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Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…
Prototype optical microscopes, built to pursue developments in advanced imaging techniques, need specific optomechanical constructions: preferably with high flexibility in the elements arrangement, easy access to the optical paths,…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
We propose a framework for designing coherent optical environments that enable versatile and dynamic optical manipulation. In contrast to conventional material-based near-field platforms, our approach employs a structured coherent light…
Increasing the level of automation in pharmaceutical laboratories and production facilities plays a crucial role in delivering medicine to patients. However, the particular requirements of this field make it challenging to adapt…
Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing…
Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
The rapid advancement of artificial intelligence is enabling the development of increasingly autonomous robots capable of operating beyond engineered factory settings and into the unstructured environments of human life. This shift raises a…
In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…
A syntactic model is presented for the specification of finite-state synchronous digital logic systems with complex input/output interfaces, which control the flow of data between opaque computational elements, and for the composition of…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
As new large-scale astronomical surveys greatly increase the number of objects targeted and discoveries made, the requirement for efficient follow-up observations is crucial. Adaptive optics imaging, which compensates for the image-blurring…
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper, we present ASAP, a physics-based planning approach for…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…