相关论文: CODEI: Resource-Efficient Task-Driven Co-Design of…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
It will be increasingly common for robots to operate in cluttered human-centered environments such as homes, workplaces, and hospitals, where the robot is often tasked to maintain perception constraints, such as monitoring people or…
Correspondence identification (CoID) is an essential capability in multi-robot collaborative perception, which enables a group of robots to consistently refer to the same objects within their respective fields of view. In real-world…
The development of Artificial Intelligence (AI) has enabled agentic robots an appealing paradigm for various applications, such as research and rescue in complex environment. In this context, the next wireless communication technology…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense stochastic map of the environment into account, while safety…
The design of Autonomous Vehicles (AVs) and the design of AVs-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their design and deployment process, whilst insights about their…
Sensor configuration, including the sensor selections and their installation locations, serves a crucial role in autonomous driving. A well-designed sensor configuration significantly improves the performance upper bound of the perception…
Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…
Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
The design of future mobility solutions and the design of the mobility systems they enable are closely coupled. Indeed, knowledge about the intended service of novel mobility solutions would impact their design and deployment process,…
A team of mobile robots monitors spatially distributed processes and delivers measurements to a base, where AoI is measured from sensing start, capturing both stochastic parallel sensing delays and hop-based propagation. At each non-base…
We consider robust optimal experimental design (ROED) for nonlinear Bayesian inverse problems governed by partial differential equations (PDEs). An optimal design is one that maximizes some utility quantifying the quality of the solution of…
We need intelligent robots for mobile construction, the process of navigating in an environment and modifying its structure according to a geometric design. In this task, a major robot vision and learning challenge is how to exactly achieve…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…