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Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a…
The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved much progress, there are still limitations, e.g., existing…
Reinforcement Learning (RL) has been pivotal in recent robotics milestones and is poised to play a prominent role in the future. However, these advances can rely on proprietary simulators, expensive hardware, and a daunting range of tools…
Autonomous exploration and mapping of unknown terrains employing single or multiple robots is an essential task in mobile robotics and has therefore been widely investigated. Nevertheless, given the lack of unified data sets, metrics, and…
In autonomous robotics, a significant challenge involves devising robust solutions for Active Collaborative SLAM (AC-SLAM). This process requires multiple robots to cooperatively explore and map an unknown environment by intelligently…
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…
With advancing technologies, robotic manipulators and visual environment sensors are becoming cheaper and more widespread. However, robot control can be still a limiting factor for better adaptation of these technologies. Robotic…
One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for…
In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
So far, planetary surface exploration depends on various mobile robot platforms. The autonomous navigation and decision-making of these mobile robots in complex terrains largely rely on their terrain-aware perception, localization and…
Reliable lane-following is essential for automated and assisted driving, yet existing solutions often rely on models that require extensive computational resources, limiting their deployment in compute-constrained vehicles. We evaluate five…
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
This paper presents L-VITeX, a lightweight visual intuition system for terrain exploration designed for resource-constrained robots and swarms. L-VITeX aims to provide a hint of Regions of Interest (RoIs) without computationally expensive…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that…
Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…