Related papers: A Shared-Autonomy Construction Robotic System for …
Construction safety inspection remains mostly manual, and automated approaches still rely on task-specific datasets that are hard to maintain in fast-changing construction environments due to frequent retraining. Meanwhile, field inspection…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is…
Automation in construction has the potential to expand the technological landscape of labor intensive tasks, and bring gains in efficiency and productivity to sustain global competitiveness. In this paper we propose a task-level approach…
We present CloudGripper, an open source cloud robotics testbed, consisting of a scalable, space and cost-efficient design constructed as a rack of 32 small robot arm work cells. Each robot work cell is fully enclosed and features individual…
Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific,…
The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter…
In this paper, we present a full design of a flying robot to investigate the state of power grid components and to perform the appropriate maintenance procedures according to each fail or defect that could be recognized. To realize this…
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…
This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation, 3DGS has enabled unprecedented…
This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…
We propose a novel pipeline for unknown object grasping in shared robotic autonomy scenarios. State-of-the-art methods for fully autonomous scenarios are typically learning-based approaches optimised for a specific end-effector, that…
Autonomous Mobile Robots operating in indoor industrial environments require a localization system that is reliable and robust. While Visual Odometry (VO) can offer a reasonable estimation of the robot's state, traditional VO methods…
In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images…
Automation in farming processes is a growing field of research in both academia and industries. A considerable amount of work has been put into this field to develop systems robust enough for farming. Terrace farming, in particular,…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
Climbing Robots are being developed for applications ranging from cleaning to the inspection of difficult to reach constructions. Climbing robots should be capable of carrying a light payload and climbing on vertical surfaces with ability…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
The inspection of confined critical infrastructure such as attics or crawlspaces is challenging for human operators due to insufficient task space, limited visibility, and the presence of hazardous materials. This paper introduces a…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…