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Robots operating in the open world encounter various different environments that can substantially differ from each other. This domain gap also poses a challenge for Simultaneous Localization and Mapping (SLAM) being one of the fundamental…
Perceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is…
This paper presents the development and evaluation of a medical service robot equipped with 3D LiDAR and advanced localization capabilities for use in hospital environments. The robot employs LiDAR-based Simultaneous Localization and…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
This research explores the integration of indoor Simultaneous Localization and Mapping (SLAM) with Augmented Reality (AR) to enhance situational awareness, improving safety in hazardous or emergency situations. The main contribution of this…
Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…
Agile methods are receiving a growing interest from industry and these approaches are nowadays well accepted and deployed in software engineering. However, some issues remain to introduce agility in systems engineering. The objective of…
The emergence of 3D Gaussian Splatting for fast and high-quality novel view synthesize has opened up the possibility to construct photo-realistic simulations from video for robotic reinforcement learning. While the approach has been…
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…
Large assemblies of extremely simple robots capable only of basic motion activities (like propelling forward or self-rotating) are often applied to study swarming behavior or implement various phenomena characteristic of active matter…
In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…
SLAM is becoming a key component of robotics and augmented reality (AR) systems. While a large number of SLAM algorithms have been presented, there has been little effort to unify the interface of such algorithms, or to perform a holistic…
Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…