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In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…

The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…

The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting…

We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations…

Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…

Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…

Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…

Robotic automation is a key technology that increases the efficiency and flexibility of manufacturing processes. However, one of the challenges in deploying robots in novel environments is finding the optimal base pose for the robot, which…

Rapid performance recovery from unforeseen environmental perturbations remains a grand challenge in swarm robotics. To solve this challenge, we investigate a behaviour adaptation approach, where one searches an archive of controllers for…

A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in…

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…

This paper presents a novel algorithm for a swarm of unmanned aerial vehicles (UAVs) to search for an unknown source. The proposed method is inspired by the well-known PSO algorithm and is called acceleration-based particle swarm…

An efficient search algorithm is very crucial in robotic area, especially for exploration missions, where the target availability is unknown and the condition of the environment is highly unpredictable. In a very large environment, it is…

The rapid advancement of software development practices has introduced challenges in ensuring quality and efficiency across the software engineering (SE) lifecycle. As SE systems grow in complexity, traditional approaches often fail to…

Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based…

Accurate sensor calibration is a prerequisite for multi-sensor perception and localization systems for autonomous vehicles. The intrinsic parameter calibration of the sensor is to obtain the mapping relationship inside the sensor, and the…

Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…

The dynamic of real-world optimization problems raises new challenges to the traditional particle swarm optimization (PSO). Responding to these challenges, the dynamic optimization has received considerable attention over the past decade.…