Browsing by Author "Pradhan, Omkar N."

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    Reading and understanding house numbers for delivery robots using the ”SVHN Dataset”
    (IEEE, 2024-06-05) Pradhan, Omkar N.; Tang, Gilbert; Makris, Christos; Gudipati, Radhika
    Detecting street house numbers in complex environments is a challenging robotics and computer vision task that could be valuable in enhancing the accuracy of delivery robots' localisation. The development of this technology also has positive implications for address parsing and postal services. This project focuses on building a robust and efficient system that deals with the complexities associated with detecting house numbers in street scenes. The models in this system are trained on Stanford University's SVHN (Street View House Numbers) dataset. By fine-tuning the YOLO's (You Only Look Once) nano model results with an effective detection range from 1.02 meters to 4.5. The optimum allowance for angle of tilt was ±15°. The inference resolution was obtained to be 2160 * 1620 with inference delay of 35 milliseconds.
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    A ROS-based simulation and control framework for in-orbit multi-arm robot assembly operations
    (European Space Agency (ESA), 2023-10-20) Bhadani, Saksham; Dillikar, Sairaj R.; Pradhan, Omkar N.; Cotrina de los Mozos, Irene; Felicetti, Leonard; Upadhyay, Saurabh; Tang, Gilbert
    This paper develops a simulation and control framework for a multi-arm robot performing in-orbit assembly. The framework considers the robot locomotion on the assembled structure, the assembly planning, and multi-arm control. An inchworm motion is mimicked using a sequential docking approach to achieve locomotion. An RRT* based approach is implemented to complete the sequential assembly as well as the locomotion of MARIO across the structure. A semi-centralised controller model is used to control the robotic arms for these operations. The architecture uses MoveIt! libraries, Gazebo simulator and Python to simulate the desired locomotion and assembly tasks. The simulation results validate the viability of the developed framework.