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Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Bridge inspection is an important step in preserving and rehabilitating transportation infrastructure for extending their service lives. The advancement of mobile robotic technology allows the rapid collection of a large amount of…
Conventional methods for visual assessment of civil infrastructures have certain limitations, such as subjectivity of the collected data, long inspection time, and high cost of labor. Although some new technologies i.e. robotic techniques…
The primary objective of a safe navigation algorithm is to guide the object from its current position to the target position while avoiding any collision with the en-route obstacles, and the appropriate obstacle avoidance strategies are the…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long history of guide dog robot research, previous studies were…
In this paper, we present a full design of a flying robot to investigate the state of power grid components and to perform the appropriate maintenance procedures according to each fail or defect that could be recognized. To realize this…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
Bridge condition assessment is important to maintain the quality of highway roads for public transport. Bridge deterioration with time is inevitable due to aging material, environmental wear and in some cases, inadequate maintenance.…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
Ensuring the structural integrity of bridges is essential for maintaining infrastructure safety and promoting long-term sustainability. In this context, Indirect Structural Health Monitoring (ISHM) through drive-by bridge inspection emerges…
Embodied navigation in underground mines faces significant challenges, including narrow passages, uneven terrain, near-total darkness, GPS-denied conditions, and limited communication infrastructure. While recent learning-based approaches…
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…
Safety-critical infrastructures, such as bridges, are periodically inspected to check for existing damage, such as fatigue cracks and corrosion, and to guarantee the safe use of the infrastructure. Visual inspection is the most frequent…
Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…
While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…
Road infrastructure maintenance inspection is typically a labour-intensive and critical task to ensure the safety of all the road users. In this work, we propose a detailed methodology to use state-of-the-art techniques in artificial…