相关论文: MochiSwarm: A testbed for robotic blimps in realis…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
The development of porous polymeric membranes remains a labor-intensive process, often requiring extensive trial and error to identify optimal fabrication parameters. In this study, we present a fully automated platform for membrane…
Multi-modal robots expand their operations from one working medium to another, land to air for example. The majorities of multi-modal robots mainly refer to platforms that operate in two different media. However, for all-terrain tasks,…
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…
This paper presents a data-driven approach for multi-robot coordination in partially-observable domains based on Decentralized Partially Observable Markov Decision Processes (Dec-POMDPs) and macro-actions (MAs). Dec-POMDPs provide a general…
Swarms of autonomous devices are increasing in ubiquity and size. There are two main trains of thought for controlling devices in such swarms; centralized and distributed control. Centralized platforms achieve higher output quality but…
Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
One aspect of the ever-growing need for long term autonomy of multi-robot systems, is ensuring energy sufficiency. In particular, in scenarios where charging facilities are limited, battery-powered robots need to coordinate to share access.…
A prevailing view in robot learning is that simulation alone is not enough; effective sim-to-real transfer is widely believed to require at least some real-world data collection or task-specific fine-tuning to bridge the gap between…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost…
Robot swarms can effectively serve a variety of sensing and inspection applications. Certain inspection tasks require a binary classification decision. This work presents an experimental setup for a surface inspection task based on…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. More specifically, robotic vision must provide task-relevant information about the environment…
Applications of large-scale mobile multi-robot systems can be beneficial over monolithic robots because of higher potential for robustness and scalability. Developing controllers for multi-robot systems is challenging because the multitude…
A prototype of modular networked robot for autonomous monitoring works with full control over web through wireless connection has been developed. The robot is equipped with a particular set of built-in analyzing tools and appropriate…
The field of bio-inspired robotics seeks to create mechanical systems that mimic the designs and concepts used by biological systems. One of the more challenging biological concepts to imitate in mechanical systems is the ability to create…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments…