4 papers · 1 filter
Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
Tareq Aziz Alqutami, Yvan Petillot, Matthew W. Dunnigan +1
Contact-based industrial inspection requires aerial platforms to maintain stable interaction while rejecting disturbances. Underactuated aerial manipulators present control challen…
Learning Responsibility-Attributed Adversarial Scenarios for Testing Autonomous Vehicles
Yizhuo Xiao, Haotian Yan, Ying Wang +5
Establishing trustworthy safety assurance for autonomous driving systems (ADSs) requires evidence that failures arise from avoidable system deficiencies rather than unavoidable tra…
Developing a Robotic Surgery Training System for Wide Accessibility and Research
Walid Shaker, Mustafa Suphi Erden
Robotic surgery represents a major breakthrough in medical interventions, which has revolutionized surgical procedures. However, the high cost and limited accessibility of robotic…
Controllable Latent Diffusion for Traffic Simulation
Yizhuo Xiao, Mustafa Suphi Erden, Cheng Wang
The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, su…