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This document presents the design of an autonomous car developed by the UruBots team for the 2024 FIRA Autonomous Cars Race Challenge. The project involves creating an RC-car sized electric vehicle capable of navigating race tracks with in…

As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…

Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…

Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This paper presents NeuPAN: a real-time, highly accurate, map-free,…

We have held dialogue robot competitions in 2020 and 2022 to compare the performances of interactive robots using an android that closely resembles a human. In 2023, the third competition DRC2023 was held. The task of DRC2023 was designed…

In this paper, we investigate the possibility of applying plan transformations to general manipulation plans in order to specialize them to the specific situation at hand. We present a framework for optimizing execution and achieving higher…

This paper presents an experimentation platform for human robot collaboration as a system of systems as well as proposes a conceptual framework describing the aspects of Human Robot Collaboration. These aspects are Awareness, Intelligence…

We study a robot hand model in the framework of the theory of expansions in non-integer bases. We investigate the reachable workspace and we study some configurations enjoying form closure properties.

Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multi-robot coordination to support establishing a lunar outpost. To achieve these objectives, algorithm design choices…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation…

With the rapid growth of research in AI and robotics now producing over 10,000 papers annually it has become increasingly difficult for researchers to stay up to date. Fast evolving trends, the rise of interdisciplinary work, and the need…

Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and…

Robotics is undergoing a significant transformation powered by advances in high-level control techniques based on machine learning, giving rise to the field of robot learning. Recent progress in robot learning has been accelerated by the…

We propose the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. Our system allows users to create and dynamically reconfigure environments while they plan robot paths. In…

We present our runner-up approach for the Real Robot Challenge 2021. We build upon our previous approach used in Real Robot Challenge 2020. To solve the task of sequential goal-reaching we focus on two aspects to achieving near-optimal…

Human-Machine Teaming (HMT) is revolutionizing collaboration across domains such as defense, healthcare, and autonomous systems by integrating AI-driven decision-making, trust calibration, and adaptive teaming. This survey presents a…

Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed to be a lightweight and accessible tool for robotics…