相关论文: SVan: A Mobile Hub as a Field Robotics Development…
This work aims at showing that it is feasible and safe to use a swarm of Unmanned Aerial Vehicles (UAVs) indoors alongside humans. UAVs are increasingly being integrated under the Industry 4.0 framework. UAV swarms are primarily deployed…
Vision-and-Language Navigation (VLN) is a multi-modal, cooperative task requiring agents to interpret human instructions, navigate 3D environments, and communicate effectively under ambiguity. This paper presents a comprehensive review of…
Mobile robotic systems are increasingly used in various work environments to support productivity. However, deploying robots in workplaces crowded by human workers and interacting with them results in safety challenges and concerns, namely…
Connected autonomous vehicles (CAVs) promise to enhance safety, efficiency, and sustainability in urban transportation. However, this is contingent upon a CAV correctly predicting the motion of surrounding agents and planning its own motion…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
Robots such as autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) have been used for sensing and monitoring aquatic environments such as oceans and lakes. Environmental sampling is a challenging task because the…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
The evolution of automotive technologies towards more integrated and sophisticated systems requires a shift from traditional distributed architectures to centralized vehicle architectures. This work presents a novel framework that addresses…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…
This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a real dual-agent platform that integrates task decomposition and…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Vision-and-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) represents a pivotal challenge in embodied artificial intelligence, focused on enabling UAVs to interpret high-level human commands and execute long-horizon tasks in…
The use of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs) has seen significant growth in the research community, industry, and society. Many of these agents are equipped with communication systems that are essential for…
Within the context of Industry 4.0, mobile robot systems such as automated guided vehicles (AGVs) and unmanned aerial vehicles (UAVs) are one of the major areas challenging current communication and localization technologies. Due to…
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework to deliver real-time control actions that optimize travel time, energy, and safety. Hardware is an integral part of any…
In recent years, we have observed a clear trend in the rapid rise of autonomous vehicles, robotics, virtual reality, and augmented reality. The core technology enabling these applications, Simultaneous Localization And Mapping (SLAM),…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…