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The accumulation of litter is increasing in many places and is consequently becoming a problem that must be dealt with. In this paper, we present a manipulator robotic system to collect litter in outdoor environments. This system has three…

Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft manipulator for floating litter collection, leveraging the…

Addressing the challenge of roadside litter in the United States, which has traditionally relied on costly and ineffective manual cleanup methods, this paper presents an autonomous multi-robot system for highway litter monitoring and…

Modern cities are growing ecosystems that face new challenges due to the increasing population demands. One of the many problems they face nowadays is waste management, which has become a pressing issue requiring new solutions. Swarm…

The environments in which the collaboration of a robot would be the most helpful to a person are frequently uncontrolled and cluttered with many objects present. Legible robot arm motion is crucial in tasks like these in order to avoid…

As litter pollution continues to rise globally, developing automated tools capable of detecting litter effectively remains a significant challenge. This study presents a novel approach that combines, for the first time, privileged…

There is a lot of waste in an industrial environment that could cause harmful effects to both the products and the workers resulting in product defects, itchy eyes or chronic obstructive pulmonary disease, etc. While automative cleaning…

Tasks in outdoor open world environments are now ripe for automation with mobile manipulators. The dynamic, unstructured and unknown environments associated with such tasks -- a prime example would be collecting roadside trash -- makes them…

There are 50 billion pieces of litter in the U.S. alone. Grass fields contribute to this problem because picnickers tend to leave trash on the field. We propose building a robot that can autonomously navigate, identify, and pick up trash in…

The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…

Quadruped robots have made significant advances in locomotion, extending their capabilities from controlled environments to real-world applications. Beyond movement, recent work has explored loco-manipulation using the legs to perform tasks…

Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged robots are equipped with a dedicated robot arm, which means…

This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…

Plastic pollution is a critical environmental issue, and detecting and monitoring plastic litter is crucial to mitigate its impact. This paper presents the methodology of mapping street-level litter, focusing primarily on plastic waste and…

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…

Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…

This work presents a perception system applied to robotic manipulation, that is able to assist in navigation, household waste classification and collection in outdoor environments. This system is made up of optical tactile sensors, RGBD…

Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and robust deployment in the presence of humans.The Partner Robot…

Littering quantification is an important step for improving cleanliness of cities. When human interpretation is too cumbersome or in some cases impossible, an objective index of cleanliness could reduce the littering by awareness actions.…

The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots'…