Related papers: Parallel Self-assembly for Modular USVs with Diver…
Modular self-reconfigurable robots (MSRRs) offer enhanced task flexibility by constructing various structures suitable for each task. However, conventional terrestrial MSRRs equipped with wheels face critical challenges, including…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable.…
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
Self-driving vehicles (SDVs) require accurate calibration of LiDARs and cameras to fuse sensor data accurately for autonomy. Traditional calibration methods typically leverage fiducials captured in a controlled and structured scene and…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
Real-time and collision-free motion planning remains challenging for robotic manipulation in unknown environments due to continuous perception updates and the need for frequent online replanning. To address these challenges, we propose a…
Collaborative planning under operational constraints is an essential capability for heterogeneous robot teams tackling complex large-scale real-world tasks. Unmanned Aerial Vehicles (UAVs) offer rapid environmental coverage, but flight time…
Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive flippers. Undocking is achieved by causing intentional…
We present a novel concept of a heterogeneous, distributed platform for autonomous 3D construction. The platform is composed of two types of robots acting in a coordinated and complementary fashion: (i) A collection of communicating smart…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
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…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in the near future. However, it is still challenging for ASVs…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
Both biological and artificial self-assembly processes can take place by a range of different schemes, from the successive addition of identical building blocks, to hierarchical sequences of intermediates, all the way to the fully…
Heading towards navigational autonomy in unmanned surface vehicles (USVs) in the maritime sector can fundamentally lead towards safer waters as well as reduced operating costs, while also providing a range of exciting new capabilities for…