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Information from the sky is important for rescue activity in large-scale disaster or dangerous areas. Observation system using a balloon or an airplane has been studied as an information gathering system from the sky. A balloon observation…

Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…

Robot reliability has become an increasingly important issue in the last few years due to increased application of robots in many industries (like automobile industry) under hazardous and unstructured environment. As the component failure…

Automatic optimization of robotic behavior has been the long-standing goal of Evolutionary Robotics. Allowing the problem at hand to be solved by automation often leads to novel approaches and new insights. A common problem encountered with…

Gaze stabilization is an important requisite for humanoid robots. Previous work on this topic has focused on the integration of inertial and visual information. Little attention has been given to a third component, which is the knowledge…

This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…

Automatic test generation typically aims to generate inputs that explore new paths in the program under test in order to find bugs. Existing work has, therefore, focused on guiding the exploration toward program parts that are more likely…

Fuzzy logic controllers are readily customizable in natural language terms and can effectively deal with nonlinearities and uncertainties in control systems. This paper presents an intelligent and automated fuzzy control procedure for the…

Autonomous drones must often respond to sudden events, such as alarms, faults, or unexpected changes in their environment, that require immediate and adaptive decision-making. Traditional approaches rely on safety engineers hand-coding…

This diploma thesis describes the theoretical bases, the conception of the module and the final result of the development process in application. for the environment logging with a small mobile robot for interiors should be sketched an…

Underwater multi-robot cooperative coverage remains challenging due to partial observability, limited communication, environmental uncertainty, and the lack of access to global localization. To address these issues, this paper presents a…

Fuzzy controllers are efficient and interpretable system controllers for continuous state and action spaces. To date, such controllers have been constructed manually or trained automatically either using expert-generated problem-specific…

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…

As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…

Many state-of-the-art technologies developed in recent years have been influenced by machine learning to some extent. Most popular at the time of this writing are artificial intelligence methodologies that fall under the umbrella of deep…

Outdoor navigation on sidewalks in urban environments is the key technology behind important human assistive applications, such as last-mile delivery or neighborhood patrol. This paper aims to develop a quadruped robot that follows a route…

Efficient and reliable UAV navigation in cluttered and dynamic environments remains challenging. We propose SWIFT-Nav: Stability-aware Waypoint-level Integration of Fuzzy arbitration and TD3 for Navigation, a TD3-based navigation framework…

This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability…