相关论文: Intelligent Navigation and Obstacle-Aware Fabricat…
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…
Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…
The present volatile global market is marked by a rising need for extensively tailored products. Flourishing in such an environment necessitates fostering a more intimate connection between market requirements and the manufacturing system,…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Neurosymbolic AI combines neural network adaptability with symbolic reasoning, promising an approach to address the complex regulatory, operational, and safety challenges in Advanced Air Mobility (AAM). This survey reviews its applications…
Using parallel embedded systems these days is increasing. They are getting more complex due to integrating multiple functionalities in one application or running numerous ones concurrently. This concerns a wide range of applications,…
This paper considers the problem of enabling robots to navigate dynamic environments while following instructions. The challenge lies in the combinatorial nature of instruction specifications: each instruction can include multiple…
This paper presents an integrated navigation framework for Autonomous Mobile Robots (AMRs) that unifies environment representation, trajectory generation, and Model Predictive Control (MPC). The proposed approach incorporates a…
Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-aware Consistent Model Predictive Control (CMPC) strategy. To…
Mobile 3D printing on unstructured terrain remains challenging due to the conflict between platform mobility and deposition precision. Existing gantry-based systems achieve high accuracy but lack mobility, while mobile platforms struggle to…
This work introduces the Drag-Aware Aerodynamic Manipulability (DAAM), a geometric framework for control allocation in redundant multirotors. By equipping the propeller spin-rate space with a Riemannian metric based on the remaining…
The emergence of Autonomous Mobility-on-Demand (AMoD) services creates new opportunities to improve the efficiency and reliability of on-demand mobility systems. Unlike human-driven Mobility-on-Demand (MoD), AMoD enables fully centralized…
Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…
Additive manufacturing (AM) techniques have been used to enhance the design and fabrication of complex components for various applications in the medical, aerospace, energy, and consumer products industries. A defining feature for many AM…
Smart manufacturing aims to overcome the limitations of today's rigid assembly lines by making the material flow and manufacturing process more flexible, versatile, and scalable. The main economic drivers are higher resource and cost…
The use of metrics underpins the quantification, communication and, ultimately, the functioning of a wide range of disciplines as diverse as labour recruitment, institutional management, economics and science. For application of metrics,…
This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…