相关论文: Features characterizing safe aerial-aquatic robots
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Avionics systems of an Unmanned Aerial Vehicle (UAV) or drone are the critical electronic components found onboard that regulate, navigate, and control UAV travel while ensuring public safety. Contemporary UAV avionics work together to…
Soft robotics technology can aid in achieving United Nations Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By…
Navigation is a must-have skill for any mobile robot. A core challenge in navigation is the need to account for an ample number of possible configurations of environment and navigation contexts. We claim that a mobile robot should be able…
Soft everting robots present significant advantages over traditional rigid robots, including enhanced dexterity, improved environmental interaction, and safe navigation in unpredictable environments. While soft everting robots have been…
Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel solutions to environmental monitoring problems. To understand…
Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…
Harmful marine spills, such as algae blooms and oil spills, damage ecosystems and threaten public health tremendously. Hence, an effective spill coverage and removal strategy will play a significant role in environmental protection. In…
Aerial field robotics research represents the domain of study that aims to equip unmanned aerial vehicles - and as it pertains to this chapter, specifically Micro Aerial Vehicles (MAVs)- with the ability to operate in real-life environments…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
We present a closed-loop control strategy for a delta-wing unmanned aerial aquatic-vehicle (UAAV) that enables autonomous swim, fly, and water-to-air transition. Our control system consists of a hybrid state estimator and a closed-loop…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…
This paper studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how coherent sets, an environmental feature found in these…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
Developing aerial robots that can both safely navigate and execute assigned mission without any human intervention - i.e., fully autonomous aerial mobility of passengers and goods - is the larger vision that guides the research, design, and…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…