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A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing such motion strategies to precision in soft deformable robots…
This paper studies the tracking control problem for nonholonomic mobile robots based on second order dynamics, with application to consensus tracking and formation tracking. The greatest novelty in this paper is that the reference…
Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Continuous robot operation in extreme scenarios such as underground mines or sewers is difficult because exteroceptive sensors may fail due to fog, darkness, dirt or malfunction. So as to enable autonomous navigation in these kinds of…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient…
In the field of signal processing for robotics, the inverse kinematics of robot arms presents a significant challenge due to multiple solutions caused by redundant degrees of freedom (DOFs). Precision is also a crucial performance indicator…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…