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Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

We address the problem of interactively controlling the workspace of a mobile robot to ensure a human-aware navigation. This is especially of relevance for non-expert users living in human-robot shared spaces, e.g. home environments, since…

Flexible robots have advantages over rigid robots in their ability to conform physically to their environment and to form a wide variety of shapes. Sensing the force applied by or to flexible robots is useful for both navigation and…

There is a growing demand for teleoperated robots. This paper presents a novel method for reducing vibration noise generated by robot's own motion, which can disrupt the quality of tactile feedback for teleoperated robots. Our approach…

We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient histogram is a one dimensional temporal waveform which encodes…

The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. Using mobile robots for gas detection has several advantages and can reduce danger for humans.…

Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…

Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…

In search and surveillance applications in robotics, it is intuitive to spatially distribute robot trajectories with respect to the probability of locating targets in the domain. Ergodic coverage is one such approach to trajectory planning…

Robotic fiber positioners play a vital role in the generation of massive spectroscopic surveys. The more complete a positioners set is coordinated, the more information its corresponding spectrograph receives during an observation. The…

A variety of techniques such as light field, structured illumination, and time-of-flight (TOF) are commonly used for depth acquisition in consumer imaging, robotics and many other applications. Unfortunately, each technique suffers from its…

The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-inspection formation, while maintaining high relative pose…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

We propose a novel performance metric for articulated robots with distributed directional sensors called the sensor observability analysis (SOA). These robot-mounted distributed directional sensors (e.g., joint torque sensors) change their…

In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…

This study explores the significance of robot hearing systems, emphasizing their importance for robots operating in diverse and uncertain environments. It introduces the hardware design principles using robotaxis as an example, where…

For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We…