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The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
Automation of logistic processes is essential to improve productivity and reduce costs. In this context, intelligent warehouses are becoming a key to logistic systems thanks to their ability of optimizing transportation tasks and,…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…
Multi-robot collaborative transportation is a critical capability that has attracted significant attention over recent years. To reliably transport a kinematically constrained payload, a team of robots must closely collaborate and…
Today, the most widespread, widely applicable technology for gathering data relies on experienced scientists armed with handheld radio telemetry equipment to locate low-power radio transmitters attached to wildlife from the ground. Although…
In this work, we consider a multi-wheeled payload transport system. Each of the wheels can be selectively actuated. When they are not actuated, wheels are free moving and do not consume battery power. The payload transport system is modeled…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
The emergence of harvesting robotics offers a promising solution to the issue of limited agricultural labor resources and the increasing demand for fruits. Despite notable advancements in the field of harvesting robotics, the utilization of…
Controlling robotic manipulators with high-dimensional action spaces for dexterous tasks is a challenging problem. Inspired by human manipulation, researchers have studied generating and using postural synergies for robot hands to…
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…
In this study, a new concept of a wheelchair-towing robot for the facile electrification of manual wheelchairs is introduced. The development of this concept includes the design of towing robot hardware and an autonomous driving algorithm…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…
We study the problem that requires a team of robots to perform joint localization and target tracking task while ensuring team connectivity and collision avoidance. The problem can be formalized as a nonlinear, non-convex optimization…
Problem definition: Drones, despite being acknowledged as a transformative force in the city logistics sector, are unable to execute the \textit{last-meter delivery} (unloading goods directly to customers' doorsteps) due to airspace…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different…
This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application environments. The need for mobile manipulators in different…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…