Overview The project considers teams of robots that need to collaborate on a physical task. As a driving application, we consider a Robot Construction Crew that needs to assemble a building using prefabricated components. Each robot might have non-trivial kinematics (e.g., a robotic arm mounted on a non-holonomic platform), and is generally equipped with vision […]
Overview The goal of the project is to develop a novel, distributed sensor platform that continuously assesses movement in the background of one’s life and facilitates personalized, ”smart” intervention when detecting movement dysfunctions and functional decline, with the goal of helping people age in place and avoid expensive and lengthy hospitalizations. Motivation Frail older adults […]
Overview In many applications, sensor networks can be used to monitor large geographical regions. This typically produces large quantities of data that need to be associated, summarized and classified in order to arrive to a semantically meaningful descriptions of the phenomena being monitored. The long-term guiding vision of this project is a distributed network that […]
Overview The goal of this project is to enable multiple co-robots to map and understand the environment they are in to efficiently collaborate among themselves and with human operators in education, medical assistance, agriculture, and manufacturing applications. The first distinctive characteristic of this project is that the environment will be modeled semantically, that is, it […]
Overview The goal of this project is to make quadrotors and other similar small-scale flying rotorcraft safer and easier to fly. Both recreational and commercial use of these vehicles has recently surged in popularity. However, safety concerns about potentially damaging collisions limit their deployment near people or in close formation, and the current state of […]
We offer a Matlab implementation of algorithms for: Density-based clustering (QuickShift); Consistent multi-image matching via density-based clustering (QuickMatch). The files can be downloaded as a zip archive (quickShiftMatching.zip) or accessed through the release git repository on Bitbucket (https://bitbucket.org/tronroberto/quickshiftmatching). The code is released under the GPLv3 license.
Set of routines for performing optimization on the essential manifold, using the parametrization as a quotient manifold of $SO(3) \times SO(3)$, where $SO(3)$ is the manifold of 3-D rotations. These routines are offered as part of the Matlab toolbox ManOpt. The first implementation of the software is provided as a reference. The essential manifold is […]
The goal of formation control is to move a group of agents in order to achieve and maintain a set of desired relative positions. This problem has a long history, and latest trends emphasize the use of vision-based solution. In this setting, the measurement of the relative direction (i.e., bearing) between two agents can be […]
The images of 3-D points in two views are related by the so-called _essential matrix_. There have been attempts to characterize the space of valid essential matrices as a Riemannian manifold. These approaches either put an unnatural emphasis on one of the two cameras, or do not accurately take into account the geometric meaning of […]
Imagine a wireless camera network, where each camera has a piece of local information, e.g., the pose of the object from a specific viewpoint or the relative poses with respect to the neighboring cameras. It is natural to look for distributed algorithms which merge all these local measurements into a single, globally consistent estimate. I […]