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We study the problem of infrastructure inspection using an Unmanned Aerial Vehicle (UAV) in box girder bridge environments. We consider a scenario where the UAV needs to fully inspect box girder bridges and localize along the bridge surface…
Robot swarms hold immense potential for performing complex tasks far beyond the capabilities of individual robots. However, the challenge in unleashing this potential is the robots' limited sensory capabilities, which hinder their ability…
Designing intuitive interfaces for robotic control remains a central challenge in enabling effective human-robot interaction, particularly in assistive care settings. Eye gaze offers a fast, non-intrusive, and intent-rich input modality,…
We present the modeling, design, fabrication and feedback control of an earthworm-inspired soft robot capable of crawling on surfaces by actively manipulating the frictional force between its body and the surface. Earthworms are segmented…
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
This paper presents an Expert-guided Mixed-Initiative Control Switcher (EMICS) for remotely operated mobile robots. The EMICS enables switching between different levels of autonomy during task execution initiated by either the human…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
This paper presents a digital-twin platform for active safety analysis in mixed traffic environments. The platform is built using a multi-modal data-enabled traffic environment constructed from drone-based aerial LiDAR, OpenStreetMap, and…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
Artificial vision (AV) has recently emerged as an extremely important tool to help control robots with or without minimal human interaction. This article presents the design and construction of a parallel robot called a Stewart platform.…
Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
This paper outlines a roadmap to effectively leverage shared mental models in multi-robot, multi-stakeholder scenarios, drawing on experiences from the BugWright2 project. The discussion centers on an autonomous multi-robot systems designed…
Taking inspiration from how the brain coordinates multiple learning systems is an appealing strategy to endow robots with more flexibility. One of the expected advantages would be for robots to autonomously switch to the least costly system…
In this study Arduino card based mobile robot design was realized. This robot can serve as a security robot, an auxiliary robot or a control robot. The designed robot has two operation modes. The first operating mode is autonomous mode. In…