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Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
With the advancements in underwater wireless communications, internet of underwater things (IoUT) realization is inevitable to enable many practical applications, such as exploring ocean resources, ocean monitoring, underwater navigation,…
RoBoa is a vine-like search and rescue robot that can explore narrow and cluttered environments such as destroyed buildings. The robot assists rescue teams in finding and communicating with trapped people. It employs the principle of vine…
This article presents novel designs of autonomous UAV prototypes specifically developed for inspecting GPS-denied tunnel construction environments with dynamic human and robotic presence. Our UAVs integrate advanced sensor suites and robust…
We present a tool AUTONAV that automates the mapping, localization, and path-planning tasks for autonomous navigation of robots. The modular architecture allows easy integration of various algorithms for these tasks for comparison. We…
This paper studies optimal unmanned aerial vehicle (UAV) placement to ensure line-of-sight (LOS) communication and sensing for a cluster of ground users possibly in deep shadow, while the UAV maintains backhaul connectivity with a base…
Unmanned aerial vehicles (UAVs) have been used for many applications in recent years, from urban search and rescue, to agricultural surveying, to autonomous underground mine exploration. However, deploying UAVs in tight, indoor spaces,…
Holonomic autonomous underwater vehicles (AUVs) have the hardware ability for agile maneuvering in both translational and rotational degrees of freedom (DOFs). However, due to challenges inherent to underwater vehicles, such as complex…
This paper presents WaveShot, an innovative portable unmanned surface vessel that aims to transform water surface videography by offering a highly maneuverable, cost-effective, and safe alternative to traditional filming methods. WaveShot…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
Unmanned Aerial Vehicles (UAVs) are increasingly used in defense, surveillance, and disaster response, yet most systems still operate at SAE Level 2 to 3 autonomy. Their dependence on rule-based control and narrow AI limits adaptability in…
With this paper, the design of a biomimetic robotic squid (dubbed URSULA) developed for dexterous underwater manipulation is presented. The robot serves as a test bed for several novel underwater technologies such as soft manipulators,…
Autonomous Underwater Vehicles (AUVs) have shown great potential for cooperative detection and reconnaissance. However, collaborative AUV communications introduce risks of exposure. In adversarial environments, achieving efficient…
We present SLoMo: a first-of-its-kind framework for transferring skilled motions from casually captured "in the wild" video footage of humans and animals to legged robots. SLoMo works in three stages: 1) synthesize a physically plausible…
Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…
This article describes a guidance system of the autonomous underwater vehicle "DeepC" [1] in Special situations. A special situation occurs when one or more objects interfere with the planned route of a mission. The possible reactions are…
We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
TraQuad is an autonomous tracking quadcopter capable of tracking any moving (or static) object like cars, humans, other drones or any other object on-the-go. This article describes the applications and advantages of TraQuad and the…