相关论文: Intelligent Navigation and Obstacle-Aware Fabricat…
In-situ monitoring incorporating data from visual and other sensor technologies, allows the collection of extensive datasets during the Additive Manufacturing (AM) process. These datasets have potential for determining the quality of the…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
Laser Additive Manufacturing (LAM) presents unparalleled opportunities for fabricating complex, high-performance structures and components with unique material properties. Despite these advancements, achieving consistent part quality and…
Thin-walled structures capable of large, reversible deformation are key to multistable structures, origami, kirigami, and soft robotics. However, conventional fabrication techniques, including 3D printing, casting, and laser cutting, suffer…
The automation of internal logistics and inventory-related tasks is one of the main challenges of modern-day manufacturing corporations since it allows a more effective application of their human resources. Nowadays, Autonomous Mobile…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
Additive manufacturing has become one of the forefront technologies in fabrication, enabling new products impossible to manufacture before. Although many materials exist for additive manufacturing, they typically suffer from performance…
Additive manufacture (AM) involves creating a part layer by layer and is a rapidly evolving manufacturing process. It has multiple strengths that apply to space-based optics, such as the ability to consolidate multiple parts into one,…
Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable framework for generating collision-free, dynamically…
Additive Manufacturing (AM) is a transformative manufacturing technology enabling direct fabrication of complex parts layer-be-layer from 3D modeling data. Among AM applications, the fabrication of Functionally Graded Materials (FGMs) has…
Additive manufacturing (AM) allows for manufacturing of complex three-dimensional geometries not typically realizable with standard subtractive manufacturing practices. The internal microstructure of a 3D printed component can have a…
Obstacle avoidance in complex and dynamic environments is a critical challenge for real-time robot navigation. Model-based and learning-based methods often fail in highly dynamic scenarios because traditional methods assume a static…
This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown dynamics, which are difficult to infer from visual…
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…
Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to…
The field of additive manufacturing (AM) has advanced considerably over recent decades through the development of novel methods, materials, and systems. However, as the field approaches maturity, it is relevant to investigate the scaling…
Efficient material logistics play a critical role in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a…
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains challenging due to the presence of disturbances and measurement…
Programmable matter (PM) is a form of matter capable of dynamically altering its physical properties, such as shape or density, through programmable means. From a robotics perspective, PM can be realized as a distributed system consisting…