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Real-time pavement condition monitoring provides highway agencies with timely and accurate information that could form the basis of pavement maintenance and rehabilitation policies. Existing technologies rely heavily on manual data…
This paper, for the first time, presents a terrain-based localization approach using sensor data from an active suspension system. The contribution is four-fold. First, it is shown that a location dependent road height profile can be…
We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…
A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…
Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…
Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…
We propose a novel inverse-modelling approach which estimates the parameters of a simple land-surface model (LSM) by assimilating data into a differentiable physics-based forward model. The governing equations are expressed within a…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
When an agent, person, vehicle or robot is moving through an unknown environment without GNSS signals, online mapping of nonlinear terrains can be used to improve position estimates when the agent returns to a previously mapped area.…
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…
Accurate prediction of excavation forces is critical for enabling autonomous operation and optimizing control strategies in earthmoving machinery. Conventional approaches often depend on extensive data collection or computationally…
Autonomous driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information…
This study presents Part II of an AI-enhanced Decision Support System (DSS), extending Rahimi (2025, Part I) by introducing a fully uncertainty-aware optimization framework for long-term open-pit mine planning. Geological uncertainty is…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
Grasping target objects is a fundamental skill for robotic manipulation, but in cluttered environments with stacked or occluded objects, a single-step grasp is often insufficient. To address this, previous work has introduced pushing as an…
Terrain-aware perception holds the potential to improve the robustness and accuracy of autonomous robot navigation in the wilds, thereby facilitating effective off-road traversals. However, the lack of multi-modal perception across various…
Fatigue modeling is essential for motion synthesis tasks to model human motions under fatigued conditions and biomechanical engineering applications, such as investigating the variations in movement patterns and posture due to fatigue,…
In the context of autonomous robots, one of the most important tasks is to prevent potential damage to the robot during navigation. For this purpose, it is often assumed that one must deal with known probabilistic obstacles, then compute…