Related papers: Heterogeneous Full-body Control of a Mobile Manipu…
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control,…
Objective: Effective collaboration between machines and clinicians requires flexible data structures to represent medical processes and clinical practice guidelines. Such a data structure could enable effective turn-taking between human and…
Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…
Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…
Model performance is frequently reported only for the overall population under consideration. However, due to heterogeneity, overall performance measures often do not accurately represent model performance within specific subgroups. We…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application environments. The need for mobile manipulators in different…
This paper formulates a framework for the analysis and distributed control of interconnected systems from the behavioural perspective. The discussions are carried out from the viewpoint of set theory and the results are completely…
This paper presents a novel control strategy to herd groups of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strongly nonlinear and heterogeneous…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…
Behavior trees represent a modular way to create an overall controller from a set of sub-controllers solving different sub-problems. These sub-controllers can be created in different ways, such as classical model based control or…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
From the complex motions of robots to the oxygen binding of hemoglobin, the function of many mechanical systems depends on large, coordinated movements of their components. Such movements arise from a network of physical interactions in the…
Mobile manipulator systems are comprised of a mobile platform with one or more manipulators and are of great interest in a number of applications such as indoor warehouses, mining, construction, forestry etc. We present an approach for…
Behavior Trees (BTs) got the robotics society attention not least thanks to their modularity and reusability. The subtrees of BTs could be treated as separate behaviors and therefore reused. We address the following research question: do we…
This paper presents a closed-loop automation framework for heterogeneous modular robots, covering the full pipeline from morphological construction to adaptive control. In this framework, a mobile manipulator handles heterogeneous…
A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level…
Learning from demonstrations is a promising paradigm for transferring knowledge to robots. However, learning mobile manipulation tasks directly from a human teacher is a complex problem as it requires learning models of both the overall…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…