Related papers: Omnidirectional robot modeling and simulation
Teams of flying robots can be used for inspection, delivery, and construction tasks, in which they might be required to fly very close to each other. In such close-proximity cases, nonlinear aerodynamic effects can cause catastrophic…
Consider a group of autonomous mobile computational entities called robots. The robots move in the Euclidean plane and operate according to synchronous $Look$-$Compute$-$Move$ cycles. The computational capabilities of the robots under the…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace…
A Multi Robot System (MRS) is the infrastructure of an intelligent cyberphysical system, where the robots understand the need of the human, and hence cooperate together to fulfill this need. Modeling an MRS is a crucial aspect of designing…
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
The use of mobile robots has inevitably increased in recent years. The increase in the companies that produce products in this field, the popularity of the studies in the robotic field and the technological competence to serve many…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
Robots that support humans by performing useful tasks (a.k.a., service robots) are booming worldwide. In contrast to industrial robots, the development of service robots comes with severe software engineering challenges, since they require…
The number of tools for dynamics simulation has grown in the last years. It is necessary for the robotics community to have elements to ponder which of the available tools is the best for their research. As a complement to an objective and…
Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured…
Industrial requirements concerning the increased efficiency and high rate of manufacturing result in the development of manufacturer robots, and a vast group of these types of robots is used for welding. This study presented the design,…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
The ability of robots to model their own dynamics is key to autonomous planning and learning, as well as for autonomous damage detection and recovery. Traditionally, dynamic models are pre-programmed or learned from external observations.…