Related papers: Angle-based Localization and Rigidity Maintenance …
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Detecting and localizing contacts is essential for robot manipulators to perform contact-rich tasks in unstructured environments. While robot skins can localize contacts on the surface of robot arms, these sensors are not yet robust or…
This paper considers a radio-frequency (RF)-based simultaneous localization and source-seeking (SLASS) problem in multi-robot systems, where multiple robots jointly localize themselves and an RF source using distance-only measurements…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Dynamic locomotion of legged robots is a critical yet challenging topic in expanding the operational range of mobile robots. It requires precise planning when possible footholds are sparse, robustness against uncertainties and disturbances,…
This paper proposes a novel model-based policy gradient algorithm for tracking dynamic targets using a mobile robot, equipped with an onboard sensor with limited field of view. The task is to obtain a continuous control policy for the…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents…
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…