Related papers: Bilevel Learning for Dual-Quadruped Collaborative …
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…
In the field of locomotion task of quadruped robots, Blind Policy and Perceptive Policy each have their own advantages and limitations. The Blind Policy relies on preset sensor information and algorithms, suitable for known and structured…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…
Quadruped robots demonstrate robust and agile movements in various terrains; however, their navigation autonomy is still insufficient. One of the challenges is that the motion capabilities of the quadruped robot are anisotropic along…
We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…
Electric quadruped robots used in outdoor exploration are susceptible to leg-related electrical or mechanical failures. Unexpected joint power loss and joint locking can immediately pose a falling threat. Typically, controllers lack the…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…
This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload system is modeled as a discrete-time…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…
Multi-robot cooperation requires agents to make decisions that are consistent with the shared goal without disregarding action-specific preferences that might arise from asymmetry in capabilities and individual objectives. To accomplish…
In this paper, we propose a cooperative long-term task execution (LTTE) algorithm for protecting a moving target into the interior of an ordering-flexible convex hull by a team of robots resiliently in the changing environments.…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Quadruped robots excel in traversing complex, unstructured environments where wheeled robots often fail. However, enabling efficient and adaptable locomotion remains challenging due to the quadrupeds' nonlinear dynamics, high degrees of…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
This work addresses the challenge of enabling a team of quadrupedal robots to collaboratively tow a cable-connected load through cluttered and unstructured environments while avoiding obstacles. Leveraging cables allows the multi-robot…
While single-agent legged locomotion has witnessed remarkable progress, individual robots remain fundamentally constrained by physical actuation limits. To transcend these boundaries, we introduce Co-jump, a cooperative task where two…