Related papers: On the Ergodicity of an Autonomous Robot for Effic…
This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
The rise of embodied AI applications has enabled robots to perform complex tasks which require a sophisticated understanding of their environment. To enable successful robot operation in such settings, maps must be constructed so that they…
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…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…
This work presents a non-parametric spatio-temporal model for mapping human activity by mobile autonomous robots in a long-term context. Based on Variational Gaussian Process Regression, the model incorporates prior information of spatial…
In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…
We consider a search problem where a robot has one or more types of sensors, each suited to detecting different types of targets or target information. Often, information in the form of a distribution of possible target locations, or…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Autonomous exploration is a widely studied problem where a robot incrementally builds a map of a previously unknown environment. The robot selects the next locations to reach using an exploration strategy. To do so, the robot has to balance…
Exploring and modeling heterogeneous elastic surfaces requires multiple interactions with the environment and a complex selection of physical material parameters. The most common approaches model deformable properties from sets of offline…
This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem using a novel Gaussian-process prior that is parameterized over…
Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…