Related papers: MROS: A framework for robot self-adaptation
Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to science autonomy, which allows scientists to specify…
With the continuous breakthroughs in core technology, the dawn of large-scale integration of robotic systems into daily human life is on the horizon. Multi-robot systems (MRS) built on this foundation are undergoing drastic evolution. The…
Reinforcement learning (RL) can in principle let robots automatically adapt to new tasks, but current RL methods require a large number of trials to accomplish this. In this paper, we tackle rapid adaptation to new tasks through the…
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…
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.…
Biological lifeforms can heal, grow, adapt, and reproduce -- abilities essential for sustained survival and development. In contrast, robots today are primarily monolithic machines with limited ability to self-repair, physically develop, or…
Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified…
The navigation of micro-robots in complex flow environments is controlled by rheotaxis, the reorientation with respect to flow gradients. Here we demonstrate how payloads can be exploited to enhance the motion against flows. Using fully…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Autonomous mobile robots (AMRs) have been a rapidly expanding research topic for the past decade. Unlike their counterpart, the automated guided vehicle (AGV), AMRs can make decisions and do not need any previously installed infrastructure…
The fact that robots are getting deployed more often in dynamic environments, together with the increasing complexity of their software systems, raises the need for self-adaptive approaches. In these environments robotic software systems…
We describe the grasping and manipulation strategy that we employed at the autonomous track of the Robotic Grasping and Manipulation Competition at IROS 2016. A salient feature of our architecture is the tight coupling between visual (Asus…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…
Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…