.
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.
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.
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.
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…
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.
Deep learning predicts availability of mobile crowdsourced services spatially and temporally.
problem Predicting the availability of mobile crowdsourced services in space and time.
method Two-stage prediction model: clustering services into regions, then forecasting availability duration using time series.
result Effectiveness validated through multiple experiments.
This paper optimizes deep neural networks for resource-constrained devices.
problem Efficient deployment of deep neural networks on resource-constrained devices.
method Across-stack optimization of CNNs using weight pruning, channel pruning, quantization, and parallel execution.
result Comprehensive Pareto curves for trade-offs between accuracy, execution time, and memory space.
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…
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.