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Operating in environments too harsh or inaccessible for humans is one of the critical roles expected of robots. However, such environments often pose risks to electronic components as well. To overcome this, various approaches have been…
We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…
Thanks to the efforts of the robotics and autonomous systems community, robots are becoming ever more capable. There is also an increasing demand from end-users for autonomous service robots that can operate in real environments for…
With the Covid-19 pandemic an urgent need to simulate social distancing arises. The Optimal Steps Model (OSM) is a pedestrian locomotion model that operationalizes an individual's need for personal space. We present new parameter values for…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
Coordination in a large number of networked robots is a challenging task, especially when robots are constantly moving around the environment and there are malicious attacks within the network. Various approaches in the literature exist for…
Background: Assistance robots have the potential to increase the independence of people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs offer…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Research currently being conducted on the use of robots as human labor support technology. In particular, the service industry needs to allocate more manpower, and it will be important for robots to support people. This study focuses on…
As intelligent agents transition from controlled to uncontrolled environments, they face challenges that sometimes exceed their operational capabilities. In many scenarios, they rely on assistance from bystanders to overcome those…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
The emergence of novel COVID-19 causing an overload in health system and high mortality rate. The key priority is to contain the epidemic and prevent the infection rate. In this context, many countries are now in some degree of lockdown to…
This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…