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Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine…
A mini scale helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. These properties make model helicopters, as a flying robot, more difficult to control. The…
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…
This book provides a solution to the control and motion planning design for an octocopter system. It includes a particular choice of control and motion planning algorithms which is based on the authors' previous research work, so it can be…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
This paper investigates how a novel paradigm called group-control can be effectively used for motion planning for microrobot swarms in a global field. We prove that Small-Time Local Controllability (STLC) in robot positions is achievable…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Flippers are essential components of tracked robot locomotion systems for unstructured terrain, especially within a rescue scenario. Achieving full and semi-autonomy for such rescue robots is the goal of many research efforts. In this work,…
This paper presents a 1/10th scale mini-city platform used as a testing bed for evaluating autonomous and connected vehicles. Using the mini-city platform, we can evaluate different driving scenarios including human-driven and autonomous…
This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving…
This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…
Symmetries, e.g. rotational and translational invariances for the class of mechanical systems, allow to characterize solution trajectories of nonlinear dynamical systems. Thus, the restriction to symmetry-induced dynamics, e.g. by using the…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these…
We present Scratchy---a modular, lightweight robot built for low budget competition attendances. Its base is mainly built with standard 4040 aluminium profiles and the robot is driven by four mecanum wheels on brushless DC motors. In…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
We introduce a unique experimental testbed that consists of a fleet of 16 miniature Ackermann-steering vehicles. We are motivated by a lack of available low-cost platforms to support research and education in multi-car navigation and…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…