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The wide use of robotic systems contributed to developing robotic software highly coupled to the hardware platform running the robotic system. Due to increased maintenance cost or changing business priorities, the robotic hardware is…
The main focus of recent time synchronization research is developing power-efficient synchronization methods that meet pre-defined accuracy requirements. However, an aspect that has been often overlooked is the high dynamics of the network…
In this article, we investigate symmetry properties of distributed systems of mobile robots. We consider a swarm of $n\in\mathbb{N}$ robots in the $\mathcal{OBLOT}$ model and analyze their collective $\mathcal{F}$sync dynamics using of…
Recent advances in large AI models (VLMs and LLMs) and joint use of the 3D dense maps, enable mobile robots to provide more powerful and interactive services grounded in rich spatial context. However, deploying both heavy AI models and…
Motion planning methods for autonomous systems based on nonlinear programming offer great flexibility in incorporating various dynamics, objectives, and constraints. One limitation of such tools is the difficulty of efficiently representing…
We present the first fully distributed multi-robot system for dense metric-semantic Simultaneous Localization and Mapping (SLAM). Our system, dubbed Kimera-Multi, is implemented by a team of robots equipped with visual-inertial sensors, and…
In the last decade, the accelerated advancements in manufacturing techniques and material science enabled the automotive industry to manufacture commercial vehicles at more affordable rates. This, however, brought about roadways having to…
Reduced-order models are central to motion planning and control of quadruped robots, yet existing templates are often hand-crafted for a specific locomotion modality. This motivates the need for automatic methods that extract task-specific,…
The maximization of submodular functions have found widespread application in areas such as machine learning, combinatorial optimization, and economics, where practitioners often wish to enforce various constraints; the matroid constraint…
Future robotic systems operating in real-world environments will require on-board embodied intelligence without continuous cloud connection, balancing capabilities with constraints on computational power and memory. This work presents an…
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…
Autonomous mobile robots have many applications in indoor unstructured environment, wherein optimal movement of the robot is needed. The robot therefore needs to navigate in unknown and dynamic environments. This paper presents an…
We consider robust submodular maximization problems (RSMs), where given a set of $m$ monotone submodular objective functions, the robustness is with respect to the worst-case (scaled) objective function. The model we consider generalizes…
We show that asymptotically, completely asynchronous stochastic gradient procedures achieve optimal (even to constant factors) convergence rates for the solution of convex optimization problems under nearly the same conditions required for…
In this paper, we solve the local gathering problem of a swarm of $n$ indistinguishable, point-shaped robots on a two dimensional grid in asymptotically optimal time $\mathcal{O}(n)$ in the fully synchronous $\mathcal{FSYNC}$ time model.…
Different outdoor illumination conditions drastically alter the appearance of urban scenes, and they can harm the performance of image-based robot perception systems if not seen during training. Camera simulation provides a cost-effective…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…