Related papers: Autonomous Multiple-Trolley Collection System with…
One simplifying assumption in existing and well-performing task allocation methods is that the robots are single-tasking: each robot operates on a single task at any given time. While this assumption is harmless to make in some situations,…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient guidance and control method for unpowered parafoils. To…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for locomotion, and few possess the manipulation capabilities…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
Efficiently solving path planning problems for a large number of robots is critical to the successful operation of modern warehouses. The existing approaches adopt classical shortest path algorithms to plan in environments whose cells are…
In this work, we present an algorithm for robot replacement to increase the operational time of a multi-robot payload transport system. Our system comprises a group of nonholonomic wheeled mobile robots traversing on a known trajectory. We…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…