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We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Cloud robotics has emerged as a promising technology for robotics applications due to its advantages of offloading computationally intensive tasks, facilitating data sharing, and enhancing robot coordination. However, integrating cloud…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or…
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…
We present a new interface for controlling a navigation robot in novel environments using coordinated gesture and language. We use a TurtleBot3 robot with a LIDAR and a camera, an embodied simulation of what the robot has encountered while…
This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work…
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…
Information from the sky is important for rescue activity in large-scale disaster or dangerous areas. Observation system using a balloon or an airplane has been studied as an information gathering system from the sky. A balloon observation…