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Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncertainty introduced by robot movement. For example, a robot…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
The complexity and unpredictability of postbuckling responses in even simple thin shells have raised great challenges to emerging technologies exploiting buckling transitions. Here we comprehensively survey the buckling landscapes to show…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field…
Exploring and traversing extreme terrain with surface robots is difficult, but highly desirable for many applications, including exploration of planetary surfaces, search and rescue, among others. For these applications, to ensure the robot…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
An intelligent robot can be used for applications where a human is at significant risk (like nuclear, space, military), the economics or menial nature of the application result in inefficient use of human workers (service industry,…
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation…