相关论文: Underwater Multi-Robot Simulation and Motion Plann…
Developing learning-based methods for navigation of aerial robots is an intensive data-driven process that requires highly parallelized simulation. The full utilization of such simulators is hindered by the lack of parallelized high-level…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
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.…
Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
This paper presents the (MARUN)2 underwater robotic simulator. The simulator architecture enables seamless integration with the ROS-based mission software and web-based user interface of URSULA, a squid inspired biomimetic robot designed…
With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…
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.…
The field of robotics has made significant advances towards generalist robot manipulation policies. However, real-world evaluation of such policies is not scalable and faces reproducibility challenges, which are likely to worsen as policies…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
The exchange of information is key in applications that involve multiple agents, such as search and rescue, military operations, and disaster response. In this work, we propose a simple and effective trajectory planning framework that…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
A common workflow for many engineering design problems requires the evaluation of the design system to be investigated under a range of conditions. These conditions usually involve a combination of several parameters. To perform a complete…