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This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
As robots leave the controlled environments of factories to autonomously function in more complex, natural environments, they will have to respond to the inevitable fact that they will become damaged. However, while animals can quickly…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…
Reusing large datasets is crucial to scale vision-based robotic manipulators to everyday scenarios due to the high cost of collecting robotic datasets. However, robotic platforms possess varying control schemes, camera viewpoints, kinematic…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…
The visuomotor system of any animal is critical for its survival, and the development of a complex one within humans is large factor in our success as a species on Earth. This system is an essential part of our ability to adapt to our…
Soft growing robots, are a type of robots that are designed to move and adapt to their environment in a similar way to how plants grow and move with potential applications where they could be used to navigate through tight spaces, dangerous…
This paper focuses on Passable Obstacles Aware (POA) planner - a novel navigation method for two-wheeled robots in a highly cluttered environment. The navigation algorithm detects and classifies objects to distinguish two types of obstacles…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…
Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
This paper explores the principles for transforming a quadrupedal robot into a guide robot for individuals with visual impairments. A guide robot has great potential to resolve the limited availability of guide animals that are accessible…
The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…
We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels…
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…