Related papers: Non-singular assembly mode changing trajectories i…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
In the modular robot reconfiguration problem, we are given $n$ cube-shaped modules (or robots) as well as two configurations, i.e., placements of the $n$ modules so that their union is face-connected. The goal is to find a sequence of moves…
In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…
We consider the problem of optimal path planning in different homotopy classes in a given environment. Though important in robotics applications, path-planning with reasoning about homotopy classes of trajectories has typically focused on…
Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
We explore the self-sustained Josephson junction dynamics in dipolar supersolids, predicting the possibility of self-trapping alongside the experimentally observed Josephson oscillations [Biagioni, G. et al., Nature 629, 773 (2024)]. Using…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
In this work, we initiate the research about the Gathering problem for robots with limited viewing range in the three-dimensional Euclidean space. In the Gathering problem, a set of initially scattered robots is required to gather at the…
Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
The essence of the path planning problems is multi-modality constraint. However, most of the current literature has not mentioned this issue. This paper introduces the research progress of path planning based on the multi-modality…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…