8 accepted papers
This paper studies the problem of Cooperative Localization (CL) for multi-robot systems in 3-D environments, where a group of mobile robots jointly localize themselves by using measurements from onboard sensors and shared information from other robots. To ensure the efficiency of information fusion
Growing privacy and security demands in the real world have spurred interest in adversarially robust Federated Learning (FL). While Adversarial Training (AT) is a well-established defense in centralized learning, its extension to the federated setting, known as Federated Adversarial Training (FAT),
Ultra-Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWB-aided VIO system. An inconsistent estimator can degrade localization performance, where the inconsistency primarily arises from two ma
The scaling of large language models (LLMs) has revolutionized their capabilities in various tasks, yet this growth must be matched with efficient computational strategies. The Mixture-of-Experts (MoE) architecture stands out for its ability to scale model size without significantly increasing trai…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating UWB ranging measurements into state estimation. While sever
The emergence of novel generative modeling paradigms, particularly audio language models, has significantly advanced the field of song generation. Although state-of-the-art models are capable of synthesizing both vocals and accompaniment tracks up to several minutes long concurrently, research about…
This paper develops a new Distributed approach for solving the inverse problem of a Differentiable Dynamic Game (D3G), which enables robots to learn multi-robot coordination from given demonstrations. We formulate multi-robot coordination as the Nash equilibrium of a parameterized dynamic game, wher…
This letter presents the design and development of a telescopic steerable robotic needle for minimally invasive tissue biopsy. Definitive diagnosis of many diseases relies on the pathological studies of small pieces of tissue extracted from human using biopsy procedures. However, traditional biopsy