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Drones are also known as UAVs are originally designed for military purposes. With the technological advances, they can be seen in most of the aspects of life from filming to logistics. The increased use of drones made it sometimes essential…
Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones…
Air-ground collaborative robots have shown great potential in the field of fire and rescue, which can quickly respond to rescue needs and improve the efficiency of task execution. Mapping and navigation, as the key foundation for air-ground…
Single locomotion robots often struggle to adapt in highly variable or uncertain environments, especially in emergencies. In this paper, a multi-modal deformable robot is introduced that can both fly and drive. Compatibility issues with…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…
The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
Human drone interaction in autonomous navigation incorporates spatial interaction tasks, including reconstructed 3D map from the drone and human desired target position. Augmented Reality (AR) devices can be powerful interactive tools for…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…