相关论文: An integrated process for design and control of lu…

We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion) space. To…

Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…

Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…

We present TiPToP, an extensible modular system that combines pretrained vision foundation models with an existing Task and Motion Planner (TAMP) to solve multi-step manipulation tasks directly from input RGB images and natural-language…

The use of artificial intelligence (AI) for drone control can have a transformative impact on drone capabilities, especially when real world information can be integrated with drone sensing, command, and control, part of a growing field of…

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes…

We study language-in-the-loop control for multi-drone systems that execute evolving, high-level missions while retaining formal robustness guarantees at the physical layer. We propose a three-layer architecture in which (i) a human operator…

We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continuous inflated fabric tubes routed through…

Programming a robotic is a complex task, as it demands the user to have a good command of specific programming languages and awareness of the robot's physical constraints. We propose a framework that simplifies robot deployment by allowing…

We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…

This paper presents an experimental study regarding the use of OpenAI's ChatGPT for robotics applications. We outline a strategy that combines design principles for prompt engineering and the creation of a high-level function library which…

The intersection of LLMs (Large Language Models) and UAV (Unoccupied Aerial Vehicles) technology represents a promising field of research with the potential to enhance UAV capabilities significantly. This study explores the application of…

We propose a novel approach to multi-robot collaboration that harnesses the power of pre-trained large language models (LLMs) for both high-level communication and low-level path planning. Robots are equipped with LLMs to discuss and…

Although many research vehicle platforms for autonomous driving have been built in the past, hardware design, source code and lessons learned have not been made available for the next generation of demonstrators. This raises the efforts for…

Building embodied agents on integrating Large Language Models (LLMs) and Reinforcement Learning (RL) have revolutionized human-AI interaction: researchers can now leverage language instructions to plan decision-making for open-ended tasks.…

Future crewed missions to the Moon will face significant environmental and operational challenges, posing risks to the safety and performance of astronauts navigating its inhospitable surface. Whilst head-up displays (HUDs) have proven…

In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling adaptation to different environments and tasks. These modular…

Future Moon bases will likely be constructed using resources mined from the surface of the Moon. The difficulty of maintaining a human workforce on the Moon and communications lag with Earth means that mining will need to be conducted using…

Self-driving laboratories based on large language models promise to transform scientific discovery through general experimental automation. However, realizing this vision on precision platforms remains challenging, requiring deterministic…

Simulation is an invaluable tool for developing and evaluating controllers for self-driving cars. Current simulation frameworks are driven by highly-specialist domain specific languages, and so a natural language interface would greatly…