Related papers: Stronger Together: Air-Ground Robotic Collaboratio…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human operator. This restricts the deployment scale and requires…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…
In this paper, we investigate the impact of high-level semantics (evaluation of the environment) on Human-Robot Teams (HRT) and Human-Robot Interaction (HRI) in the context of mobile robot deployments. Although semantics has been widely…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
The ability to communicate intention enables decentralized multi-agent robots to collaborate while performing physical tasks. In this work, we present spatial intention maps, a new intention representation for multi-agent vision-based deep…
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…
For autonomous robots to navigate a complex environment, it is crucial to understand the surrounding scene both geometrically and semantically. Modern autonomous robots employ multiple sets of sensors, including lidars, radars, and cameras.…
An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on…
Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned…
Aerial autonomous machines (Drones) has a plethora of promising applications and use cases. While the popularity of these autonomous machines continues to grow, there are many challenges, such as endurance and agility, that could hinder the…
This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…