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The production of renewable and sustainable energy is one of the most important challenges currently facing mankind. Wind has made an increasing contribution to the world's energy supply mix, but still remains a long way from reaching its…
This work presents a new path classification criterion to distinguish paths geometrically and topologically from the workspace, which is divided through cell decomposition, generating a medial-axis-like skeleton structure. We use this…
Artificial intelligence in construction increasingly depends on structured representations such as Building Information Models and knowledge graphs, yet early-stage building designs are predominantly created as flexible…
A novel approach for creating tool paths for continuous carbon fiber-reinforced thermoplastic 3D printing is introduced. The aim is to enable load-bearing connections while avoiding non-manufacturable crossings of paths by generating layer…
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…
We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
Rehabilitation of aging pipes requires accurate condition assessment and mapping far into the pipe interiors. Soft growing vine robot systems are particularly promising for navigating confined, sinuous paths such as in pipes, but are…
Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
Geometrically complex masonry structures (e.g., arches, domes, vaults) are traditionally built with expensive scaffolding or falsework to provide stability during construction. The process of building such structures can potentially be…
2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have…
Automating large-scale manufacturing in domains like timber construction requires multi-robot systems to manage tightly coupled spatiotemporal constraints, such as collision avoidance and process-driven deadlines. This paper introduces…
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control modules needed to scan and reconstruct an object of…
In this paper we present a trade study-based method to optimize the architecture of ReachBot, a new robotic concept that uses deployable booms as prismatic joints for mobility in environments with adverse gravity conditions and challenging…