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Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
In this paper, we view a policy or plan as a transition system over a space of information states that reflect a robot's or other observer's perspective based on limited sensing, memory, computation, and actuation. Regardless of whether…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
We present a system for generating and understanding of dynamic and static spatial relations in robotic interaction setups. Robots describe an environment of moving blocks using English phrases that include spatial relations such as…
Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…
Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress…
Semantic navigation is the navigation paradigm in which environmental semantic concepts and their relationships are taken into account to plan the route of a mobile robot. This paradigm facilitates the interaction with humans and the…
Service robots are increasingly entering the home to provide domestic tasks for residents. However, when working in an open, dynamic, and unstructured home environment, service robots still face challenges such as low intelligence for task…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situations -- is successfully leveraged by humans to handle novel…
Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…
Tuning parameters is crucial for the performance of localization and mapping algorithms. In general, the tuning of the parameters requires expert knowledge and is sensitive to information about the structure of the environment. In order to…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…