Related papers: A simulation framework for autonomous lunar constr…
In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
Evaluating autonomous driving systems in complex and diverse traffic scenarios through controllable simulation is essential to ensure their safety and reliability. However, existing traffic simulation methods face challenges in their…
This article presents a fully autonomous aerial masonry construction framework using heterogeneous unmanned aerial vehicles (UAVs), supported by experimental validation. Two specialized UAVs were developed for the task: (i) a brick-carrier…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
Autonomous Science is a field of study which aims to extend the autonomy of exploration robots from low level functionality, such as on-board perception and obstacle avoidance, to science autonomy, which allows scientists to specify…
With NASA's planned return to the moon and possibly with lunar outposts being formed, repeated landings at the same site will be necessary. Understanding rocket plume interaction with lunar and Martian surfaces is of paramount importance in…
In future operations on the lunar surface, automated vehicles will be required to transport cargo between known locations. Such vehicles must be able to navigate precisely in safe regions to avoid natural hazards, human-constructed…
Autonomy in robot-assisted surgery is essential to reduce surgeons' cognitive load and eventually improve the overall surgical outcome. A key requirement for autonomy in a safety-critical scenario as surgery lies in the generation of…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…
For autonomous vehicles, safe navigation in complex environments depends on handling a broad range of diverse and rare driving scenarios. Simulation- and scenario-based testing have emerged as key approaches to development and validation of…
Pedestrians' safety is a crucial factor in assessing autonomous driving scenarios. However, pedestrian safety evaluation is rarely considered by existing autonomous driving simulation platforms. This paper proposes a pedestrian safety…
In this paper, we study the problem of manipulation skill acquisition for performing construction activities consisting of repetitive tasks (e.g., building a wall or installing ceiling tiles). Our approach involves setting up a simulated…
Earthwork operations face increasing demand, while workforce aging creates a growing need for automation. ROS2-TMS for Construction, a Cyber-Physical System framework for construction machinery automation, has been proposed; however, its…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
This paper presents an integrated lander-propulsion-GNC framework for autonomous lunar powered descent. The BUG VTVL test vehicle serves as the reference platform, with the YUNT V0 throttleable bipropellant engine providing variable thrust…