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Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…
Due to the large bandwidth available, millimeter-Wave (mmWave) bands are considered a viable opportunity to significantly increase the data rate in cellular and wireless networks. Nevertheless, the need for beamforming and directional…
Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…
Most modern communication networks include fast rerouting mechanisms, implemented entirely in the data plane, to quickly recover connectivity after link failures. By relying on local failure information only, these data plane mechanisms…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
People with visual impairments (PwVI) often have difficulties navigating through unfamiliar indoor environments. However, current wayfinding tools are fairly limited. In this short paper, we present our in-progress work on a wayfinding…
We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…
This paper proposes a bandwidth tunable technique for real-time probabilistic scene modeling and mapping to enable co-robotic exploration in communication constrained environments such as the deep sea. The parameters of the system enable…
The work introduces a bio-inspired leader-follower system based on an innovative mechanism proposed as software latching that aims to improve collaboration and coordination between a leader agent and the associated autonomous followers. The…
Broadcast networks are often used in modern communication systems. A common broadcast network is a single hop shared media system, where a transmitted message is heard by all neighbors, such as some LAN networks. In this work we consider a…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Mobile networks have become ubiquitous, but running experiments on them is expensive and hard, given their complexity and diversity. Emulation can be the solution, and, with ERRANT, we offer a realistic emulator of mobile networks based on…
This exploratory study used the R Statistical Software to perform Monte Carlo simulation of time maps, which characterize events based on the elapsed time since the last event and the time that will transpire until the next event, and…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
Sampling-based motion planning algorithms, like the Rapidly-Exploring Random Tree (RRT) and its widely used variant, RRT-Connect, provide efficient solutions for high-dimensional planning problems faced by real-world robots. However, these…
Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…
In this paper, we propose an efficient contact planner for quadrupedal robots to navigate in extremely constrained environments such as stepping stones. The main difficulty in this setting stems from the mixed nature of the problem, namely…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…
This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured…