Related papers: Deploying COTS Legged Robot Platforms into a Heter…
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
Heterogeneous air-ground robot teams combine complementary sensing modalities, mobility characteristics, and spatial viewpoints that can significantly enhance perception in complex outdoor environments. However, progress in multi-robot…
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…
Full automation is often not achievable or desirable in critical systems with high-stakes decisions. Instead, human-AI teams can achieve better results. To research, develop, evaluate, and validate algorithms suited for such teaming,…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose this problem into elevation mapping and foothold planning…
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…
Line coverage is to cover linear infrastructure modeled as 1D segments by robots, which received attention in recent years. With the increasing urbanization, the area of the city and the density of infrastructure continues to increase,…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we study the use of additional contact points for maximising the…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…
While the transport of matter by wheeled vehicles or legged robots can be guaranteed in engineered landscapes like roads or rails, locomotion prediction in complex environments like collapsed buildings or crop fields remains challenging.…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…