Publications:
Below you will find a list of our publications in chronological order
01
Contact-implicit Trajectory Optimization Using Orthogonal Collocation
A. Patel, S. Shield, S. Kazi, A. Johnson & L. Biegler
In this letter, we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with contacts employ mode-scheduling, which requires an a priori knowledge of the contact order and thus cannot produce complex or non-intuitive behaviors. Contact-implicit trajectory optimization methods offer a solution to this by allowing the optimization to make or break contacts as needed, but thus far have suffered from poor accuracy. Here, we combine methods from direct collocation using higher order orthogonal polynomials with contact-implicit optimization to generate trajectories with significantly improved accuracy. The key insight is to increase the order of the polynomial representation while maintaining the assumption that impact occurs over the duration of one finite element.
02
Using DeepLabCut for 3D Markerless Pose Estimation Across Species and Behaviors
T. Nath, A. Mathis, A.C. Chen, A. Patel, M. Bethge & M.W. Mathis
Noninvasive behavioral tracking of animals during experiments is crucial to many scientific pursuits. Extracting the poses of animals without using markers is often essential for measuring behavioral effects in biomechanics, genetics, ethology & neuroscience. Yet, extracting detailed poses without markers in dynamically changing backgrounds has been challenging. We recently introduced an open source toolbox called DeepLabCut that builds on a state-of-the-art human pose estimation algorithm to allow a user to train a deep neural network using limited training data to precisely track user-defined features that matches human labeling accuracy. Here, with this paper we provide an updated toolbox that is self contained within a Python package that includes new features such as graphical user interfaces and active-learning based network refinement. Lastly, we provide a step-by-step guide for using DeepLabCut.
03
AcinoSet: a 3D Pose Estimation Dataset and Baseline Models for Cheetahs in the Wild
D. Joska, L. Clark, N. Muramatsu, R Jericevich, F. Nicolls, A. Mathis, M. W. Mathis & A. Patel
In this work we present an extensive dataset of free-running cheetahs in the wild, called AcinoSet, that contains 119, 490 frames of multi-view synchronized high-speed video footage, camera calibration files and 7, 588 human-annotated frames. Markerless animal pose estimation is used to provide 2D keypoints. Three methods are employed for 3D pose estimation: sparse bundle adjustment, an Extended Kalman Filter, and a trajectory optimization-based method we call Full Trajectory Estimation. The resulting 3D trajectories, human-checked 3D ground truth, and an interactive tool to inspect the data is also provided. We believe this dataset will be useful for a diverse range of fields such as ecology, neuroscience, robotics, biomechanics as well as computer vision. Code and data can be found at: https://github.com/African-Robotics-Unit/AcinoSet.
Conference Papers
Improving 3D Markerless Pose Estimation of Animals in the Wild using Low-Cost Cameras
N. Muramatsu, Z. da Silva, D. Joska, F. Nicolls and A. Patel. 2022, October. Improving 3D Markerless Pose Estimation of Animals in the Wild using Low-Cost Cameras. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3770-3776). IEEE.
Minor Change, Major Gains II: Are Maximal Coordinates the Fastest Choice for Trajectory Optimization?
S. Shield and A. Patel, 2022, October. Minor Change, Major Gains II: Are Maximal Coordinates the Fastest Choice for Trajectory Optimization?. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 12963-12970). IEEE.
Smoothing Away From The Edge For Mesh Estimation in Urban Outdoor Environments
J. Pilbrough, P. Amayo, 2022 International Conference on Robotics and Automation (ICRA), (pp. 10898-10904). IEEE.
Accurate State of Charge Estimation for Lithium Iron Phosphate Battery Cell Using Equivalent Circuit Model, Parameter Tuning and Unscented Kalman Filter
C.C. Francis, J. Mwangama, 5th International Conference on Energy, Electrical and Power Engineering (CEEPE), (pp. 199-204).
Automated tackle injury risk assessment in contact-based sports-a rugby union example
Z. Martin, S. Hendricks and A. Patel in Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2021, (pp. 4594-4603).
AcinoSet: a 3D pose estimation dataset and baseline models for Cheetahs in the wild
D. Joska, L. Clark, N. Muramatsu, R. Jericevich, F. Nicolls, A. Mathis, M.W. Mathis and A. Patel, 2021 IEEE International Conference on Robotics and Automation (ICRA), (pp. 13901-13908).
Optimization-inspired controller design for transient legged locomotion
C. Fisher, J. Van Zyl, R. Govender, A. Patel, 2021 IEEE International Conference on Robotics and Automation (ICRA), (pp. 8345-8351).
What’s Best for My Mesh? Convex or Non-Convex Regularisation for Mesh Optimisation
J. Pilbrough, P. Amayo, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (pp. 6617-6624).
Machine Learning-Based Service Differentiation in the 5G Core Network
M. R. M. Anfar and J. Mwangama in 2021 International Conference on Artificial Intelligence in Information and Communication (ICAIIC), 2021, (pp. 144-149).
Towards cloud-based multi-operator core networks (MOCN) for infrastructure sharing
L. Mamushiane, L.S. Mboweni, H.I. Kobo, J. Mwangama, A.A. Lysko, 2021.
An Evaluation of Broadband Technologies from an Industrial Time Sensitive Networking Perspective
A.B.D. Kinabo, J. Mwangama, A.A. Lysko, 2021 7th International Conference on Advanced Computing and Communication Systems (ICACCS) (Vol. 1, pp 715-722). IEEE.
An Overview of Time-Sensitive Communications for the Factory Floor
A.B.D. Kinabo, J. Mwangama, A.A. Lysko, 2021 IST-Africa Conference (IST-Africa), (pp. 1-9). IEEE.
4G RAN Infrastructure Sharing by 5G Virtualized Mobile Network Operators: A Tutorial
L. Mamushiane, L. Mboweni, H. Kobo, M. Mudumbe, J. Mwangama, A.A Lysko, 2021 IEEE AFRICON, (pp. 1-7).
Convergence of Various Smart City Platforms into a Unified Citywide Platform
M. Ncube, J. Mwangama, 2021 IEEE AFRICON, (pp. 1-6)
Towards Wi-Fi-based Time Sensitive Networking Using OMNeT++/NeSTiNg Simulation Models
A.B.D. Kinabo, J. Mwangama, A.A. Lysko, 2021 International Conference on Electrical, Computer and Energy Technologies (ICECET), (pp. 1-6). IEEE.
On the effectiveness of silly walks as initial guesses for optimal legged locomotion problems
S. Shield and A. Patel in 2020 International SAUPEC/RobMech/PRASA Conference, Cape Town, South Africa, (pp. 1-7). IEEE.
The ollie: A case study in trajectory optimization with varied contacts
N. Anderson, S. Shield and A. Patel in 2020 International SAUPEC/RobMech/PRASA Conference, Cape Town, South Africa, 2020, (pp. 1-7). IEEE.
Waste Not, Want Not: Lessons in Rapid Quadrupedal Gait Termination from Thousands of Suboptimal Solutions
S. Shield and A. Patel in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
A Software Defined Approach for Improving Resilience in Smart Distribution Grids
G. Brown, N. Ventura, J. Mwangama, 2020 International SAUPEC/RobMech/PRASA Conference, (pp. 1-6). IEEE.
Effects of limb morphology on transient locomotion in quadruped robots
L. Raw, C. Fisher and A. Patel in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, (pp. 3349-3356).
Sea State Estimation using Kalman Filter
K. Fangbemi, E. Boje, R.A. Verrinder, 2019 IEEE AFRICON, (pp. 1-6).
Resilient SDN Controller Placement Optimization Applied to and Emulated on the South African National Research Network (SANReN)
L. Mamushiane, J. Mwangama, A.A. Lysko, 2019, Submitted for Wireless Communications and Networking Conference.
Developing an AI-based Web Audio and Video Task Classifier for Context Aware Networks
M.R.M. Anfar, J. Mwangama, 2019, Submitted to Southern African Telecommunications Networks and Applications Conference (SATNAC 2019) (pp. 1-4).
Design and Implementation of Multi-Cloud VNFs Deployment Utilizing Lightweight LXC Virtualization
T. Mukute, M. Pauls, J. Mwangama, T. Magedanz, 2019 IEEE Wireless Communications and Networking Conference Workshop (WCNCW), (pp. 1-5).
Overview of 9 Open-Source Resource Orchestrating ETSI MANO Compliant Implementations: A Brief Survey
L. Mamushiane, A.A. Lysko, T. Mukute, J. Mwangama, Z. Du Toit, 2019 IEEE 2nd Wireless Africa Conference (WAC), (pp. 1-7).
Cluster-based Random Access Scheme for 5G URLLC
P. Orim, N. Ventura, J. Mwangama, 2019 IEEE International Conference on Advanced Networks and Telecommunications Systems (ANTS), (pp. 1-6).
Investigation of a Bipedal Platform for Rapid Acceleration and Braking Manoeuvres
A. Blom and A. Patel in IEEE International Conference on Robotics and Automation (ICRA), 2018, (pp. 426-432)..
Semantic classification of road markings from geometric primitives
P. Amayo, T. Bruls, P. Newman, 2018 21st International Conference on Intelligent Transportation Systems (ITSC), (pp. 387-393). IEEE.
Inferring road boundaries through and despite traffic
T. Suleymanov, P. Amayo, P. Newman, 2018 21st International Conference on Intelligent Transportation Systems (ITSC), (pp. 409-416). IEEE.
A Software Defined Approach for Improving Resilience in Smart Distribution Grids
G. Brown, N. Ventura, J. Mwangama, 2020 International SAUPEC/RobMech/PRASA Conference, (pp. 1-6). IEEE.
Fast Global Labelling For Depth-Map Improvement Via Architectural Priors
P. Amayo, P. Piniés, L.M. Paz, P. Newman, 2018 IEEE International Conference on Robotics and Automation (ICRA), (pp. 4985-4992).
Optimum placement of SDN controllers in African backbones: SANREN and ZAMREN as a case study
L. Mamushiane, J. Mwangama, A.A. Lysko, SATNAC..
MeerKAT data distribution network
M.J. Slabber, J. Manley, J. Mwangama, N. Ventura, 2018, Software and Cyberinfrastructure for Astronomy V 10707, (pp. 110-118).
Given a SDN Topology, How Many Controllers are Needed and Where Should They Go?
L. Mamushiane, J. Mwangama, A.A. Lysko, 2018 IEEE Conference on Network Function Virtualization and Software Defined Networks (NFV-SDN), (pp. 1-6).
Design of an Autonomous Management and Orchestration for Fog Computing
S. Dlamini, J. Mwangama, N. Ventura, T. Magedanz, 2018 International Conference on Intelligent and Innovative Computing Applications (ICONIC), (pp. 1-6).
Robust Multicast Device-to-Device Communication
U. Uyoata, M. Dlodlo, J. Mwangama, 2018 IEEE International Conference on Advanced Networks and Telecommunications Systems (ANTS), (pp. 1-6).
The effect of spine morphology on rapid acceleration in quadruped robots
C. Fisher, S. Shield, A. Patel, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (pp. 2121-2127).
Balancing stability and maneuverability during rapid gait termination in fast biped robots
S. Shield, A. Patel, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (pp. 4523-4530).
Performance Improvement of EPC Virtualised Network Functions Utilising Bare Metal Provisioning
J. Mwangama, A. Medhat, N. Ventura, T. Magedanz, 2017, Southern Africa Telecommunication Networks and Applications Conference (SATNAC).
Accelerated virtual switching support of 5G NFV-based mobile networks
J. Mwangama, N. Ventura, 2017 IEEE 28th Annual International Symposium on Personal, Indoor, and Mobile Radio Communications (PIMRC), (pp. 1-7).
Prototyping a cardiac arrest telemonitoring system
F. Chisanga, N. Ventura, J. Mwangama, 2017 Global Wireless Summit (GWS), (pp. 170-174)..
Minimum time sprinting from rest in a planar quadruped
N.F. Steenkamp, A. Patel, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (pp. 3866-3871).
TRESCIMO M2M-IoT testbed: smart cities solutions in Europe and Africa
M. Barros, A. Gavras, A. Corici, R. Steinke, N. Mukudu, N. Ventura, J. Mwangama, D. Nehls, L. Coetzee and D. Oosthuizen, 2016.
Prototyping smart city applications over large scale M2M testbed
N. Mukudu, N. Ventura, J. Mwangama, A. Elmangoush, R. Steinke, T. Magedanz, 2016 IST-Africa Week Conference, (pp. 1-11). IEEE.
On the Conical Motion and Aerodynamics of the Cheetah Tail
A. Patel, E. Boje, Robotics: Science and Systems (RSS) 2015 – Workshop.
A spider-inspired dragline enables aerial pitch righting in a mobile robot
S. Shield, C. Fisher, A. Patel, International Conference on Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ, (pp. 319-324).
Towards mobile federated network operators
J. Mwangama, N. Ventura, A. Willner, Y. Al-Hazmi, G. Carella, T. Magedanz, Proceedings of the 2015 1st IEEE Conference on Network Softwarization (NetSoft), (pp. 1-6).
Multi-tenancy for virtualized network functions
A.M. Medhat, G. Carella, J. Mwangama, N. Ventura, Proceedings of the 2015 1st IEEE Conference on Network Softwarization (NetSoft), (pp. 1-6).
Trescimo: European union and south african smart city contextual dimensions
L. Coetzee, A. Smith, A.E. Rubalcava, A.A. Corici, T. Magedanz, R. Steinke, M. Catalan, J. Paradells, H. Madhoo, T. Willemse, and J. Mwangama, 2015 IEEE 2nd World Forum on Internet of Things (WF-IoT) (pp. 770-776).
FlipBot: A Lizard Inspired Stunt Robot
C. Fisher and A. Patel in IFAC Proceedings Volumes, Volume 47, Issue 3, 2014, (pp. 4837-4842)..
Rapid acceleration and braking: Inspirations from the cheetah’s tail
A. Patel, M. Braae, 2014 IEEE International Conference on Robotics and Automation (ICRA), (pp. 793-799)..
Development of a docking mechanism for self-reconfigurable modular robots
P. Muthui, R.A. Verrinder, Proceedings of the 2014 PRASA, RobMech and AfLaT International Joint Symposium, (pp. 264-269).
Proof of concept data logger for non-active power measurement
C.F Martindale, R.A. Verrinder, C.T. Gaunt, 2014 49th International Universities Power Engineering Conference (UPEC), (pp. 1-6), IEEE.
Prototyping machine-to-machine applications for emerging smart cities in developing countries
J. Mwangama, A. Elmangoush, J. Orimolade, N. Ventura, R. Steinke, A. Willner, A. Corici, T. Magedanz, Southern Africa Telecommunication Networks and Applications Conference (SATNAC) 2014 (pp. 383-388).
Utilizing M2M technologies for building reliable smart cities
A. Corici, A. Elmangoush, R. Steinke, T. Magedanz. J. Mwangama, N. Ventura, 2014 6th International Conference on New Technologies, Mobility and Security (NTMS), (pp. 1-5). IEEE.
An OpenMTC platform-based interconnected European–South African M2M Testbed for Smart City Services
A.A. Corici, A. Elmangoush, T. Magedanz, R. Steinke, J. Mwangama, N. Ventura, The first International Conference on the use of Mobile Informations and Communication Technology (ICT) in Africa-UMICTA 2014, (pp. 35-39).
.
Rapid turning at high-speed: Inspirations from the cheetah’s tail
A. Patel, M. Braae, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5506-5511).
Testbeds for reliable smart city machine-to-machine communication
J. Mwangama, A. Willner, N. Ventura, A. Elmangoush, T. Pfeifer, T. Magedanz, Southern African Telecommunication Networks and Applications Conference (SATNAC), (pp. 339).
.
A robust implementation of the Spatial Pooler within the theory of Hierarchical Temporal Memory (HTM)
A. Liddiard, J.C. Tapson, R.A. Verrinder, 2013 6th Robotics and Mechatronics Conference (RobMech), (pp. 70-73).
Journal Articles
From Dima to Kemba: Ten Years of Cheetah-Inspired Research at the African Robotics Unit
S. Shield and A. Patel. 2023. From Dima to Kemba: Ten Years of Cheetah-Inspired Research at the African Robotics Unit. Scientific African, p.e01640.
Quantifying Collision Frequency and Intensity in Rugby Union and Rugby Sevens: A Systematic Review
L. Paul, M. Naughton, B. Jones, D. Davidow, A. Patel, M. Lambert, S. Hendricks. 2022, Sports medicine-open 8 (1), (pp. 1-38).
Contact-Implicit Direct Collocation With a Discontinuous Velocity State
S. Shield, A.M. Johnson, A. Patel, IEEE Robotics and Automation Letters 7 (2), (pp. 5779-5786).
Enabling dynamic behaviors with aerodynamic drag in lightweight tails
J. Norby, J.Y. Li, C. Selby, A. Patel and A.M. Johnson in IEEE Transactions on Robotics.
Future tail tales: A forward-looking, integrative perspective on tail research
M.J. Schwaner, S.T. Hsieh, I. Braasch, S. Bradley, C.B. Campos, C.E. Collins, C.M. Donatelli, F.E. Fish, O.E. Fitch, B.E. Flammang, B.E. Jackson, A. Jusufi, P.J. Mekdara, A. Patel, B.J. Swalla, M. Vickaryous and C.P. McGowan in Integrative and Comparative Biology, 2021.
Tails, flails, and sails: How appendages improve terrestrial maneuverability by improving stability
S. Shield, R. Jericevich, A. Patel and A. Jusufi in Integrative and Comparative Biology, 2021.
On the optimal spine morphology of rapidly accelerating quadrupeds
C. Fisher and A. Patel in SAIEE Africa Research Journal 112 (3), (pp. 126-133).
Controller Placement Optimization For Software Defined Wide Area Networks (SDWAN)
L. Mamushiane, J. Mwangama, A. Lysko, 2021..
Linux networking performance profiling towards network function virtualisation improvements
T. Makute, J. Mwangama, A.A. Lysko, 2021.
Relaying in the Internet of Things (IoT): A Survey
U. Uyoata, J. Mwangama, R. Adeogun, IEEE Access 9, (pp. 132675-132704).
Baleka: A Bipedal Robot for Studying Rapid Maneuverability
C. Fisher, A. Blom and A. Patel in Frontiers in Mechanical Engineering 6 (2020): 54..
Minor Change, Major Gains: The Effect of Orientation Formulation on Solving Time for Multi-body Trajectory Optimization
A. Knemeyer, S. Shield and A. Patel, 2020, in IEEE Robotics and Automation Letters.
Kinematic State Estimation Using Multiple DGPS/MEMS-IMU Sensors
D.Y. Ku and A. Patel in in IEEE Sensors Letters 4 (12), 1-4.
.
What can 5G do for healthcare in Africa?
J. Mwangama, B. Malila, T. Douglas, M. Rangaka, Nature Electronics 3 (1), (pp. 7-9).
Robust beamforming for D2D multicast communication
U. Uyoata, J. Mwangama, M. Dlodlo, Physical Communication 43, 101217.
A review of robotics research in South Africa
E. Boje, R.L. Christopher, J. Fernandes, J.H. Hepworth, R.B. Kuriakose, K. Kruger, T. Lorimer, N. Luwes, H.D. Mouton, A. Patel, B. Rosmang, W.J. Smit, R. Stopforth, B. Van Eden, T. Van Niekerk, H. Vermaak, D. Withey, SAIMechE.
Contact-implicit trajectory optimization using orthogonal collocation
A. Patel, S. Shield, S. Kazi, A. Johnson and L. Biegler in IEEE Robotics and Automation Letters, 2019.
Using DeepLabCut for 3D markerless pose estimation across species and behaviors
T. Nath, A. Mathis, A. Chen, A. Patel, M. Bethge and M. Mathis in Nature Protocols, 2019.
Do intermediate gaits matter when rapidly accelerating?
C. Fisher, C. Hubicki and A. Patel in IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3418-3424, 2019.
Reconstructing JET using LIDAR-Vision fusion
E.T. Jonasson, J. Boeuf, S. Kyberd, R. Skilton, G. Burroughes, P. Amayo, S. Collins, Fusion Engineering and Design 146, 110952.
Priority-based Random Access Scheme for Massive Machine Type Communication
P. Orim, N. Ventura, J. Mwangama, 2019, Priority-based Random Access Scheme for Massive Machine Type Communication.
Tracking the cheetah tail using animal-borne cameras, GPS, and an IMU
A. Patel, B. Stocks, C. Fisher, F. Nicolls, E. Boje, IEEE Sensors Letters 1 (4), (pp. 1-4).
Phase-locked loop and Kalman filter strategy to track ocean waves from mobile platform IMU data
T.G. Gwatiringa, R.A. Verrinder, E. Boje, IFAC-PapersOnLine 50 (2), (pp. 277-282).
Quasi-steady state aerodynamics of the cheetah tail
A. Patel, E. Boje, C. Fisher, L. Louis, E. Lane, Biology Open 5 (8), (pp. 1072-1076).
An actuated tail increases rapid acceleration manoeuvres in quadruped robots
A. Patel, M. Braae, 2015, Innovations and Advances in Computing, Informatics, Systems Sciences, Networking and Engineering (pp. 69-76).
On the conical motion of a two-degree-of-freedom tail inspired by the cheetah
A. Patel, E. Boje, 2015. IEEE Transactions on Robotics, 31(6), (pp.1555-1560).
Towards Unified Smart City Communication Platforms
A. Elmangoush, A. Alhazmi, T. Magedanz, W. Schuch, C. Estevez, A. Ehijo, J. Wu, T. Nguyen, N. Ventura, J. Mwangama, and N. Mukudu, 2015, October. Proceedings of the Workshop on Research in Information Systems and Technologies, Chillán, Chile (Vol. 16)..
Abstracts
Leveraging Aerodynamic Drag for Tails in Legged Robot Locomotion
J. Norby, J.Y. Li, C. Selby, A. Patel and A.M. Johnson in Bulletin of the American Physical Society, 2021.
Cheetah tail behavior during pursuit
A. Patel, R. Jericevich, A. Knemeyer and A. Jusufi in Integrative and Comparitive Biology 61, E687-E688.
Tail Aerodynamics in Cheetahs and Robots
A. Patel, P.Suhrcke, A. Zeloof, P. Li, C. Selby, A. Johnson, 2018.
Rapid Gait Termination in Humanoids on Surfaces of Varying Friction
S. Shield, A. Patel, INTEGRATIVE AND COMPARATIVE BIOLOGY 58, E211-E211.
Tracking the Cheetah Tail and Spine using Animal-borne Cameras and a Wireless Sensor Network Authors
A. Patel, C. Fisher, B. Stocks, F. Nicolls, E. Boje, INTEGRATIVE AND COMPARATIVE BIOLOGY 57, E373-E373.
Reviews
Integration of Massive MIMO and Machine Learning in the Present and Future of Power Consumption in Wireless Networks: A Review
S.E. Nwachukwu, M. Chepkoech, A.A. Lysko, K. Awodele, J. Mwangama, C.R. Burger, 2022 IEEE 7th Forum on Research and Technologies for Society and Industry Innovation (RTSI), (pp. 154-160).
Chapters
TRESCIMO: Towards Software-Based Federated Internet of Things Testbeds across Europe and South Africa to Enable FIRE Smart City Experimentation
N. Mukudu, R. Steinke, G. Carella, J. Mwangama, A. Corici, N. Ventura, A. Willner, T. Magedanz, M. Barros, and A. Gavras, 2017.
African Robotics Unit 