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Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
We study the labeled multi-robot path planning problem in continuous 2D and 3D domains in the absence of obstacles where robots must not collide with each other. For an arbitrary number of robots in arbitrary initial and goal arrangements,…
Multiple mobile manipulators show superiority in the tasks requiring mobility and dexterity compared with a single robot, especially when manipulating/transporting bulky objects. However, closed-chain of the system, redundancy of each…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
In this paper, we propose a novel architecture and a self-supervised policy gradient algorithm, which employs unsupervised auxiliary tasks to enable a mobile robot to learn how to navigate to a given goal. The dependency on the global…
Perching on structures such as trees, beams, and ledges is essential for extending the endurance of aerial robots by enabling energy conservation in standby or observation modes. A tethered tensile perching mechanism offers a simple,…
Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles. This study presents an autonomous exploration technique using a…
Robots are widely used in industry due to their efficiency and high accuracy in performance. One of the most intriguing issues in manufacturing stage of production line is to minimize significantly high percentage of energy consumed by…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…
This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…
Particle Swarm Optimization (PSO) has demonstrated efficacy in addressing static path planning problems. Nevertheless, such application on dynamic scenarios has been severely precluded by PSO's low computational efficiency and premature…
This paper considers the path planning problem for autonomous exploration of an unknown environment using multiple heterogeneous robots such as drones, wheeled, and legged robots, which have different capabilities to traverse complex…
Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…
Considering an environment containing polygonal obstacles, we address the problem of planning motions for a pair of planar robots connected to one another via a cable of limited length. Much like prior problems with a single robot connected…
We consider the problem of warehouse multi-robot automation system in discrete-time and discrete-space configuration with focus on the task allocation and conflict-free path planning. We present a system design where a centralized server…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct a C-space explicitly for a high-dimensional robot, we…
Consider an unmanned aerial vehicle (UAV) physically connected to the ground station with a tether operating in a space, tasked with performing precise maneuvers while constrained by the physical limitation of its tether, which prevents it…