相关论文: Snake-Inspired Mobile Robot Positioning with Hybri…

Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…

Robot navigation within complex environments requires precise state estimation and localization to ensure robust and safe operations. For ambulating mobile robots like robot snakes, traditional methods for sensing require multiple embedded…

Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…

Snake robots, comprised of sequentially connected joint actuators, have recently gained increasing attention in the industrial field, like life detection in narrow space. Such robots can navigate through the complex environment via the…

Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, magnetic…

With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…

Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…

Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper designs a Turn-in-Place gait and demonstrates the ability of a…

The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…

Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many existing approaches emphasize safety or efficiency while…

Fast and efficient sampling-based motion planning (SMP) is an integral component of many robotic systems, such as autonomous cars. A popular technique to improve the efficiency of these planners is to restrict search space in the planning…

In this paper, we present the Role Playing Learning (RPL) scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks (NN) are constructed to parameterize a stochastic policy that…

Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…

Efficiently finding safe and feasible trajectories for mobile objects is a critical field in robotics and computer science. In this paper, we propose SIL-RRT*, a novel learning-based motion planning algorithm that extends the RRT* algorithm…

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…

Robots operating in open, unstructured real-world environments must rely on onboard visual perception while autonomously moving across different locations. Continuous changes in onboard camera viewpoints cause significant visual scale…

Learning from humans allows non-experts to program robots with ease, lowering the resources required to build complex robotic solutions. Nevertheless, such data-driven approaches often lack the ability to provide guarantees regarding their…

Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…

This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…