Related papers: Multirobot Cliff Climbing on Low-Gravity Environme…
In this paper, we developed a new navigation system, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential…
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
There are many benefits for exploring and exploiting underground mines, but there are also significant risks and challenges. One such risk is the potential for accidents caused by the collapse of the pillars, and roofs which can be…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
This study proposes a schematic plan for in-situ resource utilization (ISRU) in Martian volcanic terrains. The work investigated the complexity of volcanic terrains and Martian environmental hazards and suggested comprehensive engineering…
We present SpaceAgents-1, a system for learning human and multi-robot collaboration (HMRC) strategies under microgravity conditions. Future space exploration requires humans to work together with robots. However, acquiring proficient robot…
In areas that are inaccessible to humans, such as the lunar surface and landslide sites, there is a need for multiple autonomous mobile robot systems that can replace human workers. In particular, at landslide sites such as river channel…
Celestial bodies such as the Moon and Mars are mainly covered by loose, granular soil, a notoriously challenging terrain to traverse with (wheeled) robotic systems. Here, we present experimental work on traversing steep, granular slopes…
ReachBot is a robot concept for the planetary exploration of caves and lava tubes, which are often inaccessible with traditional robot locomotion methods. It uses extendable booms as appendages, with grippers mounted at the end, to grasp…
As mobile robots become useful performing everyday tasks in complex real-world environments, they must be able to traverse a range of difficult terrain types such as stairs, stepping stones, gaps, jumps and narrow passages. This work…
Soft, growing vine robots are well-suited for exploring cluttered, unknown environments, and are theorized to be performant during structural collapse incidents caused by earthquakes, fires, explosions, and material flaws. These vine robots…
Future planetary exploration missions will require reaching challenging regions such as craters and steep slopes. Such regions are ubiquitous and present science-rich targets potentially containing information regarding the planet's…
Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces…
Coral reefs are under increasing threat from the impacts of climate change. Whilst current restoration approaches are effective, they require significant human involvement and equipment, and have limited deployment scale. Harvesting wild…
There are thousands of asteroids in near-Earth space and millions in the Main Belt. They are diverse in physical properties and composition and are time capsules of the early solar system. This makes them strategic locations for planetary…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…