Related papers: Autonomous Robotic System using Non-Destructive Ev…
This paper presents a mathematical framework for characterizing state blocking in discrete event systems (DES) under transition deletions. We introduce a path-based analysis approach that determines whether systems maintain non-blocking…
This paper addresses the problem of crack detection which is essential for health monitoring of built infrastructure. Our approach includes two stages, data collection using unmanned aerial vehicles (UAVs) and crack detection using…
Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present,…
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…
This paper proposes a comprehensive framework designed for the autonomous inspection of complex environments, with a specific focus on multi-tiered settings such as distillation column trays. Leveraging quadruped robots equipped with roller…
Accurate and efficient structural health monitoring of infrastructure objects such as bridges is a vital task, as many existing constructions have already reached or are approaching their planned service life. In this contribution, we…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
This paper presents a method for cave surveying in total darkness using an autonomous aerial vehicle equipped with a depth camera for mapping, downward-facing camera for state estimation, and forward and downward lights. Traditional methods…
Vehicles crossing bridge structures respond dynamically to the bridge's vibrations. An acceleration signal collected within a moving vehicle contains a trace of the bridge's structural response, but also includes other sources such as the…
As labor shortages and productivity stagnation increasingly challenge the construction industry, automation has become essential for sustainable infrastructure development. This paper presents an autonomous payload transportation system as…
Ground Penetrating Radar (GPR) is one of the most important non-destructive evaluation (NDE) devices to detect the subsurface objects (i.e. rebars, utility pipes) and reveal the underground scene. One of the biggest challenges in GPR based…
Precise and prompt identification of road surface conditions enables vehicles to adjust their actions, like changing speed or using specific traction control techniques, to lower the chance of accidents and potential danger to drivers and…
Robots with internal visual self-models promise unprecedented adaptability, yet existing autonomous modeling pipelines remain fragile under realistic sensing conditions such as noisy imagery and cluttered backgrounds. This paper presents…
A key phase in the bridge design process is the selection of the structural system. Due to budget and time constraints, engineers typically rely on engineering judgment and prior experience when selecting a structural system, often…
In order to clear the world of the threat posed by landmines and other explosive devices, robotic systems can play an important role. However, the development of such field robots that need to operate in hazardous conditions requires the…
The vehicle's perception sensors radar, lidar and camera, which must work continuously and without restriction, especially with regard to automated/autonomous driving, can lose performance due to unfavourable weather conditions. This paper…
This study proposes a learning-based method with domain adaptability for input estimation of vehicle suspension systems. In a crowdsensing setting for bridge health monitoring, vehicles carry sensors to collect samples of the bridge's…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Before autonomous systems can be deployed in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world testing is prohibitive, we propose a…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…