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Designing soft robots poses considerable challenges: automated design approaches may be particularly appealing in this field, as they promise to optimize complex multi-material machines with very little or no human intervention.…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, including wheeled and legged robots, each excelling in specific…
While robots are increasingly integrated into the built environment, little is known how their qualities can meaningfully influence our spaces to facilitate enjoyable and agreeable interaction, rather than robotic settings that are driven…
Socially Assistive Robots navigate highly sensible environments, which place high demands on safety and communication with users. The reasoning behind an SAR's actions must be transparent at any time to earn users' trust and acceptance.…
Generating a collision-free robot motion is crucial for safe applications in real-world settings. This requires an accurate model of all obstacle shapes within the constrained robot cell, which is particularly challenging and…
The lunar geological record has much to tell us about the earliest history of the Solar System, the origin and evolution of the Earth-Moon system, the geological evolution of rocky planets, and the near-Earth cosmic environment throughout…
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…
This paper deals with the classical problem of exploring a ring by a cohort of synchronous robots. We focus on the perpetual version of this problem in which it is required that each node of the ring is visited by a robot infinitely often.…
Robotic systems are widely used to interact with humans or to perform critical tasks. As a result, it is imperative to provide guarantees about their behavior. Due to the modularity and complexity of robotic systems, their design and…
NASA and ESA are preparing a series of human exploration missions using the four-person Orion crew vehicle, launched by NASA's Space Launch System, and a Lunar Orbiting Platform-Gateway (LOP-G) that enable long duration (>30 days)…
The harsh environment on the lunar surface presents unique technological challenges for space exploration. This paper presents research on the design and development of the Tele- scope-deployment High-vacuum teleOperated Rover (THOR),…
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them to…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
A Simultaneous Localization and Mapping (SLAM) system must be robust to support long-term mobile vehicle and robot applications. However, camera and LiDAR based SLAM systems can be fragile when facing challenging illumination or weather…
Deploying robots in human environments requires effective social robot navigation. This article focuses on proxemics, proposing a new taxonomy and suggesting future directions through an analysis of state-of-the-art studies and the…
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, including the ability to regulate impacts, tolerate falls, and…