7 citations · 10 across the 22 of their papers we have counts for
23 papers
Breaking Déjà Vu: Independent Auditing of Visual Place Recognition through Vision-Language Reasoning
Sania Waheed, Michael Milford, Sarvapali D. Ramchurn +1
Visual place recognition (VPR) is a key enabler of accurate localization and long-term autonomous navigation in robotics applications, such as loop closure detection for simultaneo…
One Channel to Rule Them All: Rethinking Input Representation for Visual Place Recognition
Timur Ismagilov, Shakaiba Majeed, Michael Milford +3
Visual Place Recognition (VPR) is fundamental to long-term robot localization and SLAM, yet current systems overwhelmingly rely on RGB input, implicitly assuming color is necessary…
Back to the Communities: A Mixed-Methods and Community-Driven Evaluation of Cultural Sensitivity in Text-to-Image Models
Sarah Kiden, Oriane Peter, Gisela Reyes-Cruz +11
Evidence shows that text-to-image (T2I) models disproportionately reflect Western cultural norms, amplifying misrepresentation and harms to minority groups. However, evaluating cul…
Stop Reducing Responsibility in LLM-Powered Multi-Agent Systems to Local Alignment
Jinwei Hu, Yi Dong, Shuang Ao +6
LLM-powered Multi-Agent Systems (LLM-MAS) unlock new potentials in distributed reasoning, collaboration, and task generalization but also introduce additional risks due to unguaran…
Joint Multi-Condition Representation Modelling via Matrix Factorisation for Visual Place Recognition
Timur Ismagilov, Shakaiba Majeed, Michael Milford +3
We address multi-reference visual place recognition (VPR), where reference sets captured under varying conditions are used to improve localization performance. While deep learning…
Distributed Nash Equilibrium Seeking Algorithm in Aggregative Games for Heterogeneous Multi-Robot Systems
Yi Dong, Zhongguo Li, Sarvapali D. Ramchurn +1
This paper develops a distributed Nash Equilibrium seeking algorithm for heterogeneous multi-robot systems. The algorithm utilises distributed optimisation and output control to ac…
Embodied AI in Social Spaces: Responsible and Adaptive Robots in Complex Setting -- UKAIRS 2025 (Copy)
Aleksandra Landowska, Aislinn D Gomez Bergin, Ayodeji O. Abioye +12
This paper introduces and overviews a multidisciplinary project aimed at developing responsible and adaptive multi-human multi-robot (MHMR) systems for complex, dynamic settings. T…
Safe and Socially Aware Multi-Robot Coordination in Multi-Human Social Care Settings
Ayodeji O. Abioye, Jayati Deshmukh, Athina Georgara +6
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the…
VLM-Guided Visual Place Recognition for Planet-Scale Geo-Localization
Sania Waheed, Na Min An, Michael Milford +2
Geo-localization from a single image at planet scale (essentially an advanced or extreme version of the kidnapped robot problem) is a fundamental and challenging task in applicatio…
Safe Pruning LoRA: Robust Distance-Guided Pruning for Safety Alignment in Adaptation of LLMs
Shuang Ao, Yi Dong, Jinwei Hu +1
Fine-tuning Large Language Models (LLMs) with Low-Rank Adaptation (LoRA) enhances adaptability while reducing computational costs. However, fine-tuning can compromise safety alignm…
TAT-VPR: Ternary Adaptive Transformer for Dynamic and Efficient Visual Place Recognition
Oliver Grainge, Michael Milford, Indu Bodala +2
TAT-VPR is a ternary-quantized transformer that brings dynamic accuracy-efficiency trade-offs to visual SLAM loop-closure. By fusing ternary weights with a learned activation-spars…
TeTRA-VPR: A Ternary Transformer Approach for Compact Visual Place Recognition
Oliver Grainge, Michael Milford, Indu Bodala +2
Visual Place Recognition (VPR) localizes a query image by matching it against a database of geo-tagged reference images, making it essential for navigation and mapping in robotics.…
Position: Towards a Responsible LLM-empowered Multi-Agent Systems
Jinwei Hu, Yi Dong, Shuang Ao +6
The rise of Agent AI and Large Language Model-powered Multi-Agent Systems (LLM-MAS) has underscored the need for responsible and dependable system operation. Tools like LangChain a…
Image-based Geo-localization for Robotics: Are Black-box Vision-Language Models there yet?
Sania Waheed, Bruno Ferrarini, Michael Milford +2
The advances in Vision-Language models (VLMs) offer exciting opportunities for robotic applications involving image geo-localization - the problem of identifying the geo-coordinate…
On Motion Blur and Deblurring in Visual Place Recognition
Timur Ismagilov, Bruno Ferrarini, Michael Milford +3
Visual Place Recognition (VPR) in mobile robotics enables robots to localize themselves by recognizing previously visited locations using visual data. While the reliability of VPR…
Structured Pruning for Efficient Visual Place Recognition
Oliver Grainge, Michael Milford, Indu Bodala +2
Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs.…
Mapping Safe Zones for Co-located Human-UAV Interaction
Ayodeji O. Abioye, Lisa Bidgood, Sarvapali D. Ramchurn +1
Recent advances in robotics bring us closer to the reality of living, co-habiting, and sharing personal spaces with robots. However, it is not clear how close a co-located robot ca…
Learning to Imitate Spatial Organization in Multi-robot Systems
Ayomide O. Agunloye, Sarvapali D. Ramchurn, Mohammad D. Soorati
Understanding collective behavior and how it evolves is important to ensure that robot swarms can be trusted in a shared environment. One way to understand the behavior of the swar…
Trade-offs of Dynamic Control Structure in Human-swarm Systems
Thomas G. Kelly, Mohammad D. Soorati, Klaus-Peter Zauner +2
Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is main…
A Survey of Language-Based Communication in Robotics
William Hunt, Sarvapali D. Ramchurn, Mohammad D. Soorati
Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for mult…
Adaptive Human-Swarm Interaction based on Workload Measurement using Functional Near-Infrared Spectroscopy
Ayodeji O. Abioye, Aleksandra Landowska, William Hunt +5
One of the challenges of human-swarm interaction (HSI) is how to manage the operator's workload. In order to do this, we propose a novel neurofeedback technique for the real-time m…
The Strain of Success: A Predictive Model for Injury Risk Mitigation and Team Success in Soccer
Gregory Everett, Ryan Beal, Tim Matthews +2
In this paper, we present a novel sequential team selection model in soccer. Specifically, we model the stochastic process of player injury and unavailability using player-specific…
Design Space Exploration of Low-Bit Quantized Neural Networks for Visual Place Recognition
Oliver Grainge, Michael Milford, Indu Bodala +2
Visual Place Recognition (VPR) is a critical task for performing global re-localization in visual perception systems. It requires the ability to accurately recognize a previously v…