相关论文: MochiSwarm: A testbed for robotic blimps in realis…
One of the most important promises of decentralized systems is scalability, which is often assumed to be present in robot swarm systems without being contested. Simple limitations, such as movement congestion and communication conflicts,…
Bio-engineered robots are under rapid development due to their maneuver ability through uneven surfaces. This advancement paves the way for experimenting with versatile electrical system developments with various motors. In this research…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
We propose a framework to enable multipurpose assistive mobile robots to autonomously wipe tables to clean spills and crumbs. This problem is challenging, as it requires planning wiping actions while reasoning over uncertain latent dynamics…
Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…
We introduce BiGym, a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, ranging from simple target reaching to complex kitchen cleaning.…
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…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Engineering swarms of cyber-physical systems (CPSs) is a complex process. We present the CPSwarm workbench that creates an automated design workflow to ease this process. This formalized workflow guides the user from modeling, to code…
The field of autonomous robotics is growing at a rapid rate. The trend to use increasingly more sensors in vehicles is driven both by legislation and consumer demands for higher safety and reliable service. Nowadays, robots are found…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations. Mobile…
Unlike most human-engineered systems, biological systems are emergent from low-level interactions, allowing much broader diversity and superior adaptation to the complex environments. Inspired by the process of morphogenesis in nature, a…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent…
Micromobility vehicles, such as e-scooters, are increasingly popular in urban communities but present significant challenges in terms of road safety, user privacy, infrastructure planning, and civil engineering. Addressing these critical…