Related papers: MoRPI: Mobile Robot Pure Inertial Navigation
We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
Motion planning is still an open problem for many disciplines, e.g., robotics, autonomous driving, due to their need for high computational resources that hinder real-time, efficient decision-making. A class of methods striving to provide…
Autonomous navigation is essential for steel bridge inspection robot to monitor and maintain the working condition of steel bridges. Majority of existing robotic solutions requires human support to navigate the robot doing the inspection.…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
This paper introduces a novel classification for Autonomous Mobile Robots (AMRs), into three phases and five steps, focusing on autonomous collision-free navigation. Additionally, it presents the main methods and widely accepted…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging…
We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…
Nowadays, smartphones are not utilized for communications only. Smartphones are equipped with a lot of sensors that can be utilized for different purposes. For example, inertial sensors have been used extensively in recent years for…
Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial curve. To increase process throughput, some manufacturers propose a dual-robot…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
We present a theoretical proposal and simulation study of a digital closed-loop thermal atomic-beam interferometer for inertial navigation applications. The scheme synchronizes phase biasing with momentum-kick reversal through the atomic…
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are…
We study optimal Multi-robot Path Planning (MPP) on graphs, in order to improve the efficiency of multi-robot system (MRS) in the warehouse-like environment. We propose a novel algorithm, OMRPP (One-way Multi-robot Path Planning) based on…
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…