5 accepted papers
Accurate and adaptive dynamic models are critical for underwater vehicle–manipulator systems where hydrodynamic effects induce time‐varying parameters. This paper introduces a novel uncertainty‐aware adaptive dynamics model framework that remains linear in lumped vehicle and manipulator parameters, …
Water caustics are commonly observed in seafloor imaging data from shallow-water areas. Traditional methods that remove caustic patterns from images often rely on 2D filtering or pre-training on an annotated dataset, hindering the performance when generalizing to real-world seafloor data with 3D str
This paper presents the design of a novel expert system for robotic manipulators performing sanding tasks on work surfaces. The expert system adjusts the velocity of the robotic manipulator based on the observed surface quality. These observation are obtained by an analysis of the raw force data pro…
For robotic arms to operate in arbitrary environments, especially near people, it is critical to certify the safety of their motion planning algorithms. However, there is often a trade-off between safety and real-time performance; one can either carefully design safe plans, or rapidly generate poten…
This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a robust strategy for manipulators acting in complex environm…