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This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
In this paper, we developed a new navigation system, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential…
The efficiency of sampling-based motion planning brings wide application in autonomous mobile robots. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still…
In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
We consider the problem of exploring an anonymous unoriented ring of size $n$ by $k$ identical, oblivious, asynchronous mobile robots, that are unable to communicate, yet have the ability to sense their environment and take decisions based…
Autonomous robots are used as the tool to solve many kinds of problems, such as environmental mapping and monitoring. Either for adverse conditions related to the human presence or even for the need to reduce costs, it is certain that many…
For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to…
Path planning of Robot is one of the challenging fields in the area of Robotics research. In this paper, we proposed a novel algorithm to find path between starting and ending position for an intelligent system. An intelligent system is…
Social Robot Navigation is the skill that allows robots to move efficiently in human-populated environments while ensuring safety, comfort, and trust. Unlike other areas of research, the scientific community has not yet achieved an…
We consider the problem of developing robots that navigate like pedestrians on sidewalks through city centers for performing various tasks including delivery and surveillance. One particular challenge for such robots is crossing streets…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where…
We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
Bio-inspired algorithms utilize natural processes such as evolution, swarm behavior, foraging, and plant growth to solve complex, nonlinear, high-dimensional optimization problems. However, a plethora of these algorithms require a more…
Faces play a magnificent role in human robot interaction, as they do in our daily life. The inherent ability of the human mind facilitates us to recognize a person by exploiting various challenges such as bad illumination, occlusions, pose…