Related papers: ORangE: Operational Range Estimation for Mobile Ro…
Efficiently tackling multiple tasks within complex environment, such as those found in robot manipulation, remains an ongoing challenge in robotics and an opportunity for data-driven solutions, such as reinforcement learning (RL).…
We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…
Achieving long-term autonomy for mobile robots operating in real-world unstructured environments such as farms remains a significant challenge. This is made increasingly complex in the presence of moving humans or livestock. These…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
Multirotor unmanned aerial vehicle is a prevailing type of aircraft with wide real-world applications. Energy efficiency is a critical aspect of its performance, determining the range and duration of the missions that can be performed. In…
Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…
Real-life batteries tend to experience a range of operating conditions, and undergo degradation due to a combination of both calendar and cycling aging. Onboard health estimation models typically use cycling aging data only, and account for…
Remote state estimation, where sensors send their measurements of distributed dynamic plants to a remote estimator over shared wireless resources, is essential for mission-critical applications of Industry 4.0. Existing algorithms on…
Future planetary exploration rovers must operate for extended durations on hybrid power inputs that combine steady radioisotope thermoelectric generator (RTG) output with variable solar photovoltaic (PV) availability. While energy-aware…
Autonomous exploration in mobile robotics often involves a trade-off between two objectives: maximizing environmental coverage and minimizing the total path length. In the widely used information gain paradigm, exploration is guided by the…
This work presents and evaluates a novel strategy for robotic exploration that leverages human models of uncertainty perception. To do this, we introduce a measure of uncertainty that we term "Behavioral entropy", which builds on Prelec's…
Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in…
Electric vehicles (EVs) have been highly favoured as a future transportation mode in the transportation section in recent years. EVs have many advantages compared to traditional transportation, especially the environmental aspect. However,…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
We study a real-time smart charging algorithm for electric vehicles (EVs) at a workplace parking lot in order to minimize electricity cost from time-of-use electricity rates and demand charges while ensuring that the owners of the EVs…
The energy-efficient trip allocation of mobile robots employing differential drives for data retrieval from stationary sensor locations is the scope of this article. Given a team of robots and a set of targets (wireless sensor nodes), the…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
With the increasing demand for greener and more energy efficient transportation solutions, electric vehicles (EVs) have emerged to be the future of transportation across the globe. However, currently, one of the biggest bottlenecks of EVs…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…