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Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…
This short paper presents the potential of using machine learning to predict materials behaviour in the context of hydrogen interaction with steel. Effort has been made to understand the quality, and amount of data needed to get improved…
As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…
This paper presents a cooperative multi-robot multi-target tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network and, consequently, improving overall target tracking accuracy. The concept of normalized…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
The construction industry has been notoriously slow to adopt new technology and embrace automation. This has resulted in lower efficiency and productivity compared to other industries where automation has been widely adopted. However,…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
Multi-robot systems (MRS) rely on exchanging raw sensory data to cooperate in complex three-dimensional (3D) environments. However, this strategy often leads to severe communication congestion and high transmission latency, significantly…
Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on…
Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential contact between a robot and its surrounding environment, is still…
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
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…
We present a distributed algorithm for a swarm of active particles to camouflage in an environment. Each particle is equipped with sensing, computation and communication, allowing the system to take color and gradient information from the…
This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…
In nature, biological organisms jointly evolve both their morphology and their neurological capabilities to improve their chances for survival. Consequently, task information is encoded in both their brains and their bodies. In robotics,…