相关论文: ROMR: A ROS-based Open-source Mobile Robot
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
Localization plays a crucial role in the navigation capabilities of autonomous robots, and while indoor environments can rely on wheel odometry and 2D LiDAR-based mapping, outdoor settings such as agriculture and forestry, present unique…
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…
This paper presents an open-source miniature car-like robot with low-cost sensing and a pipeline for optimization-based system identification, state estimation, and control. The overall robotics platform comes at a cost of less than \$\,700…
HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen…
OpenScout is an Open Source Hardware (OSH) mobile robot for research and industry. It is extended to v1.1 which includes simplified, cheaper and more powerful onboard compute hardware; a simulated ROS2 interface; and a Gazebo simulation.…
Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown promise in training policies for specific autonomous robots,…
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…
A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on loose, unconsolidated terrain, which reduces traction. This paper presents a comprehensive navigation and control framework for an LSMR that ensures…
The study of robotic manipulators is the main goal of Industrial Robotics Class, part of Control Engineers training course. There is a difficulty in preparing academic practices and projects in the area of robotics due to the high cost of…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robot designed for autonomous logistics…
This paper deals with random sensors initially randomly deployed on the line according to general random process and on the plane according to two independent general random processes. The mobile robot with carrying capacity $k$ placed at…
This paper presents an implementation of autonomous navigation functionality based on Robot Operating System (ROS) on a wheeled differential drive mobile platform called Eddie robot. ROS is a framework that contains many reusable software…
A key component of any robot is the interface between robotics middleware software and physical motors. New robots often use arbitrary, messy mixtures of closed and open motor drivers and error-prone physical mountings, wiring, and…
General-purpose robots should possess human-like dexterity and agility to perform tasks with the same versatility as us. A human-like form factor further enables the use of vast datasets of human-hand interactions. However, the primary…
Scaling up robot learning will likely require human data containing rich and long-horizon interactions in the wild. Existing approaches for collecting such data trade off portability, robustness to occlusion, and global consistency. We…
Autonomous robots can help people explore parts of the ocean that would be hard or impossible to get to otherwise. The increase in the availability of low-cost components has made it possible to innovate, design, and implement new and…
In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in…
Experiments on physical continuum robot are the gold standard for evaluations. Currently, as no commercial continuum robot platform is available, a large variety of early-stage prototypes exists. These prototypes are developed by individual…