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Full drive-by-wire electric vehicles (FDWEV) with X-by-wire technology can achieve independent driving, braking, and steering of each wheel, providing a good application platform for autonomous driving technology. Path planning and tracking…
It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inherently occurs sparsely, that is, the image currently being…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
Legged robots can pass through complex field environments by selecting gaits and discrete footholds carefully. Traditional methods plan gait and foothold separately and treat them as the single-step optimal process. However, such processing…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
The ability to conduct and learn from interaction and experience is a central challenge in robotics, offering a scalable alternative to labor-intensive human demonstrations. However, realizing such "play" requires (1) a policy robust to…
Autonomous navigation of car-like robots on uneven terrain poses unique challenges compared to flat terrain, particularly in traversability assessment and terrain-associated kinematic modelling for motion planning. This paper introduces…
As mobile robots and autonomous vehicles become increasingly prevalent in human-centred environments, there is a need to control the risk of collision. Perceptual modules, for example machine vision, provide uncertain estimates of object…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
Concentric tube continuum robots utilize nested tubes, which are subject to a set of inequalities. Current approaches to account for inequalities rely on branching methods such as if-else statements. It can introduce discontinuities, may…
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…
Federated Learning (FL) enables multiple resource-constrained edge devices with varying levels of heterogeneity to collaboratively train a global model. However, devices with limited capacity can create bottlenecks and slow down model…
Autonomous wire harness assembly requires robots to manipulate complex branched cables with high precision and reliability. A key challenge in automating this process is predicting how these flexible and branched structures behave under…
We consider the path planning problem for a 2-link robot amidst polygonal obstacles. Our robot is parametrizable by the lengths $\ell_1, \ell_2>0$ of its two links, the thickness $\tau \ge 0$ of the links, and an angle $\kappa$ that…
This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether with controllable length. To the best…
In practical applications, the unpredictable movement of obstacles and the imprecise state observation of robots introduce significant uncertainties for the swarm of robots, especially in cluster environments. However, existing methods are…
Robotic trajectory planning in dynamic and cluttered environments remains a critical challenge, particularly when striving for both time efficiency and motion smoothness under actuation constraints. Traditional path planner, such as…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…