相关论文: A Multi-Layer Software Architecture for Aerial Cog…

In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…

In recent years, using drone, also known as unmanned aerial vehicle (UAV), in close-distance visual inspection has became an active area in many disciplines. However, many challenges still remain before we can achieve autonomous inspection,…

This paper presents a real-time control system for surface inspection using multiple unmanned aerial vehicles (UAVs). The UAVs are coordinated in a specific formation to collect data of the inspecting objects. The communication platform for…

To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…

Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…

In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a…

With the rapid advancement of intelligent technologies, collaborative frameworks integrating large and small models have emerged as a promising approach for enhancing industrial maintenance. However, several challenges persist, including…

Unmanned aerial vehicles (UAVs), especially multicopters, have recently gained popularity for use in surveillance, monitoring, inspection, and search and rescue missions. Their maneuverability and ability to operate in confined spaces make…

The use of semi-autonomous Unmanned Aerial Vehicles (UAVs or drones) to support emergency response scenarios, such as fire surveillance and search-and-rescue, has the potential for huge societal benefits. Onboard sensors and artificial…

CCTV-based surveillance using unmanned aerial vehicles (UAVs) is considered a key technology for security in smart city environments. This paper creates a case where the UAVs with CCTV-cameras fly over the city area for flexible and…

Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…

We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…

The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…

The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…

Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…

Due to the limitation of the drone's load capacity, various specific tasks need to be accomplished by multiple drones in collaboration. In some transportation tasks, two drones are required to lift the load together, which brings even more…