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We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…
We build a mobile surveillance robot that streams video in real time and responds to speech so a user can monitor and steer it from a phone or browser. The system uses two Raspberry Pi 4 units: a front unit on a differential drive base with…
In order to create cooperating swarms of Unmanned Autonomous Vehicles (UAVs) that also interact with various other systems and devices, open and free communication systems are mandatory. This paper presents an implementation of such a…
Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…
We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
In distributed model predictive control (MPC), the control input at each sampling time is computed by solving a large-scale optimal control problem (OCP) over a finite horizon using distributed algorithms. Typically, such algorithms require…
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…
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
The integration of Large Language Models (LLMs), such as GPT, in industrial robotics enhances operational efficiency and human-robot collaboration. However, the computational complexity and size of these models often provide latency…
This paper deals with the design and experimental validation of a state-of-the art tube-based Model Predictive Control (MPC) for achieving time-constrained tasks. Given the uncertain nonlinear dynamics of the robot as well as a high-level…
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…
Robotic assistants reduce the manual efforts being put in by humans in their day-to-day tasks. In this paper, we develop a voice-controlled personal assistant robot. The robot takes the human voice commands by its own built-in microphone.…
This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move…
Modern frameworks for development of graphical interfaces are using the native controls of the operating system. Because of that they are using operating system events model for inter-component communication. We consider a method to…
A key functionality of emerging connected autonomous systems such as smart cities, smart transportation systems, and the industrial Internet-of-Things, is the ability to process and learn from data collected at different physical locations.…
Robotics systems are complex, often consisted of basic services including SLAM for localization and mapping, Convolution Neural Networks for scene understanding, and Speech Recognition for user interaction, etc. Meanwhile, robots are mobile…
This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…
Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…