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A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…
This paper presents an aerially deployable crawler designed for adaptive locomotion and manipulation within tree canopies. The system combines compliant microspine-based tracks, a dual-track rotary gripper, and an elastic tail, enabling…
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft manipulator for floating litter collection, leveraging the…
We present CloudGripper, an open source cloud robotics testbed, consisting of a scalable, space and cost-efficient design constructed as a rack of 32 small robot arm work cells. Each robot work cell is fully enclosed and features individual…
In this report, we present the system design, operational strategy, and results of coordinated multi-vehicle field demonstrations of autonomous marine robotic technologies in search-for-life missions within the Pacific shelf margin of Costa…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. A simultaneous matching and routing problem (SMRP) is formulated to match the humans with robot guides…
Legged robots are increasingly being adopted in industries such as oil, gas, mining, nuclear, and agriculture. However, new challenges exist when moving into natural, less-structured environments, such as forestry applications. This paper…
Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support human operators, one of the areas where they can have more…
Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose this problem into elevation mapping and foothold planning…
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is…
Autonomous exploration of unknown environments has been widely applied in inspection, surveillance, and search and rescue. In exploration task, the basic requirement for robots is to detect the unknown space as fast as possible. In this…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
Efficient coordination of multiple robots for coverage of large, unknown environments is a significant challenge that involves minimizing the total coverage path length while reducing inter-robot conflicts. In this paper, we introduce a…
We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic…
In this paper we present a mission architecture and a robotic platform, the Shapeshifter, that allow multi-domain and redundant mobility on Saturn's moon Titan, and potentially other bodies with atmospheres. The Shapeshifter is a collection…
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…
This paper presents a novel 3D myopic coverage path planning algorithm for lunar micro-rovers that can explore unknown environments with limited sensing and computational capabilities. The algorithm expands upon traditional non-graph path…