Related papers: Simulation Platform for Autonomous Aerial Manipula…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
Among the abilities that autonomous mobile robots should exhibit, map building and localization are definitely recognized as fundamental. Consequently, countless algorithms for solving the Simultaneous Localization And Mapping (SLAM)…
Inspired by the behavior of birds, we present AirCrab, a hybrid aerial ground manipulator (HAGM) with a single active wheel and a 3-degree of freedom (3-DoF) manipulator. AirCrab leverages a single point of contact with the ground to reduce…
Air transportation is undergoing a rapid evolution globally with the introduction of Advanced Air Mobility (AAM) and with it comes novel challenges and opportunities for transforming aviation. As AAM operations introduce increasing…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
In this publication we introduce MAM-STM, a software to autonomously manipulate arbitrary moieties towards specific positions on a metal surface utilizing the tip of a scanning tunneling microscope (STM). Finding the optimal manipulation…
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…
In this paper we present a simulator allowing to perform policy experiments relative to the air traffic management. Different SESAR solutions can be implemented in the model to see the reaction of the different stakeholders as well as other…
Formal verification of agents representing robot behaviour is a growing area due to the demand that autonomous systems have to be proven safe. In this paper we present an abstract definition of autonomy which can be used to model autonomous…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Unmanned Aerial Vehicles (UAVs) and Automated Guided Vehicles (AGVs) increasingly collaborate in logistics, surveillance, inspection tasks and etc. However, existing simulators often focus on a single domain, limiting cross-domain study.…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
Simulation is essential to validate autonomous driving systems. However, a simple simulation, even for an extremely high number of simulated miles or hours, is not sufficient. We need well-founded criteria showing that simulation does…
Aerial navigation in GPS-denied, indoor environments, is still an open challenge. Drones can perceive the environment from a richer set of viewpoints, while having more stringent compute and energy constraints than other autonomous…
We introduce UFO, a modular aerial robotic platform for transforming a rigid object into a multirotor robot. To achieve this, we develop flight modules, in the form of a control module and propelling modules, that can be affixed to an…
Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…