相关论文: Evaluation of a Skill-based Control Architecture f…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Industrial inspection automation in aerospace presents numerous challenges due to the dynamic, information-rich and regulated aspects of the domain. To diagnose the condition of an aircraft component, expert inspectors rely on a significant…
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…
In this paper, we present a full design of a flying robot to investigate the state of power grid components and to perform the appropriate maintenance procedures according to each fail or defect that could be recognized. To realize this…
The control of marine robots has long relied on model-based methods grounded in classical and modern control theory. However, the nonlinearity and uncertainties inherent in robot dynamics, coupled with the complexity of marine environments,…
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
This paper explores the state of the art on to methods to verify and validate navigation algorithms for autonomous surface ships. We perform a systematic mapping study to find research works published in the last 10 years proposing new…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Over 600,000 bridges in the U.S. must be inspected every two years to identify flaws, defects, or potential problems that may need follow-up maintenance. Bridge inspection has adopted unmanned aerial vehicles (or drones) for improving…
Conventional methods for visual assessment of civil infrastructures have certain limitations, such as subjectivity of the collected data, long inspection time, and high cost of labor. Although some new technologies i.e. robotic techniques…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
Inspection for structural properties (surface stiffness and coefficient of restitution) is crucial for understanding and performing aerial manipulations in unknown environments, with little to no prior knowledge on their state.…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
In this paper, a new hierarchical software architecture is proposed to improve the safety and reliability of a safety-critical drone system from the perspective of its source code. The proposed architecture uses formal verification methods…
As a general trend in industrial robotics, an increasing number of safety functions are being developed or re-engineered to be handled in software rather than by physical hardware such as safety relays or interlock circuits. This trend…
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…
AI-controlled robotic systems pose a risk to human workers and the environment. Classical risk assessment methods cannot adequately describe such black box systems. Therefore, new methods for a dynamic risk assessment of such AI-controlled…
Structural inspection in nuclear facilities is vital for maintaining operational safety and integrity. Traditional methods of manual inspection pose significant challenges, including safety risks, high cognitive demands, and potential…