相关论文: Development of An Autonomous Bridge Deck Inspectio…

As labor shortages and productivity stagnation increasingly challenge the construction industry, automation has become essential for sustainable infrastructure development. This paper presents an autonomous payload transportation system as…

Aquaculture is a thriving food-producing sector producing over half of the global fish consumption. However, these aquafarms pose significant challenges such as biofouling, vegetation, and holes within their net pens and have a profound…

Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully make intelligent decisions and execute tasks autonomously in…

Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…

This paper surveys the area of Trust Metrics related to security for autonomous robotic systems. As the robotics industry undergoes a transformation from programmed, task oriented, systems to Artificial Intelligence-enabled learning, these…

This letter investigates the problem of controlling an aerial manipulator, composed of an omnidirectional tilting drone equipped with a five-degrees-of-freedom robotic arm. The robot has to interact with the environment to inspect…

With the growing demand for large-scale and high-quality data in edge intelligence systems, mobile robots are increasingly deployed to collect data proactively, particularly in complex environments. However, existing robot-assisted data…

The aim of the paper is to provide information on a newly developed design methodology for the evaluation of bridge expansion joints with respect to their noise emission and overall technical condition. The methodology also gives…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

Safety is paramount for mobile robotic platforms such as self-driving cars and unmanned aerial vehicles. This work is devoted to a task that is indispensable for safety yet was largely overlooked in the past -- detecting obstacles that are…

Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of…

Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be…

Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…

Surface cracks are a very common indicator of potential structural faults. Their early detection and monitoring is an important factor in structural health monitoring. Left untreated, they can grow in size over time and require expensive…

Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…

Modern real-time Structural Health Monitoring systems can generate a considerable amount of information that must be processed and evaluated for detecting early anomalies and generating prompt warnings and alarms about the civil…

This paper presents the definition of a teleoperated robotic system for non-destructive corrosion inspection of Steel Cylinder Concrete Pipes (SCCP) from the inside. A general description of in-pipe environment and a state of the art of…

This paper presents field results and lessons learned from the deployment of aerial robots inside ship ballast tanks. Vessel tanks including ballast tanks and cargo holds present dark, dusty environments having simultaneously very narrow…

In this paper, we developed a new navigation system, which detects obstacles in a sliding window with an adaptive threshold clustering algorithm, classifies the detected obstacles with a decision tree, heuristically predicts potential…

In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…