Related papers: Autonomous Robot for Disaster Mapping and Victim L…
Fleets of autonomous robots have been deployed for exploration of unknown scenes for features of interest, e.g., subterranean exploration, reconnaissance, search and rescue missions. During exploration, the robots may encounter…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of…
In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…
Neural networks are increasingly used in safety-critical applications such as robotics and autonomous vehicles. However, the deployment of neural-network-controlled systems (NNCSs) raises significant safety concerns. Many recent advances…
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…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
During missions involving radiation exposure, unmanned robotic platforms may embody a valuable tool, especially thanks to their capability of replacing human operators in certain tasks to eliminate the health risks associated with such an…
This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean…
Autonomous exploration is a fundamental capability that tightly integrates perception, planning, control, and motion execution. It plays a critical role in a wide range of applications, including indoor target search, mapping of extreme…
In disaster response and situation assessment, robots have great potential in reducing the risks to the safety and health of first responders. As the situations encountered and the required capabilities of the robots deployed in such…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
Many complex vehicular systems, such as large marine vessels, contain confined spaces like water tanks, which are critical for the safe functioning of the vehicles. It is particularly hazardous for humans to inspect such spaces due to…
Cooperative vehicle platooning applications increasingly demand realistic simulation tools to ease their validation and to bridge the gap between development and real-world deployment. However, their complexity and cost often hinder its…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
Smart factories enhance production efficiency and sustainability, but emergencies like human errors, machinery failures and natural disasters pose significant risks. In critical situations, such as fires or earthquakes, collaborative robots…