相关论文: Evaluation of a Skill-based Control Architecture f…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
The article explores the intersection of computer vision technology and robotic control, highlighting its importance in various fields such as industrial automation, healthcare, and environmental protection. Computer vision technology,…
Road infrastructure maintenance inspection is typically a labour-intensive and critical task to ensure the safety of all the road users. In this work, we propose a detailed methodology to use state-of-the-art techniques in artificial…
Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally…
Unmanned Aerial Vehicle (UAV) has already demonstrated its potential in many civilian applications, and the fa\c{c}ade inspection is among the most promising ones. In this paper, we focus on enabling the autonomous perception and control of…
This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive…
This paper delves into various robotic manipulation control methods designed for dynamic contact tooling operations on a robotic repair platform. The explored control strategies include hybrid position-force control, admittance control,…
UAVs showed great efficiency on scanning bridge decks surface by taking a single shot or through stitching a couple of overlaid still images. If potential surface deficits are identified through aerial images, subsequent ground inspections…
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments. The emerging state of the practice…
Autonomous navigation in maritime domains is accelerating alongside advances in artificial intelligence, sensing, and connectivity. Opaque decision-making and poorly calibrated human-automation interaction remain key barriers to safe…
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and…
Robotic systems are widely used to interact with humans or to perform critical tasks. As a result, it is imperative to provide guarantees about their behavior. Due to the modularity and complexity of robotic systems, their design and…
Virtual reality (VR) technology is commonly used in entertainment applications; however, it has also been deployed in practical applications in more serious aspects of our lives, such as safety. To support people working in dangerous…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues…
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…