Dealing safely with nuclear waste is an imperative for the nuclear industry. Increasingly,
robots are being developed to carry out complex tasks such as perceiving, gras**, cutting …

This paper addresses the problem of RGBD-based detection and categorization of waste
objects for nuclear decommissioning. To enable autonomous robotic manipulation for …

Inferring and representing three-dimensional shapes is an important part of robotic
perception. However, it is challenging to build accurate models of novel objects based on …

Surveying active nuclear facilities for spread of alpha and beta contamination is currently
performed by human operators. However, a skills gap of qualified workers is emerging and …

This letter presents a method for constrained motion planning from vision, which enables a
robot to move its end-effector over an observed surface, given start and destination points …

Many industrial sectors face increasing production demands and the need to reduce costs,
without compromising the quality. The use of robotics and automation has grown …

This book chapter looks to address how upcoming technology can be used to improve the
efficiency of decommissioning processes within the nuclear industry. Challenges associated …

This paper presents a path planner, which enables a nonholonomic mobile manipulator to
move its end-effector on an observed surface with a constrained orientation, given start and …

This paper presents an assisted telemanipulation approach with integrated grasp planning.
It also studies how the human teleoperation performance benefits from the incorporated …

This paper addresses the problem of estimating the configuration of robots with no
proprioceptive sensors and with kinematic constraints while performing tasks. Our work is …