Related papers: Mobile Manipulator for Autonomous Localization, Gr…
To enable a mobile manipulator to perform human tasks from a single teaching demonstration is vital to flexible manufacturing. We call our proposed method MMPA (Mobile Manipulator Process Automation with One-shot Teaching). Currently, there…
This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks…
Motion prediction in unstructured environments is a difficult problem and is essential for safe and efficient human-robot space sharing and collaboration. In this work, we focus on manipulation movements in environments such as homes,…
To work in unknown outdoor environments, autonomous sampling machines need the ability to target samples despite limited visibility and robotic arm reach distance. We design a heuristic guided search method to speed up the search process…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…
Bulk material handling involves the efficient and precise moving of large quantities of materials, a core operation in many industries, including cargo ship unloading, waste sorting, construction, and demolition. These repetitive,…
Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…
With the development of science and technology, mobile robots are playing a significant important role in the new round of world revolution. Further, mobile robots might assist or replace human beings in a great number of areas. To increase…
In many applications, including logistics and manufacturing, robot manipulators operate in semi-structured environments alongside humans or other robots. These environments are largely static, but they may contain some movable obstacles…
This paper introduces a framework for an indoor autonomous mobility system that can perform patient transfers and materials handling. Unlike traditional systems that rely on onboard perception sensors, the proposed approach leverages a…
Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
In this paper, we propose an autonomous exploration and a tapping mechanism-based material mapping system for a mobile robot in unknown environments. The goal of the proposed system is to integrate simultaneous localization and mapping…
Manipulating a deformable linear object (DLO) such as wire, cable, and rope is a common yet challenging task due to their high degrees of freedom and complex deformation behaviors, especially in an environment with obstacles. Existing local…
We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat the arm and base degrees of freedom as a holistic structure which greatly improves the speed and fluidity of…
Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…
For mobile robots to be effectively applied to real world unstructured environments -- such as large scale farming -- they require the ability to generate adaptive plans that account both for limited onboard resources, and the presence of…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task. By performing tasks on-the-move, overall cycle time is reduced compared to methods…