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Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…
Radar odometry has been gaining attention in the last decade. It stands as one of the best solutions for robotic state estimation in unfavorable conditions; conditions where other interoceptive and exteroceptive sensors may fall short.…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rinsing them with water. It is necessary to learn it safely…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
As robots leave the controlled environments of factories to autonomously function in more complex, natural environments, they will have to respond to the inevitable fact that they will become damaged. However, while animals can quickly…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
The goal of machine learning is to provide solutions which are trained by data or by experience coming from the environment. Many training algorithms exist and some brilliant successes were achieved. But even in structured environments for…
Digital sculpting is a popular means to create 3D models but remains a challenging task for many users. This can be alleviated by recent advances in data-driven and procedural modeling, albeit bounded by the underlying data and procedures.…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
The current spread of social and assistive robotics applications is increasingly highlighting the need for robots that can be easily taught and interacted with, even by users with no technical background. Still, it is often difficult to…
The advent of the era of machines has limited human interaction and this has increased their presence in the last decade. The requirement to increase the effectiveness, durability and reliability in the robots has also risen quite…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
Soft robotics technology can aid in achieving United Nations Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By…
We introduce an approach to building a custom model from ready-made self-supervised models via their associating instead of training and fine-tuning. We demonstrate it with an example of a humanoid robot looking at the mirror and learning…
High-fidelity 3D scanning is essential for preserving cultural heritage artefacts, supporting documentation, analysis, and long-term conservation. However, conventional methods typically require specialized expertise and manual intervention…