Related papers: TERA: A Simulation Environment for Terrain Excavat…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
In this paper, we present an integrated solution to memory-efficient environment modeling by an autonomous mobile robot equipped with a laser range-finder. Majority of nowadays approaches to autonomous environment modeling, called…
This paper presents the simulation of the operation of an electric forklift fleet within an intralogistics scenario. For this purpose, the open source simulation tool CARLA is used; according to our knowledge this is a novel approach in the…
Safe and scalable deployment of end-to-end (E2E) autonomous driving requires extensive and diverse data, particularly safety-critical events. Existing data are mostly generated from simulators with a significant sim-to-real gap or collected…
Autonomously performing tasks often requires robots to plan high-level discrete actions and continuous low-level motions to realize them. Previous TAMP algorithms have focused mainly on computational performance, completeness, or optimality…
Off-road navigation remains challenging for autonomous robots due to the harsh terrain and clustered obstacles. In this letter, we extend the YOPO (You Only Plan Once) end-to-end navigation framework to off-road environments, explicitly…
Self-adaptive robotic systems operate autonomously in dynamic and uncertain environments, requiring robust real-time monitoring and adaptive behaviour. Unlike traditional robotic software with predefined logic, self-adaptive robots exploit…
Autonomous systems will play an essential role in many applications across diverse domains including space, marine, air, field, road, and service robotics. They will assist us in our daily routines and perform dangerous, dirty and dull…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are…
Complex systems are increasingly explored through simulation-driven engineering workflows that combine physics-based and empirical models with optimization and analytics. Despite their power, these workflows face two central obstacles: (1)…
Heterogeneous multi-robot systems are advantageous for operations in unknown environments because functionally specialised robots can gather environmental information, while others perform tasks. We define this decomposition as the…
Enhancing robot navigation efficiency is a crucial objective in modern robotics. Robots relying on external navigation systems are often susceptible to electromagnetic interference (EMI) and encounter environmental disturbances, resulting…
Deep reinforcement learning has recently emerged as an appealing alternative for legged locomotion over multiple terrains by training a policy in physical simulation and then transferring it to the real world (i.e., sim-to-real transfer).…
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…
The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…
In an era marked by renewed interest in lunar exploration and the prospect of establishing a sustainable human presence on the Moon, innovative approaches supporting mission preparation and astronaut training are imperative. To this end,…
To understand how well a proposed augmented reality (AR) solution works, existing papers often conducted tailored and isolated evaluations for specific AR tasks, e.g., depth or lighting estimation, and compared them to easy-to-setup…
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…