Related papers: Voronoi-based Multi-Robot Formations for 3D Source…

In this paper, we consider the gathering problem of seven autonomous mobile robots on triangular grids. The gathering problem requires that, starting from any connected initial configuration where a subgraph induced by all robot nodes…

We investigate the problem of high frequency (HF) source localization using the time-difference-of-arrival (TDOA) observations of ionosphere-refracted radio rays based on quasi-parabolic (QP) modeling. An unresolved but pertinent issue in…

With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…

State estimation is a fundamental requirement in robotics, where the accurate determination of a robot's state is essential for stable operation despite inherent process disturbances and sensor noise. Traditionally, this is achieved through…

Robot-assisted 3D printing has drawn a lot of attention by its capability to fabricate curved layers that are optimized according to different objectives. However, the support generation algorithm based on a fixed printing direction for…

Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…

We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the number of robots. Traditional robotic source seeking methods…

Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction of LiDAR. This paper proposes a target-less extrinsic…

A hybrid map representation, which consists of a modified generalized Voronoi Diagram (GVD)-based topological map and a grid-based metric map, is proposed to facilitate a new frontier-driven exploration strategy. Exploration frontiers are…

Micro-Aerial Vehicles (MAVs) have the advantage of moving freely in 3D space. However, creating compact and sparse map representations that can be efficiently used for planning for such robots is still an open problem. In this paper, we…

Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…

Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…

Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully make intelligent decisions and execute tasks autonomously in…

This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…

This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically…

This study proposes an innovative approach to analyze spatial patterns of behavior by integrating information in weighted Voronoi diagrams. The objective of the research is to analyze the temporal distribution of an experimental subject in…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…

Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…

Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…