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By-tree information gathering is an essential task in precision agriculture achieved by ground mobile sensors, but it can be time- and labor-intensive. In this paper we present an algorithmic framework to perform real-time and on-the-go…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
Wings of flying animals can not only generate lift and control torques but also can sense their surroundings. Such dual functions of sensing and actuation coupled in one element are particularly useful for small sized bio-inspired robotic…
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can…
The cultivation of orchard meadows provides an ecological benefit for biodiversity, which is significantly higher than in intensively cultivated orchards. The goal of this research is to create a tree model to automatically determine…
The workspace limits the operational capabilities and range of motion for the systems with robotic arms. Maximizing workspace utilization has the potential to provide more optimal solutions for aerial manipulation tasks, increasing the…
In cluttered spaces, such as forests, drone picking up a payload via an abseil claw is an open challenge, as the cable is likely tangled and blocked by the branches and obstacles. To address such a challenge, in this work, a cooperative…
As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…
Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual…
Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However, current free-flying robot platforms are limited by existing…
Over the past decades, quadcopters have been investigated, due to their mobility and flexibility to operate in a wide range of environments. They have been used in various areas, including surveillance and monitoring. During a mission,…
In recent years, high-speed navigation and environment interaction in the context of aerial robotics has become a field of interest for several academic and industrial research studies. In particular, Search and Intercept (SaI) applications…
Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…
Drones are embedded systems (ES) used across a wide range of fields, from photography to shipments and even during crisis management for searching, rescuing and damage assessment activities. However, their limited battery life and high…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Given observations of a physical system, identifying the underlying non-linear governing equation is a fundamental task, necessary both for gaining understanding and generating deterministic future predictions. Of most practical relevance…
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch…
This paper presents a gripper capable of grasping and recognizing terrain shapes for mobile robots in extreme environments. Multi-limbed climbing robots with grippers are effective on rough terrains, such as cliffs and cave walls. However,…
Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wrap a tether around naturally occurring objects to leverage…
Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…