Related papers: Multi-robot energy autonomy with wind and constrai…
We propose a design method for a robust safety filter based on Input Constrained Control Barrier Functions (ICCBF) for car-like robots moving in complex environments. A robust ICCBF that can be efficiently implemented is obtained by…
Autonomous vehicles are suited for continuous area patrolling problems. However, finding an optimal patrolling strategy can be challenging for many reasons. Firstly, patrolling environments are often complex and can include unknown…
Set invariance techniques such as control barrier functions (CBFs) can be used to enforce time-varying constraints such as keeping a safe distance from dynamic objects. However, existing methods for enforcing time-varying constraints often…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
The energy use of a robot is trajectory-dependent, and thus can be reduced by optimization of the trajectory. Current methods for robot trajectory optimization can reduce energy up to 15\% for fixed start and end points, however their use…
Federated Learning (FL) has emerged as a solution for distributed model training across decentralized, privacy-preserving devices, but the different energy capacities of participating devices (system heterogeneity) constrain real-world…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
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…
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…
Mission-oriented drone networks have been widely used for structural inspection, disaster monitoring, border surveillance, etc. Due to the limited battery capacity of drones, mission execution strategy impacts network performance and…
As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where…
In this paper, we present a comprehensive analysis and discussion of energy consumption in agricultural robots. Robots are emerging as a promising solution to address food production and agroecological challenges, offering potential…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Hybrid fast-charging stations with battery storage and local renewable generation can facilitate low-carbon electric vehicle (EV) charging, while reducing the stress on the distribution grid. This paper proposes energy management strategies…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
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.…