Related papers: Reconfigurable Robots for Scaling Reef Restoration
Fish have endured millions of years of evolution, and their distinct rigid-flexible body structures offer inspiration for overcoming challenges in underwater robotics, such as limited mobility, high energy consumption, and adaptability.…
Marine debris detection for ocean robot is crucial for ecological protection, yet performance is often degraded by low-quality images with blur, complex backgrounds, and small targets. To address these challenges, we propose YOLO-MD, an…
We propose a centralized control framework to select suitable robots from a heterogeneous pool and place them at appropriate locations to monitor a region for events of interest. In the event of a robot failure, the framework repositions…
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…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…
We present a novel modularized end-to-end framework for legged reactive navigation in complex dynamic environments using a single light detection and ranging (LiDAR) sensor. The system comprises four simulation-trained modules: three…
Legged robots have the potential to leverage obstacles to climb steep sand slopes. However, efficiently repositioning these obstacles to desired locations is challenging. Here we present DiffusiveGRAIN, a learning-based method that enables…
The adaptivity and maneuvering capabilities of Autonomous Underwater Vehicles (AUVs) have drawn significant attention in oceanic research, due to the unpredictable disturbances and strong coupling among the AUV's degrees of freedom. In this…
The proliferation of debris in Low Earth Orbit (LEO) represents a significant threat to space sustainability and spacecraft safety. Active Debris Removal (ADR) has emerged as a promising approach to address this issue, utilising Orbital…
Modular self-reconfigurable robots (MSRRs) offer enhanced task flexibility by constructing various structures suitable for each task. However, conventional terrestrial MSRRs equipped with wheels face critical challenges, including…
Modern herbicide application in agricultural settings typically relies on either large scale sprayers that dispense herbicide over crops and weeds alike or portable sprayers that require labor intensive manual operation. The former method…
Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous,…
The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe navigation at sea, by exploiting the concept of minimal…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
While proper orthogonal decomposition (POD)-based surrogates are widely explored for hydrodynamic applications, the use of Koopman autoencoders for real-world coastal-ocean modelling remains relatively limited. This paper introduces a…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
The Black Soldier Fly (BSF), can be an effective alternative to traditional disposal of food and agricultural waste (biowaste) such as landfills because its larvae are able to quickly transform biowaste into ready-to-use biomass. However,…
We present RENEW, a global path planner for Autonomous Surface Vehicle (ASV) in dynamic environments with external disturbances (e.g., water currents). RENEW introduces a unified risk- and energy-aware strategy that ensures safety by…
Cameras are rapidly becoming the choice for on-board sensors towards space rendezvous due to their small form factor and inexpensive power, mass, and volume costs. When it comes to docking, however, they typically serve a secondary role,…