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Addressing the challenge of roadside litter in the United States, which has traditionally relied on costly and ineffective manual cleanup methods, this paper presents an autonomous multi-robot system for highway litter monitoring and…

For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…

Steady-state process models are common in virtual flow meter applications due to low computational complexity, and low model development and maintenance cost. Nevertheless, the prediction performance of steady-state models typically…

An active approach to fault tolerance is essential for robot swarms to achieve long-term autonomy. Previous efforts have focused on responding to spontaneous electro-mechanical faults and failures. However, many faults occur gradually over…

The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies…

Robot learning is a very promising topic for the future of automation and machine intelligence. Future robots should be able to autonomously acquire skills, learn to represent their environment, and interact with it. While these topics have…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…

Consider a mobile robot tasked with localizing targets at unknown locations by obtaining relative measurements. The observations can be bearing or range measurements. How should the robot move so as to localize the targets and minimize the…

As litter pollution continues to rise globally, developing automated tools capable of detecting litter effectively remains a significant challenge. This study presents a novel approach that combines, for the first time, privileged…

Robotic manipulation in human environments is a challenging problem for researchers and industry alike. In particular, opening doors/drawers can be challenging for robots, as the size, shape, actuation and required force is variable.…

A key element when modeling dust in any astrophysical environment is a self-consistent treatment of the evolution of the dust material properties (size distribution, chemical composition and structure) as they react to and adjust to the…

This work presents an approach for modelling and tracking previously unseen objects for robotic grasping tasks. Using the motion of objects in a scene, our approach segments rigid entities from the scene and continuously tracks them to…

The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…

This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…

An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…

Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…

Swarm robots, which are inspired from the way insects behave collectively in order to achieve a common goal, have become a major part of research with applications involving search and rescue, area exploration, surveillance etc. In this…

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…

Short-term future of automated driving can be imagined as a hybrid scenario in which both automated and human-driven vehicles co-exist in the same environment. In order to address the needs of such road configuration, many technology…