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Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
Creating a vision pipeline for different datasets to solve a computer vision task is a complex and time consuming process. Currently, these pipelines are developed with the help of domain experts. Moreover, there is no systematic structure…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end…
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear programming (MILP)…
Porous and heterogeneous materials are found in many applications from composites, membranes, chemical reactors, and other engineered materials to biological matter and natural subsurface structures. In this work we propose an integrated…
Designing mechanically efficient geometry for architectural structures like shells, towers, and bridges, is an expensive iterative process. Existing techniques for solving such inverse problems rely on traditional optimization methods,…
Robotic Additive Manufacturing (AM) has emerged as a scalable and customizable construction method in the last decade. However, current AM design methods rely on pre-conceived (A priori) toolpath of the structure, often developed via…
There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
Flow-based generative models, such as diffusion models and flow matching models, have achieved remarkable success in learning complex data distributions. However, a critical gap remains for their deployment in safety-critical domains: the…
We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
In this paper, we present an innovative technique for the path planning of flying robots in a 3D environment in Rough Mereology terms. The main goal was to construct the algorithm that would generate the mereological potential fields in…
As the robotics market rapidly evolves, energy consumption has become a critical issue, particularly restricting the application of construction robots. To tackle this challenge, our study innovatively draws inspiration from the mechanics…
Automatic parameter tuning methods for planning algorithms, which integrate pipeline approaches with learning-based techniques, are regarded as promising due to their stability and capability to handle highly constrained environments. While…
Autonomous assembly has been a desired functionality of many intelligent robot systems. We study a new challenging assembly task, designing and constructing a bridge without a blueprint. In this task, the robot needs to first design a…
This paper focuses on how to make a growing Vine robot steer in different directions with a novel approach to real-time steering control by autonomously applying adhesive tape to induce a surface wrinkles. This enabling real-time…