Related papers: Safety-Aware Optimal Scheduling for Autonomous Mas…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
The problem of adversary target detection and the subsequent task completion using a heterogeneous network of resource-constrained UAVs is considered. No prior knowledge about locations and required resources to identify these targets is…
This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…
Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-then-exploit, prior-based or exploration-based strategies,…
In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility of the proposed approach is particularly…
In this paper, the energy-efficient unmanned aerial vehicle (UAV) swarm assisted mobile edge computing (MEC) with dynamic clustering and scheduling is studied. In the considered system model, UAVs are divided into multiple swarms, with each…
This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface…
Autonomous robots need to be able to handle uncertainties when deployed in the real world. For the robot to be able to robustly work in such an environment, it needs to be able to adapt both its architecture as well as its task plan.…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
The integration of autonomous unmanned aerial vehicles (UAVs) into large-scale artistic projects has emerged as a new application in robotics. This paper presents the design, deployment, and testing of a novel multi-drone system for…
The future of 3D printing utilizing unmanned aerial vehicles (UAVs) presents a promising capability to revolutionize manufacturing and to enable the creation of large-scale structures in remote and hard- to-reach areas e.g. in other…
Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
Modular self-reconfigurable robots (MSRRs) offer enhanced task flexibility by constructing various structures suitable for each task. However, conventional terrestrial MSRRs equipped with wheels face critical challenges, including…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
Unmanned Aerial Vehicle (UAV) based remote sensing system incorporated with computer vision has demonstrated potential for assisting building construction and in disaster management like damage assessment during earthquakes. The…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…