This paper considers a real-time algorithm for performance optimization of switched-mode hybrid dynamical systems. The controlled parameter consists of the switching times between the modes, and the cost criterion has the ...

Semantic mapping aims to create maps that include meaningful features, both to robots and humans. We present an extension to our feature based mapping technique that includes information about the locations of horizontal ...

In this thesis we investigate visual place categorization by combining successful global image descriptors with a method of visual attention in order to automatically detect meaningful objects for places. The idea behind ...

Based on concepts of the human visual system, computational visual attention systems aim to detect regions of interest in images. Psychologists, neurobiologists, and computer scientists have investigated visual attention ...

Clustering is a powerful tool for data classification; however, its application has been limited to analysis of static snapshots of data which may be time-evolving. This work presents a clustering algorithm that employs a ...

Traditionally, robots have been programmed to do precisely what their human operators instruct them to do, but more recently, they have become more sophisticated, intelligent, and autonomous. Once they reach a sufficiently ...

An algorithm is presented for constructing smoothing splines on the torus. The algorithm uses a particular representation of the torus and is suboptimal. However it produces good trajectories and among all possible smoothing ...

We present a novel algorithm that solves the distributor's pallet packing problem. In contrast to existing algorithms, our method optimizes stack stability in addition to stack volume. Furthermore, our algorithm explicitly ...

We present a practical strategy for real-time path planning for articulated robot arms in changing environments by integrating PRM for Changing Environments with 3D sensor data. Our implementation on Care-O-Bot 3 ...