Related papers: Beyond Pairwise Comparisons: Unveiling Structural …
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…
In this article, we investigate symmetry properties of distributed systems of mobile robots. We consider a swarm of $n\in\mathbb{N}$ robots in the $\mathcal{OBLOT}$ model and analyze their collective $\mathcal{F}$sync dynamics using of…
In this paper, we study the symmetric rendezvous search problem on the line with n > 2 robots that are unaware of their locations and the initial distances between them. In the symmetric version of this problem, the robots execute the same…
The majority of contemporary object-tracking approaches do not model interactions between objects. This contrasts with the fact that objects' paths are not independent: a cyclist might abruptly deviate from a previously planned trajectory…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
The ability to recognize objects is an essential skill for a robotic system acting in human-populated environments. Despite decades of effort from the robotic and vision research communities, robots are still missing good visual perceptual…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…
Smooth coordination within a swarm robotic system is essential for the effective execution of collective robot missions. Having efficient communication is key to the successful coordination of swarm robots. This paper proposes a new…
Since early machine learning models, metrics such as accuracy and precision have been the de facto way to evaluate and compare trained models. However, a single metric number doesn't fully capture the similarities and differences between…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Complex multi-robot missions often require heterogeneous teams to jointly optimize task allocation, scheduling, and path planning to improve team performance under strict constraints. We formalize these complexities into a new class of…
This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Robotic systems may frequently come across similar manipulation planning problems that result in similar motion plans. Instead of planning each problem from scratch, it is preferable to leverage previously computed motion plans, i.e.,…
We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…
The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the…
Electric Vehicles (EVs) are becoming increasingly prevalent nowadays, with studies highlighting their potential as mobile energy storage systems to provide grid support. Realising this potential requires effective charging coordination,…