相关论文: Robotic Barrier Construction through Weaved, Infla…

This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…

Porous structures such as trabecular bone are widely seen in nature. These structures exhibit superior mechanical properties whilst being lightweight. In this paper, we present a method to generate bone-like porous structures as lightweight…

Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their…

Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…

This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…

Cooperation between mobile robots and wireless sensor networks is a line of research that is currently attracting a lot of attention. In this context, we study the following problem of barrier coverage by stationary wireless sensors that…

This paper presents a novel autonomous robotic assembly framework for constructing stable structures without relying on predefined architectural blueprints. Instead of following fixed plans, construction tasks are defined through targets…

We describe a robust planning method for autonomous driving that mixes normal and adversarial agent predictions output by a diffusion model trained for motion prediction. We first train a diffusion model to learn an unbiased distribution of…

Robotic packaging using wrapping paper poses significant challenges due to the material's complex deformation properties. The packaging process itself involves multiple steps, primarily categorized as folding the paper or creating creases.…

Operating in environments too harsh or inaccessible for humans is one of the critical roles expected of robots. However, such environments often pose risks to electronic components as well. To overcome this, various approaches have been…

To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we explore the use of a much cheaper, faster, and higher…

There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting…

Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…

This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…

In this paper, we propose a novel approach to wheeled robot navigation through an environment with movable obstacles. A robot exploits knowledge about different obstacle classes and selects the minimally invasive action to perform to clear…

Regular irradiation of indoor environments with ultraviolet C (UVC) light has become a regular task for many indoor settings as a result of COVID-19, but current robotic systems attempting to automate it suffer from high costs and…

The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…

Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a…

Although digital fabrication processes at the desktop scale have become proficient and prolific, systems aimed at producing larger-scale structures are still typically complex, expensive, and unreliable. In this work, we present an approach…

IoT and edge-based inference systems require unique solutions to overcome resource limitations and unpredictable environments. In this paper, we propose an environment-aware dynamic pruning system that handles the unpredictability of edge…