Related papers: Towards Robotically Supported Decommissioning of N…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

Addressing the issue of submerged underwater trash is crucial for safeguarding aquatic ecosystems and preserving marine life. While identifying debris present on the surface of water bodies is straightforward, assessing the underwater…

Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…

This paper presents a distributed multi-robot printing method which utilizes an optimization approach to decompose and allocate a printing task to a group of mobile robots. The motivation for this problem is to minimize the printing time of…

Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

This paper proposes an initial theory for robotic systems that can be fully self-maintaining. The new design principles focus on functional survival of the robots over long periods of time without human maintenance. Self-maintaining…

Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…

Constructing a spatial map of environmental parameters is a crucial step to preventing hazardous chemical leakages, forest fires, or while estimating a spatially distributed physical quantities such as terrain elevation. Although prior…

In this paper, we address the multi-robot collaborative perception problem, specifically in the context of multi-view infilling for distributed semantic segmentation. This setting entails several real-world challenges, especially those…

While a number of excellent review articles on military robots have appeared in existing literature, this paper focuses on a distinct sub-space of related problems: small military robots organized into moderately sized squads, operating in…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…

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…

With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…

Landmines, specifically anti-tank mines, cluster bombs, and unexploded ordnance form a serious problem in many countries. Several landmine sweeping techniques are used for minesweeping. This paper presents the design and the implementation…

Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…

In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…

Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare…

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…