相关论文: Modularis: Modular Underwater Robot for Rapid Deve…
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…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
As autonomous driving technology is getting more and more mature today, autonomous delivery companies like Starship, Marble, and Nuro has been making progress in the tests of their autonomous delivery robots. While simulations and…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…
In the trending research of fusing Large Language Models (LLMs) and robotics, we aim to pave the way for innovative development of AI systems that can enable Autonomous Underwater Vehicles (AUVs) to seamlessly interact with humans in an…
The enormous quantity of data produced every day together with advances in data analytics has led to a proliferation of data management and analysis systems. Typically, these systems are built around highly specialized monolithic operators…
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with…
Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
Robots such as autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) have been used for sensing and monitoring aquatic environments such as oceans and lakes. Environmental sampling is a challenging task because the…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
Mobile robotic manipulation--the ability of robots to navigate spaces and interact with objects--is a core capability of physical AI. Foundation models have led to breakthroughs in their performance, but at a significant computational cost.…
Autonomous laboratories promise to accelerate discovery by coupling learning algorithms with robotic experimentation, yet adoption remains limited by fragmented software that separates high-level planning from low-level execution. Here we…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain,…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
This paper describes the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-robot research cycle, yet…
Automatic underwater vehicle hull Design optimization is a complex engineering process for generating a UUV hull with optimized properties on a given requirement. First, it involves the integration of involved computationally complex…
Object detection aims to obtain the location and the category of specific objects in a given image, which includes two tasks: classification and location. In recent years, researchers tend to apply object detection to underwater robots…