13 accepted papers
A clean map of the surrounding environment is essential for autonomous driving systems to ensure reliable localization and safe path planning. However, the existence of dynamic objects introduces ghost traces into the map, significantly degrading its quality. To address this issue, we propose Enhanc…
Point-to-point navigation is an important ability for spherical robots. Traditional methods usually use a planner and a tracker for short-range target control. However, this hierarchical method suffers from a mismatch issue. In this work, we propose an end-to-end controller based on reinforcement le
This letter proposes a novel linear online identification framework for the spherical robot to address the modeling difficulties posed by nonlinearity and time-varying characteristics. Firstly, the Koopman theory is applied to the spherical robot to build a linear model to approximate the nonlineari
Neural Radiance Fields (NeRF) have transformed novel view synthesis by modeling scene-specific volumetric representations directly from images. While generalizable NeRF models can generate novel views across unknown scenes by learning latent ray representations, their performance heavily depends on…
This paper proposes a new turning theory for spherical robots, which better describes the turning mechanism of spherical robots under turning constraints, using a pendulum-driven spherical robot as an example. Compared to the previous turning theory, the new theory shows greater alignment with real-
Model Predictive Control (MPC)-based trajectory planning has been widely used in robotics, and incorporating Control Barrier Function (CBF) constraints into MPC can greatly improve its obstacle avoidance efficiency. Unfortunately, traditional optimizers are resource-consuming and slow to solve such
Taste sensation can be objectively measured using electroencephalography (EEG) or electromyography (EMG). How-ever, it is still challenging to effectively utilize the complementary information from EEG and EMG signals in taste sensation recognition. This paper proposes a bimodal fusion network (Bi-F…
In this letter, a general robust reference path selection method (RPSM) that can be integrated into current existing motion planning algorithms is proposed to improve the mobile performance of autonomous patrol robots. The proposed RPSM maintains a dynamic array of path candidates that contains newl
A spherical robot is a nonlinear, nonholonomic, and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller Hierarchical Terminal Sliding Mode Controller (HTSMC), an instruction planning controller called M
In recent years, prototypical networks have been widely used in many few-shot learning scenarios. However, as a metric-based learning method, their performance often degrades in the presence of bad or noisy embedded features, and outliers in support instances. In this paper, we introduce a hybrid at…
One controller cannot work on multiple and unknown terrains in the velocity control of the spherical robot, because the dynamic models of the robot vary on different terrains, and unmodeled dynamics and uncertainties exist in estimated dynamic models. Based on the above problem, a new velocity contr
Recently, many attention-based deep neural networks have emerged and achieved state-of-the-art performance in environmental sound classification. The essence of attention mechanism is assigning contribution weights on different parts of features, namely channels, spectral or spatial contents, and te…
In this paper, a fuzzy PID controller based on yaw angle prediction is applied to design an attitude controller for a spherical rolling robot. The robot consists of a 2-DOF pendulum located inside a spherical shell with freedom to rotate about the transversal and longitudinal axis. The proposed cont…