3 citations · 9 across the 22 of their papers we have counts for
8 papers · 1 filter
GAMap: Zero-Shot Object Goal Navigation with Multi-Scale Geometric-Affordance Guidance
Shuaihang Yuan, Hao Huang, Yu Hao +3
Zero-Shot Object Goal Navigation (ZS-OGN) enables robots or agents to navigate toward objects of unseen categories without object-specific training. Traditional approaches often le…
Reliable Semantic Understanding for Real World Zero-shot Object Goal Navigation
Halil Utku Unlu, Shuaihang Yuan, Congcong Wen +3
We introduce an innovative approach to advancing semantic understanding in zero-shot object goal navigation (ZS-OGN), enhancing the autonomy of robots in unfamiliar environments. T…
Exploring the Reliability of Foundation Model-Based Frontier Selection in Zero-Shot Object Goal Navigation
Shuaihang Yuan, Halil Utku Unlu, Hao Huang +3
In this paper, we present a novel method for reliable frontier selection in Zero-Shot Object Goal Navigation (ZS-OGN), enhancing robotic navigation systems with foundation models t…
RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control
Omar Rayyan, Vinicius Gonçalves, Nikolaos Evangeliou +1
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Sur…
Socially-Aware Robot Navigation Enhanced by Bidirectional Natural Language Conversations Using Large Language Models
Congcong Wen, Yifan Liu, Geeta Chandra Raju Bethala +7
Robot navigation is crucial across various domains, yet traditional methods focus on efficiency and obstacle avoidance, often overlooking human behavior in shared spaces. With the…
Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions
Mahmoud Hamandi, Farshad Khorrami, Anthony Tzes
This paper introduces a novel control methodology designed to guide a collective of robotic-sheep in a cluttered and unknown environment using robotic-dogs. The dog-agents continuo…
Efficient and Distributed Large-Scale 3D Map Registration using Tomographic Features
Halil Utku Unlu, Anthony Tzes, Prashanth Krishnamurthy +1
A robust, resource-efficient, distributed, and minimally parameterized 3D map matching and merging algorithm is proposed. The suggested algorithm utilizes tomographic features from…
Prescribed-Time Stability Properties of Interconnected Systems
Prashanth Krishnamurthy, Farshad Khorrami, Anthony Tzes
Achieving control objectives (e.g., stabilization or convergence of tracking error to zero, input-to-state stabilization) in "prescribed time" has attracted significant research in…