Related papers: NightOwl: Robotic Platform for Wheeled Service Rob…
In this paper, we propose a modular navigation system that can be mounted on a regular powered wheelchair to assist disabled children and the elderly with autonomous mobility and shared-control features. The lack of independent mobility…
This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM) frequently encounters challenges related to motion…
The application of vision-language models (VLMs) has achieved impressive success in various robotics tasks. However, there are few explorations for these foundation models used in quadruped robot navigation through terrains in 3D…
This paper presents UniPilot, a compact hardware-software autonomy payload that can be integrated across diverse robot embodiments to enable autonomous operation in GPS-denied environments. The system integrates a multi-modal sensing suite…
Robotic Template Library (RTL) is a set of tools for dealing with geometry and point cloud processing, especially in robotic applications. The software package covers basic objects such as vectors, line segments, quaternions, rigid…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w.r.t the observed environment…
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
Robots have been successfully deployed in both traditional and novel manufacturing processes. However, they are still difficult to program by non-experts, which limits their accessibility to a wider range of potential users. Programming…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
This letter presents a multi-scenario adaptable intelligent robot simulation platform based on LIDAR-inertial fusion, with three main features: (1 The platform includes an versatile robot model that can be freely controlled through manual…
Quadrupeds are robots that have been of interest in the past few years due to their versatility in navigating across various terrain and utility in several applications. For quadrupeds to navigate without a predefined map a priori, they…
Advancing maturity in mobile and legged robotics technologies is changing the landscapes where robots are being deployed and found. This innovation calls for a transformation in simultaneous localization and mapping (SLAM) systems to…
Robot assistants are emerging as high-tech solutions to support people in everyday life. Following and assisting the user in the domestic environment requires flexible mobility to safely move in cluttered spaces. We introduce a new approach…
Wheeled robots have gained significant attention due to their wide range of applications in manufacturing, logistics, and service industries. However, due to the difficulty of building a highly accurate dynamics model for wheeled robots,…
The StarL programming framework aims to simplify development of distributed robotic applications by providing easy-to-use language constructs for communication and control. It has been used to develop applications such as formation control,…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…