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An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations…
The precise and continuous tracking of millimetric-sized walkers --such as ants-- is quite important in behavioral studies. However, due to technical limitations, most studies concentrate on trajectories within arenas no more than 100 times…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
Drone racing is a recreational sport in which the goal is to pass through a sequence of gates in a minimum amount of time while avoiding collisions. In autonomous drone racing, one must accomplish this task by flying fully autonomously in…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Large image generation and vision models, combined with differentiable rendering technologies, have become powerful tools for generating paths that can be drawn or painted by a robot. However, these tools often overlook the intrinsic…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
With the rapid advance of sophisticated control algorithms, the capabilities of drones to stabilise, fly and manoeuvre autonomously have dramatically improved, enabling us to pay greater attention to entire missions and the interaction of a…
The pandemic by COVID-19 is causing a devastating effect on the health of global population. There are several efforts to prevent the spread of the virus. Among those efforts, cleaning and disinfecting public areas have become important…
The application of autonomous mobile robots in robotic security platforms is becoming a promising field of innovation due to their adaptive capability of responding to potential disturbances perceived through a wide range of sensors.…
A painting is more than just a picture on a wall; a painting is a process comprised of many intentional brush strokes, the shapes of which are an important component of a painting's overall style and message. Prior work in modeling brush…
In autonomous and mobile robotics, a principal challenge is resilient real-time environmental perception, particularly in situations characterized by unknown and dynamic elements, as exemplified in the context of autonomous drone racing.…
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
Exploration of Mars has been made possible using a series of landers, rovers and orbiters. The HiRise camera on the Mars Reconnaissance Orbiter (MRO) has captured high-resolution images covering large tracts of the surface. However, orbital…
Robots with the ability to actively acquire power from surroundings will be greatly beneficial for long-term autonomy and to survive in uncertain environments. In this work, we present a robot capable of drawing circuits with conductive ink…
Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this paper aims to address the challenges of integrating LiDAR…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
Commercial drones are not yet dimensioned to perform indoor autonomous tasks, since they use GPS for their location in the environment. When it comes to a space with physical obstacles (walls, metal, etc.) between the communication of the…