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The growing deployment of drones in a myriad of applications relies on seamless and reliable wireless connectivity for safe control and operation of drones. Cellular technology is a key enabler for providing essential wireless services to…

Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces and kinematics hinder data sharing and policy transfer. This raises a central question: Is there any…

This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…

Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…

A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…

Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…

Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…

Lane-changing (LC) is a challenging scenario for connected and automated vehicles (CAVs) because of the complex dynamics and high uncertainty of the traffic environment. This challenge can be handled by deep reinforcement learning (DRL)…

As legged robots are deployed in industrial and autonomous construction tasks requiring collaborative manipulation, they must handle object manipulation while maintaining stable locomotion. The challenge intensifies in real-world…

Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based grasping framework that can easily be…

ReachBot, a proposed robotic platform, employs extendable booms as limbs for mobility in challenging environments, such as martian caves. When attached to the environment, ReachBot acts as a parallel robot, with reconfiguration driven by…

Cooperative grasping and transportation require effective coordination to complete the task. This study focuses on the approach leveraging force-sensing feedback, where robots use sensors to detect forces applied by others on an object to…

Effective operation and seamless cooperation of robotic systems are a fundamental component of next-generation technologies and applications. In contexts such as disaster response, swarm operations require coordinated behavior and mobility…

Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…

The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing, as a complex multi-stage robot manipulation scenario, is a…

We describe a system for visually guided autonomous navigation of under-canopy farm robots. Low-cost under-canopy robots can drive between crop rows under the plant canopy and accomplish tasks that are infeasible for over-the-canopy drones…

Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…

This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…

Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assume robot homogeneity, making shared safety requirements…