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Robotic computing has reached a tipping point, with a myriad of robots (e.g., drones, self-driving cars, logistic robots) being widely applied in diverse scenarios. The continuous proliferation of robotics, however, critically depends on…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
For many space applications, traditional control methods are often used during operation. However, as the number of space assets continues to grow, autonomous operation can enable rapid development of control methods for different space…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…
It is generally considered that a trustworthy autonomous planetary exploration rover must be able to operate safely and effectively within its environment. Central to trustworthy operation is the ability for the rover to recognise and…
Ensuring that autonomous space robot control software behaves as it should is crucial, particularly as software failure in space often equates to mission failure and could potentially endanger nearby astronauts and costly equipment. To…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
Learning-based navigation systems are widely used in autonomous applications, such as robotics, unmanned vehicles and drones. Specialized hardware accelerators have been proposed for high-performance and energy-efficiency for such…
Robotic space missions have long depended on automation, defined in the 2015 NASA Technology Roadmaps as "the automatically-controlled operation of an apparatus, process, or system using a pre-planned set of instructions (e.g., a command…
With the development of human space exploration, the space environment is gradually filled with abandoned satellite debris and unknown micrometeorites, which will seriously affect capture motion of space robot. Hence, a novel fast…
Validation of robotics theory on real-world hardware platforms is important to prove the practical feasibility of algorithms. This paper discusses some of the lessons learned while adapting the EvoBot, a low-cost robotics platform that we…
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation…
The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However,…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…
Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…