相关论文: Entanglement Definitions for Tethered Robots: Expl…

With the potential applications of capsule robots in medical endoscopy, accurate dynamic control of the capsule robot is becoming more and more important. In the scale of a capsule robot, the friction between capsule and the environment…

Aerial robots show significant potential for forest canopy research and environmental monitoring by providing data collection capabilities at high spatial and temporal resolutions. However, limited flight endurance hinders their…

Motivated by the challenging formation stabilization problem for mobile robotic teams when no distance or relative displacement measurements are available and each robot can only measure some of those angles formed by rays towards its…

A general description of entanglement is suggested as an action realized by an arbitrary operator over given disentangled states. The related entanglement measure is defined. Because of its generality, this definition can be employed for…

The rapid advancement of artificial intelligence is enabling the development of increasingly autonomous robots capable of operating beyond engineered factory settings and into the unstructured environments of human life. This shift raises a…

There are various desired capabilities to create aerial forest-traversing robots capable of monitoring both biological and abiotic data. The features range from multi-functionality, robustness, and adaptability. These robots have to weather…

Robots are increasingly present in human spaces, such as for conducting deliveries in hospitals, interacting with visitors at museums, and stocking items in warehouses. To ensure the seamless integration of robots into these spaces, a new…

Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…

Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…

We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…

Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for…

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…

Loops are pervasive in robotics problems, appearing in mapping and localization, where one is interested in finding loop closure constraints to better approximate robot poses or other estimated quantities, as well as planning and…

This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…

The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path…

Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…

The classification of electron systems according to their topology has been at the forefront of condensed matter research in recent years. It has been found that systems of the same symmetry, previously thought of as equivalent, may in fact…