Related papers: ORangE: Operational Range Estimation for Mobile Ro…
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a…
In this paper, we present a comprehensive analysis and discussion of energy consumption in agricultural robots. Robots are emerging as a promising solution to address food production and agroecological challenges, offering potential…
Accurate prediction of battery state of charge is needed for autonomous robots to plan movements without using up all available power. This work develops a physics and data-informed model from a simulation that predicts SOC depletion as a…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
In contrast to manned missions, the application of autonomous robots for space exploration missions decreases the safety concerns of the exploration missions while extending the exploration distance since returning transportation is not…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…
In this work, we consider a multi-wheeled payload transport system. Each of the wheels can be selectively actuated. When they are not actuated, wheels are free moving and do not consume battery power. The payload transport system is modeled…
Safe operation of machine learning models requires architectures that explicitly delimit their operational ranges. We evaluate the ability of anomaly detection algorithms to provide indicators correlated with degraded model performance. By…
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are…
Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…
This paper proposes a control-oriented optimization platform for autonomous mobile robots (AMRs), focusing on extending battery life while ensuring task completion. The requirement of fast AMR task planning while maintaining minimum battery…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…
Unmanned aerial vehicles (UAVs) can be used to provide wireless network and remote surveillance coverage for disaster-affected areas. During such a situation, the UAVs need to return periodically to a charging station for recharging, due to…
Energy management is a fundamental challenge for legged robots in outdoor environments. Endurance directly constrains mission success, while efficient resource use reduces ecological impact. This paper investigates how terrain slope and…
The large-scale integration of robots in agriculture offers many promises for enhancing sustainability and increasing food production. The numerous applications of agricultural robots rely on the transmission of data via mobile network,…
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric…
This paper presents a novel algorithm, called $\epsilon^*$+, for online coverage path planning of unknown environments using energy-constrained autonomous vehicles. Due to limited battery size, the energy-constrained vehicles have limited…