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The rapid emergence of airborne platforms and imaging sensors is enabling new forms of aerial surveillance due to their unprecedented advantages in scale, mobility, deployment, and covert observation capabilities. This paper provides a…
Aerial robots are becoming popular among general public, and with the development of artificial intelligence (AI), there is a trend to equip aerial robots with a natural user interface (NUI). Hand/arm gestures are an intuitive way to…
This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
Wheeled-legged robots combine the efficiency of wheels with the obstacle negotiation of legs, yet many state-of-the-art systems rely on costly actuators and sensors, and fall-recovery is seldom integrated, especially for wheeled-legged…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
Risk assessment of a robot in controlled environments, such as laboratories and proving grounds, is a common means to assess, certify, validate, verify, and characterize the robots' safety performance before, during, and even after their…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…