相关论文: Design of a Modular Mobile Inspection and Maintena…
This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks…
In-Space Servicing, Assembly, and Manufacturing (ISAM) is a set of emerging operations that provides several benefits to improve the longevity, capacity, mo- bility, and expandability of existing and future space assets. Serial robotic ma-…
Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic…
The integration of satellite communication into mobile devices represents a paradigm shift in connectivity, yet the performance characteristics under motion and environmental occlusion remain poorly understood. We present the Starlink…
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…
The past years have shown a remarkable growth in use-cases for micro aerial vehicles (MAVs). Conceivable indoor applications require highly robust environment perception, fast reaction to changing situations, and stable navigation, but…
We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim. It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes and high-fidelity rigid and…
On-orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on-orbit assembly, repair, and astronaut assistance. Of these scenarios,…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Detecting and interpreting operator actions, engagement, and object interactions in dynamic industrial workflows remains a significant challenge in human-robot collaboration research, especially within complex, real-world environments.…
This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with…
The Space Interferometry Mission (SIM) is a space-based long-baseline optical interferometer for precision astrometry. One of the primary objectives of the SIM instrument is to accurately determine the directions to a grid of stars,…
In this study, we introduce "SARDiM," a modular semi-autonomous platform enhanced with mixed reality for industrial disassembly tasks. Through a case study focused on EV battery disassembly, SARDiM integrates Mixed Reality, object…
This work presents the computational design and validation of the Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to the MIRROR (i.e., the Multi-arm Installation Robot for…
Efficiently delivering items to an ongoing surgery in a hospital operating room can be a matter of life or death. In modern hospital settings, delivery robots have successfully transported bulk items between rooms and floors. However,…
This paper presents a maintenance policy for a modular system formed by K independent modules (n-subsystems) subjected to environmental conditions (shocks). For the modeling of this complex system, the use of the Matrix-Analytical Method…
Testing aerial robots in tasks such as pickup-and-delivery and surveillance significantly benefits from high energy efficiency and scalability of the deployed robotic system. This paper presents MochiSwarm, an open-source testbed of…
Micromobility, which utilizes lightweight mobile machines moving in urban public spaces, such as delivery robots and mobility scooters, emerges as a promising alternative to vehicular mobility. Current micromobility depends mostly on human…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Experimental access to real honeybee colonies requires robotic systems capable of operating within limited spatial constraints, tolerating hive-specific fouling and environmental conditions, and supporting both sensing and localized…