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For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
Collaborative heterogeneous robot systems can greatly improve the efficiency of target search and navigation tasks. In this paper, we design a heterogeneous robot system consisting of a UAV and a UGV for search and rescue missions in…
We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Ground Penetrating Radar (GPR) is a very useful non-destructive evaluation (NDE) device for locating and mapping underground assets prior to digging and trenching efforts in construction. This paper presents a novel robotic system to…
For all multifunctional radar systems the allocation of resources plays an outstanding role. Many radars have low priority on surveillance tasks. In challenging situations this leads to neglecting of surveillance beams in directions where…
Autonomous navigation is essential for steel bridge inspection robot to monitor and maintain the working condition of steel bridges. Majority of existing robotic solutions requires human support to navigate the robot doing the inspection.…
Efficient and reliable detection of radiological or nuclear threats is a crucial part of national and international efforts to prevent terrorist activities. Radiation Portal Monitors (RPMs), which are deployed worldwide, are intended to…
The use of mobile robotics in radioactive source seeking has become an important part of modern radiation-safety practices, supporting timely mitigation of contamination risks and helping protect public health. However, measuring radiation…
We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…
Recently, radars have been widely featured in robotics for their robustness in challenging weather conditions. Two commonly used radar types are spinning radars and phased-array radars, each offering distinct sensor characteristics.…
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…
Tests and prototyping are vital in the research and development of robotic systems. Work with target hardware is problematic. Hence, in the article, a low-cost, miniaturised physical platform is presented to deal with experiments on…
Mapping radioactive contamination using aerial survey measurements is an area under active investigation today. The radiometric aerial survey technique has been extensively applied following reactor accidents and also would provide a key…
Drones will have extensive use cases across various commercial, government, and military sectors, ranging from delivery of consumer goods to search and rescue operations. To maintain the safety and security of people and infrastructure, it…
Performing an inspection task while maintaining the privacy of the inspected site is a challenging balancing act. In this work, we are motivated by the future of nuclear arms control verification, which requires both a high level of privacy…
The paper presents an approach for learning antenna Radiation Patterns (RPs) of a pair of heterogeneous quadrotor Uncrewed Aerial Vehicles (UAVs) by calibration flight data. RPs are modeled either as a Spherical Harmonics series or as a…
Infrastructure inspection is becoming increasingly relevant in the field of robotics due to its significant impact on ensuring workers' safety. The harbor environment presents various challenges in designing a robotic solution for…
Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the…