相关论文: Gondola: a Parametric Robot Infrastructure for Rep…
Software development for Wireless Sensor Networks (WSNs) is challenging due to characteristics of sensor nodes and the environment they are deployed in. Testing software in a real WSN testbed allows users to get reliable test results.…
The development of robust learning-based control algorithms for unstable systems requires high-quality, real-world data, yet access to specialized robotic hardware remains a significant barrier for many researchers. This paper introduces a…
Commercial drones are not yet dimensioned to perform indoor autonomous tasks, since they use GPS for their location in the environment. When it comes to a space with physical obstacles (walls, metal, etc.) between the communication of the…
Wireless sensor networks (WSNs) have attracted considerable attention in recent years and motivate a host of new challenges for distributed signal processing. The problem of distributed or decentralized estimation has often been considered…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
We today live in the era of dynamic and mobile wireless enabled platforms. This kind of stringent communication capability in the face of volatile and turbulent mobility demands a fresh look at physical layer in general and antenna design…
Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But along with expanded performance, the…
Cargo drones are designed to carry payloads with predefined shape, size, and/or mass. This lack of flexibility requires a fleet of diverse drones tailored to specific cargo dimensions. Here we propose a new reconfigurable drone based on a…
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…
Mountain slopes are perfect examples of harsh environments in which humans are required to perform difficult and dangerous operations such as removing unstable boulders, dangerous vegetation or deploying safety nets. A good replacement for…
Designing an in-pipe climbing robot that manipulates sharp gears to study complex line relationships. Traditional rolling/happening pipe climbing robots tend to slide when exploring pipe curves. The proposed gearbox connects to the farthest…
Wireless Sensor Networks (WSNs) are composed of nodes that gather metrics like temperature, pollution or pressure from events generated by external entities. Localization in WSNs is paramount, given that the collected metrics must be…
Motion planning for articulated robots has traditionally been governed by algorithms that operate within manufacturer-defined payload limits. Our empirical analysis of the Franka Emika Panda robot demonstrates that this approach…
Humanoid robots, with their human-like skeletal structure, are especially suited for tasks in human-centric environments. However, this structure is accompanied by additional challenges in locomotion controller design, especially in complex…
This paper investigates the problem of the minimilization of energy consumption in reallocation of wireless mobile sensors network (WMSN) to assure good communication without interference. Fix $d\in\mathbb{N}\setminus\{0\}.$ Assume $n$…
The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…
We introduce RoLA, a framework that transforms any in-the-wild image into an interactive, physics-enabled robotic environment. Unlike previous methods, RoLA operates directly on a single image without requiring additional hardware or…