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The Michigan Robotics MBot is a low-cost mobile robot platform that has been used to train over 1,400 students in autonomous navigation since 2014 at the University of Michigan and our collaborating colleges. The MBot platform was designed…
Recent accessibility of affordable sensing technologies, microcontrollers, and wireless communication technology has made it possible for stormwater systems to be retrofitted with an assortment of sensors and actuators. These smart…
While miniaturization has been a goal in robotics for nearly 40 years, roboticists have struggled to access sub-millimeter dimensions without making sacrifices to on-board information processing due to the unique physics of the microscale.…
Human-Robot Teams offer the flexibility needed for partial automation in small and medium-sized enterprises (SMEs). They will thus be an integral part of Factories of the Future. Our research targets a particularly flexible teaming mode,…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
This paper introduces the emerging field of astrobotics, that is, a recently-established branch of robotics to be of service to astrophysics and observational astronomy. We first describe a modern requirement of dark matter studies, i.e.,…
Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing before field deployment. However, existing tools lack certain…
JBotSim is a java library that offers basic primitives for prototyping, running, and visualizing distributed algorithms in dynamic networks. With JBotSim, one can implement an idea in minutes and interact with it ({\it e.g. }, add, move, or…
Swarms of autonomous devices are increasing in ubiquity and size. There are two main trains of thought for controlling devices in such swarms; centralized and distributed control. Centralized platforms achieve higher output quality but…
The firefly algorithm has become an increasingly important tool of Swarm Intelligence that has been applied in almost all areas of optimization, as well as engineering practice. Many problems from various areas have been successfully solved…
Distributed consistency is perhaps the most discussed topic in distributed systems today. Coordination protocols can ensure consistency, but in practice they cause undesirable performance unless used judiciously. Scalable distributed…
Shared memory multiprocessors come back to popularity thanks to rapid spreading of commodity multi-core architectures. As ever, shared memory programs are fairly easy to write and quite hard to optimise; providing multi-core programmers…
Among the available solutions for drone swarm simulations, we identified a gap in simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis, and do not require the user to interface with…
Swarm intelligence has becoming a powerful technique in solving design and scheduling tasks. Metaheuristic algorithms are an integrated part of this paradigm, and particle swarm optimization is often viewed as an important landmark. The…
Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…
This work introduces SwarmRL, a Python package designed to study intelligent active particles. SwarmRL provides an easy-to-use interface for developing models to control microscopic colloids using classical control and deep reinforcement…
We introduce Lyceum, a high-performance computational ecosystem for robot learning. Lyceum is built on top of the Julia programming language and the MuJoCo physics simulator, combining the ease-of-use of a high-level programming language…
Automated debugging, long pursued in a variety of fields from software engineering to cybersecurity, requires a framework that offers the building blocks for a programmable debugging workflow. However, existing debuggers are primarily…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…