Related papers: Equivalent Environments and Covering Spaces for Ro…
In this article we consider the problem of tether entanglement for tethered mobile robots. One of the main risks of using a tethered connection between a mobile robot and an anchor point is that the tether may get entangled with the…
The rapid advancement of artificial intelligence is enabling the development of increasingly autonomous robots capable of operating beyond engineered factory settings and into the unstructured environments of human life. This shift raises a…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
This diploma thesis describes the theoretical bases, the conception of the module and the final result of the development process in application. for the environment logging with a small mobile robot for interiors should be sketched an…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…
Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from…
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…
Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…
Anatomical models of a medical robot's environment can significantly help guide design and development of a new robotic system. These models can be used for benchmarking motion planning algorithms, evaluating controllers, optimizing…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
The rapid advancement of robotics, spanning expanded capabilities, more intuitive interaction, and more integration into real-world workflows, is reshaping what it means for humans and robots to coexist. Beyond sharing physical space, this…
This article presents a general description of dynamical systems using the language of enriched functors and enriched natural transformations. This framework is essential to establish the equivalence of three descriptions of dynamics -- a…
Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from robotic systems, animal studies, and human research to explore…
For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…
The field of robotics has made significant advances towards generalist robot manipulation policies. However, real-world evaluation of such policies is not scalable and faces reproducibility challenges, which are likely to worsen as policies…
We consider the design space available for social robots in terms of a hierarchy of functional definitions: the essential properties in terms of a locus of interaction, autonomy, intelligence, awareness of humans as possessors of mental…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…