The Intelligent Control and Robotics Lab at URI (ICRobots) is an interdepartmental research group including three PI’s, Musa Jouaneh, Chengzhi Yuan, and Paolo Stegagno. Our research focus include:

Latest Research

  • On the Observability of Visual-Place-Recognition-Based Localization in Mobile Robots - Our latest paper has been accepted for presentation at ECC 2026. In this paper we study the observability properties of visual-place-recognition (VPR)-based localization systems for mobile robots. In our setup, the environment is split into discrete cells and the robot’s camera, through a VPR module, provides a discrete place label together with probabilistic distribution over […]
  • Design, Modeling and Control of a H-Frame Type XY Positioning System - XY positioning systems are widely used in industry to position a part or a tool within a two dimensional rectangular area. These systems are typically used for cutting, welding, marking or for pick-and-place applications. Current implementations of XY positioning systems typically consist of two linear guides, each with their own independent timing belts or ball/lead […]
  • Robotic Techniques for Securing and Removal of Caps from Bottles and Jars - The objective of this project is to investigate and develop robotic techniques for securing and removal of caps from bottles and jars through the use of custom-made sensor-equipped grippers. As a starting point, a robotic system was designed to both secure and remove the cap from a plastic bottle using force sensing resistors to register […]