Publications

Towards the Targeted Environment-Specific Evolution of Robot Components This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary art and sculpture, we evolve only targeted parts of a robot, which simplifies […]

Some of our experts are getting ready for Madrid and IROS 2018. The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) will be held for the first time in Madrid, Spain. IROS is a flagship conference in the field of robotics and the biggest international event for researchers, companies and end-users. The conference […]

IROS 2018 paper: Paper: A Software Framework for Planning under Partial Observability Planning under partial observability is both challenging and critical for reliable robot operation. The past decade has seen substantial advances in this domain: The mathematically principled approach for addressing such problems, namely the Partially Observable Markov Decision Process (POMDP), has started to become practical for various […]

IROS 2018 Paper: Data Driven Modeling of Shape Recovery Behavior in SMP Laminates Newly discovered and experimented Shape Memory Polymers (SMPs) are increasingly being used for application solutions in automotive, aerospace, construction and commercial field. However, being a nascent field there is little knowledge on the shape recovery behaviour of laminates with an SMP film and […]

IROS 2018 Paper: Magneto: A Versatile Multi-Limbed Inspection Robot Inspection of complex industrial structures has always been challenging, especially in spaces which have a very narrow profile and are cluttered with structural elements making it impossible for an aerial platform to perform a close-range inspection. We at the CSIRO have developed a magnetic foot climbing robot […]

IROS 2018 paper: PoseMap: Lifelong, Multi-Environment 3D LiDAR Localization Reliable long-term localization is key for robotic systems in dynamic environments. In a paper submitted to IROS 2018, we propose a novel approach for long-term localization using 3D LiDARs, coined PoseMap. In essence, we extract distinctive features from range measurements and bundle these into local views along with observation poses. The sensor’s […]

Weaver: Hexapod robot for autonomous navigation on unstructured terrain Legged robots are an efficient alternative for navigation in challenging terrain. In this paper, we describe Weaver, a six legged robot that is designed to perform autonomous navigation in unstructured terrain. It uses stereo vision and pro- prioceptive sensing based terrain perception for adaptive control while […]

IROS 2018 paper: Paper: PaintCloud: 3D point cloud colourisation PaintCloud is a 3D point cloud colourisation method that brings colour to 3D lidar point clouds in a simple way. The technique is described in “Colourising Point Clouds using Independent Cameras” by Pavel Vechersky, Mark Cox, Paulo V K Borges, Tom Lowe. The paper has been recently accepted […]

Elastic LiDAR Fusion: Dense Map-Centric Continuous-Time SLAM The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of global batch optimization is critically hindering its relevance for real-time and life-long applications. In this paper, […]

Paper ICRA2018: Map-Aware Particle Filter for Localization This work presents a method to improve vehicle localization by using the information from a prior occupancy grid to bound the possible poses. The method, named MapAware Particle Filter, uses a nonlinear approach to mapmatching that can be integrated  into a particle filter framework for localization. Each particle is re-weighted based on the validity […]