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Robots need to understand their environment to perform their task. If it is possible to pre-program a visual scene analysis process in closed environments, robots operating in an open environment would benefit from the ability to learn it…
We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by self-organizing neural networks (SONN). The robot itself…
Many policy search algorithms have been proposed for robot learning and proved to be practical in real robot applications. However, there are still hyperparameters in the algorithms, such as the exploration rate, which requires manual…
This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistance or tracking scenarios in unstructured or confined…
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact…
Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…
One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…
We study planning problems faced by robots operating in uncertain environments with incomplete knowledge of state, and actions that are noisy and/or imprecise. This paper identifies a new problem sub-class that models settings in which…
Enhancing robot navigation efficiency is a crucial objective in modern robotics. Robots relying on external navigation systems are often susceptible to electromagnetic interference (EMI) and encounter environmental disturbances, resulting…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…
The use of a feedback motion plan instead of the decoupled scheme consisting of separate plan and control phases can facilitate the task of proving the properties of an autonomous system. The advantage of using a feedback motion plan is the…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control…
Planning over discontinuous dynamics is needed for robotics tasks like contact-rich manipulation, which presents challenges in the numerical stability and speed of planning methods when either neural network or analytical models are used.…
This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…
Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the…
We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…