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Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
Smart active particles can acquire some limited knowledge of the fluid environment from simple mechanical cues and exert a control on their preferred steering direction. Their goal is to learn the best way to navigate by exploiting the…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Turbulent flows consist of a wide range of interacting scales. Since the scale range increases as some power of the flow Reynolds number, a faithful simulation of the entire scale range is prohibitively expensive at high Reynolds numbers.…
Swimming, i.e., being able to advance in the absence of external forces by performing cyclic shape changes, is particularly demanding at low Reynolds numbers which is the regime of interest for micro-organisms and micro-robots. We focus on…
Deploying robots in human environments requires effective social robot navigation. This article focuses on proxemics, proposing a new taxonomy and suggesting future directions through an analysis of state-of-the-art studies and the…
The application machine learning (ML) algorithms to turbulence modeling has shown promise over the last few years, but their application has been restricted to eddy viscosity based closure approaches. In this article we discuss rationale…
Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micromanipulation. This paper addresses the challenge of…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…
In many applications, robots are increasingly deployed in unstructured and natural environments where they encounter various types of vegetation. Vegetation presents unique challenges as a traversable obstacle, where the mechanical…
This work presents a methodology to predict a near-optimal spacing function, which defines the element sizes, suitable to perform steady RANS turbulent viscous flow simulations. The strategy aims at utilising existing high fidelity…
Immersed boundary methods are extensively used for simulations of dynamic solid objects interacting with fluids due to their computational efficiency and modelling flexibility compared to body-fitted grid methods. However, thin geometries,…
Optimizing energy consumption for robot navigation in fields requires energy-cost maps. However, obtaining such a map is still challenging, especially for large, uneven terrains. Physics-based energy models work for uniform, flat surfaces…
A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…