6 accepted papers
Recently, it has been shown that light-weight, passive, ankle exoskeletons with spring-based energy store-and-release mechanisms can reduce the muscular effort of human walking. The stiffness of the spring in such a device must be properly tuned in order to minimize the muscular effort. However, thi
In this work, we present a novel approach to design and carry out trajectories over regular curved surfaces. This has application in a number of robot path planning problems, including our primary interest in deposition printing. Existing solutions are often ad-hoc in terms of path generation and co
We present a distributed control strategy for a team of agents to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and can be applied to multirotor aerial vehicles. We assume that agents have a common sense of direction, which is used to alig…
Traditional Simultaneous Localization and Mapping (SLAM) approaches build maps based on points, lines or planes. These maps visually resemble the environment but without any semantic or information about the objects in the environment. Recent advancements in machine learning have made object detecti…
In this letter, we consider the problem of recovering the rotation and translation changes of a moving camera from captured images. This problem is traditionally solved using the epipolar constraint, where the rotation and translation changes are recovered from the essential matrix. We propose a new
We present an optimal strategy for placement of a binary sensor based on maximizing the mutual information between the distribution of possible target locations, the sensor footprint, and probability of sensor errors. The result replaces the direct computation of information gradients by a sensor co