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Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different…
A novel self-organizing fuzzy proportional-integral-derivative (SOF-PID) control system is proposed in this paper. The proposed system consists of a pair of control and reference models, both of which are implemented by a first-order…
Recent technological innovations in the areas of additive manufacturing and collaborative robotics have paved the way toward realizing the concept of on-demand, personalized production on the shop floor. Additive manufacturing process can…
Rigid body dynamics simulators are important tools for the design, analysis and optimization of mechanical systems in a variety of technical and scientific applications. This study examines four different simulation environments (Adams,…
Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…
As one of the core parts of flexible manufacturing systems, material handling involves storage and transportation of materials between workstations with automated vehicles. The improvement in material handling can impulse the overall…
This research presents a Python-based simulation framework designed to model electric vehicle (EV) on-demand transportation systems, with a focus on optimizing urban fleet operations. Built on a process-driven architecture, the system…
Robot manipulators operating in uncertain and non-convex environments present significant challenges for safe and optimal motion planning. Existing methods often struggle to provide efficient and formally certified collision risk…
Suitable reduced order models (ROMs) are computationally efficient tools in characterizing key dynamical and statistical features of nature. In this paper, a systematic multiscale stochastic ROM framework is developed for complex systems…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
WareVR is a novel human-robot interface based on a virtual reality (VR) application to interact with a heterogeneous robotic system for automated inventory management. We have created an interface to supervise an autonomous robot remotely…
The growing demand for innovation in agriculture is essential for food security worldwide and more implicit in developing countries. With growing demand comes a reduction in rapid development time. Data collection and analysis are essential…
The ability to understand spatial-temporal patterns for crowds of people is crucial for achieving long-term autonomy of mobile robots deployed in human environments. However, traditional historical data-driven memory models are inadequate…
Internet of Things (IoT) aims to bring every object (e.g. smart cameras, wearable, environmental sensors, home appliances, and vehicles) online, hence generating massive amounts of data that can overwhelm storage systems and data analytics…
This paper discusses the development of robot motion generation interface between a real-time software architecture and a non-real-time robot operating system. In order for robots to execute intelligent manipulation or navigation, close…
The increasing complexity of underwater robotic systems has led to a surge in simulation platforms designed to support perception, planning, and control tasks in marine environments. However, selecting the most appropriate underwater…
Hybrid simulation (HS) is a widely used structural testing method that combines a computational substructure with a numerical model for well-understood components and an experimental substructure for other parts of the structure that are…
We propose and demonstrate a compositional framework for training and verifying reinforcement learning (RL) systems within a multifidelity sim-to-real pipeline, in order to deploy reliable and adaptable RL policies on physical hardware. By…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…