Related papers: Collaborative Continuum Robots: A Survey
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…
Cooperative localization (CL) enables accurate position estimation in multi-robot systems operating in GPS-denied environments. This paper presents a comparative study of five CL approaches: Centralized Cooperative Localization (CCL),…
Social robots are becoming increasingly diverse in their design, behavior, and usage. In this chapter, we provide a broad-ranging overview of the main characteristics that arise when one considers social robots and their interactions with…
Robotic computing has reached a tipping point, with a myriad of robots (e.g., drones, self-driving cars, logistic robots) being widely applied in diverse scenarios. The continuous proliferation of robotics, however, critically depends on…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
There is incremental growth in adopting self-reconfigurable robots in automating manufacturing conventional product lines. Using this class of robots adapting themselves with ever-changing environmental conditions has been acclaimed as a…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
This paper reviews the large spectrum of methods for generating robot motion proposed over the 50 years of robotics research culminating in recent developments. It crosses the boundaries of methodologies, typically not surveyed together,…
Autonomous mobile robots (AMRs) have been a rapidly expanding research topic for the past decade. Unlike their counterpart, the automated guided vehicle (AGV), AMRs can make decisions and do not need any previously installed infrastructure…
Transformation-robustness is an important feature for machine learning models that perform image classification. Many methods aim to bestow this property to models by the use of data augmentation strategies, while more formal guarantees are…
Model-based reinforcement learning (MBRL) has achieved remarkable success in robotics due to its high sample efficiency and planning capability. However, extending MBRL to physical multi-robot cooperation remains challenging due to the…
Utilizing robotic systems in the construction industry is gaining popularity due to their build time, precision, and efficiency. In this paper, we introduce a system that allows the coordination of multiple manipulator robots for…
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace…
Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…
The application of GNC devices on small robots is a game-changer that enables these robots to be mobile on low-gravity planetary surfaces and small bodies. Use of reaction wheels enables these robots to roll, hop, summersault and rest on…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…