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Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence.…
This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…
In this work, we investigate swarm self-clustering, where robots autonomously organize into spatially coherent groups using only local sensing and decision-making, without external commands, global positioning, or inter-robot communication.…
Robot swarms can effectively serve a variety of sensing and inspection applications. Certain inspection tasks require a binary classification decision. This work presents an experimental setup for a surface inspection task based on…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…
Recent advances in sensing, communication, interfaces, control, and robotics are expanding Human-Building Interaction (HBI) beyond adaptive building services and facades toward the physical actuation of architectural space. In parallel,…
This paper introduces the emerging field of astrobotics, that is, a recently-established branch of robotics to be of service to astrophysics and observational astronomy. We first describe a modern requirement of dark matter studies, i.e.,…
In this paper, we present an approach for dynamic exploration and mapping of unknown environments using a swarm of biobotic sensing agents, with a stochastic natural motion model and a leading agent (e.g., an unmanned aerial vehicle). The…
The selection of mobility modes for robot navigation consists of various trade-offs. Snake robots are ideal for traversing through constrained environments such as pipes, cluttered and rough terrain, whereas bipedal robots are more suited…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
As artificial intelligence engineering paradigms shift from single-agent Prompt and Context Engineering toward multi-agent \textbf{Coordination Engineering}, the ability to codify and systematically improve how multiple agents collaborate…
This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…
We propose a novel framework for real-time communication-aware coverage control in networked robot swarms. Our framework unifies the robot dynamics with network-level message-routing to reach consensus on swarm formations in the presence of…
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for…