Related papers: Stress-Based Navigation for Microscopic Robots in …
The self-propelled motion of microscopic bodies immersed in a fluid medium is studied using molecular dynamics simulation. The advantage of the atomistic approach is that the detailed level of description allows complete freedom in…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
Mobile robot navigation in dynamic environments with pedestrian traffic is a key challenge in the development of autonomous mobile service robots. Recently, deep reinforcement learning-based methods have been actively studied and have…
Convolution Neural Networks (CNN) are well-suited to model the nonlinear relationship between the microscale geometry of porous media and the corresponding flow distribution, thereby accurately and efficiently coupling the flow behavior at…
We study the issue of the selection of viscous fingering patterns in the limit of small surface tension. Through detailed simulations of anisotropic fingering, we demonstrate conclusively that no selection independent of the small-scale…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
We construct a data-driven dynamical system model for a macroscopic variable the Reynolds number of a high-dimensionally chaotic fluid flow by training its scalar time-series data. We use a machine-learning approach, the reservoir computing…
In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an…
We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…
Undulatory locomotion is a means of self-propulsion that relies on the generation and propagation of waves along a body. As a mode of locomotion it is primitive and relatively simple, yet can be remarkably robust. No wonder then, that it is…
True microrobots, in contrast with externally controlled microparticles, must harvest or carry their own source of energy, as well as their own (preferably programmable) microcontroller of actuators for locomotion, using information…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a…
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map.…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…