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Legged rovers provide enhanced mobility compared to wheeled platforms, enabling navigation on steep and irregular planetary terrains. However, traditional legged locomotion might be energetically inefficient and potentially dangerous to the…
A Remotely Operated Vehicle (ROV) is a tethered underwater robot used for tasks like inspection and intervention. While essential tools for underwater science, the high cost of commercial ROVs and a persistent gap between mechanically…
Towards performing a realistic autonomous minimally invasive spinal fixation procedure, in this paper, we introduce a unique robotic drilling system utilizing a concentric tube steerable drilling robot (CT-SDR) integrated with a seven…
Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption.…
Autonomous navigation of steel bridge inspection robots is essential for proper maintenance. The majority of existing robotic solutions for bridge inspection require human intervention to assist in the control and navigation. In this paper,…
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
This work presents the most recent advances of the Robotic Testbed for Rendezvous and Optical Navigation (TRON) at Stanford University - the first robotic testbed capable of validating machine learning algorithms for spaceborne optical…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
Autonomous navigation has played an increasingly significant role in quadruped robot system. However, most existing works on quadruped robots navigation using traditional search-based or sample-based methods do not consider the kinodynamic…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
In pipeline inspection, traditional tethered inspection robots are severely constrained by cable length and weight, which greatly limit their travel range and accessibility. To address these issues, this paper proposes a self-propelled…
A fundamental requirement for full autonomy in mobile robots is accurate navigation even in situations where satellite navigation or cameras are unavailable. In such practical situations, relying only on inertial sensors will result in…
This paper describes a stereo image-based visual servoing system for trajectory tracking by a non-holonomic robot without externally derived pose information nor a known visual map of the environment. It is called trajectory servoing. The…
Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…