Related papers: The DISTANT Design for Remote Transmission and Ste…
We design a vehicle with a steering system made of two independently rotatable wheels on the front. We quantify the effectiveness of the steering system in the mobility and maneuverability of the vehicle running in a box containing a layer…
In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
This paper presents a design and automation environment to study the control trajectory for new CDPR architectures, for instance CDPRs with an unusual number of cables or different motor location in the robot frame. In order to test the…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a ballistic launch system imposes a deterministic path for…
Teleoperation systems map operator commands from an input device into some coordinate frame in the remote environment. This frame, which we call a control coordinate system, should be carefully chosen as it determines how operators should…
The Robotic Remote Laboratory controls the Robot labs via the Internet and applies the Robot experiment in easy and advanced way. If we want to enhance the RRL system, we must study requirements of the Robot experiment in a deeply way. One…
In subarctic and arctic areas, large and heavy skid-steered robots are preferred for their robustness and ability to operate on difficult terrain. State estimation, motion control and path planning for these robots rely on accurate odometry…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately predict ego vehicle behavior under a chosen controller use…
This paper presents a new task-space Non-singular Terminal Super-Twisting Sliding Mode (NT-STSM) controller with adaptive gains for robust trajectory tracking of a 7-DOF robotic manipulator. The proposed approach addresses the challenges of…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) remains difficult due to unreliable feature extraction,…
Survival in remote snow bounded areas is unsafe and risky for mankind. Many problems like arthritis, frostbite, asthma, starvation can caused and lead to death. Indian Military provides transportation vehicles which are heavily built and…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…