Related papers: Omnidirectional robot modeling and simulation
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning. Despite the centrality of simulation in modern robotics,…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
Unlike computation or the numerical analysis of differential equations, simulation does not have a well established conceptual and mathematical foundation. Simulation is an arguable unique union of modeling and computation. However,…
Mobile robotic systems are increasingly used in various work environments to support productivity. However, deploying robots in workplaces crowded by human workers and interacting with them results in safety challenges and concerns, namely…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
Autonomous vehicles are increasingly introduced into our lives. Yet, people's misunderstanding and mistrust have become the major obstacles to the use of these technologies. In response to this problem, proper work must be done to increase…
It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…
During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
Simulation is used extensively in autonomous systems, particularly in robotic manipulation. By far, the most common approach is to train a controller in simulation, and then use it as an initial starting point for the real system. We…
Currently, robotics is one of the fastest growing areas not only in the industrial sector but also in the consumer and service sectors. Several areas benefit from the technological advancement of robotics, especially the industrial area…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Designing a model predictive control (MPC) scheme that enables a mobile robot to safely navigate through an obstacle-filled environment is a complicated yet essential task in robotics. In this technical report, safety refers to ensuring…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…