Related papers: Continuous Collision Detection for a Robotic Arm M…
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…
A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem. The pedestrian detector combines the Aggregate Channel Features (ACF) detector with a deep Convolutional Neural…
Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial curve. To increase process throughput, some manufacturers propose a dual-robot…
Parallel robots (PR) offer potential for human-robot collaboration (HRC) due to their lower moving masses and higher speeds. However, the parallel leg chains increase the risks of collision and clamping. In this work, these hazards are…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…
In this work, we present a model-based optimal boundary control design for an aerial robotic system composed of a quadrotor carrying a flexible cable. The whole system is modeled by partial differential equations (PDEs) combined with…
Collision detection and collision avoidance are essential components in these systems for safe human-robot interactions. Robotics systems that can work "out-of-the-box" without excessive amount of installation and calibration from the…
With the increasing emphasis on the safe autonomy for robots, model-based safe control approaches such as Control Barrier Functions have been extensively studied to ensure guaranteed safety during inter-robot interactions. In this paper, we…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
The collaboration between humans and robots is critical in many robotic applications, especially in those requiring physical human-robot interaction (pHRI). Previous research in pHRI has largely focused on robotic manipulators, employing…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
This paper introduces a novel classification for Autonomous Mobile Robots (AMRs), into three phases and five steps, focusing on autonomous collision-free navigation. Additionally, it presents the main methods and widely accepted…
The use of cables for aerial manipulation has shown to be a lightweight and versatile way to interact with objects. However, fastening objects using cables is still a challenge and human is required. In this work, we propose a novel way to…
Human-robot collaboration requires precise prediction of human motion over extended horizons to enable proactive collision avoidance. Unlike existing planners that rely solely on kinodynamic models, we present a prediction-driven safe…
This paper describes use of model checking to verify synchronisation properties of an industrial welding system consisting of a cobot arm and an external turntable. The robots must move synchronously, but sometimes get out of…
This paper proposes a parallel optimization algorithm for cooperative automation of large-scale connected vehicles. The task of cooperative automation is formulated as a centralized optimization problem taking the whole decision space of…