相关论文: Space Robotics Part 2: Space-based Manipulators
The goal of this paper is to advance mathematical and computational methodology for orbiter-to-orbiter radio tomography of small planetary objects. In this study, an advanced full waveform forward model is coupled with a total variation…
Learning generalizable skills in robotic manipulation has long been challenging due to real-world sized observation and action spaces. One method for addressing this problem is attention focus -- the robot learns where to attend its sensors…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
Airspace sectorisation provides a partition of a given airspace into sectors, subject to geometric constraints and workload constraints, so that some cost metric is minimised. We make a study of the constraints that arise in airspace…
This paper presents an experimentation platform for human robot collaboration as a system of systems as well as proposes a conceptual framework describing the aspects of Human Robot Collaboration. These aspects are Awareness, Intelligence…
Driven by the business potentialities of the satellite industry, the last years witnessed a massive increase of attention in the space industry. This sector has been always considered critical by national entities and international…
Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits,…
Open access to publication, software and hardware is central to robotics: it lowers barriers to entry, supports reproducible science and accelerates reliable system development. However, openness also exacerbates the inherent dual-use risks…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
The increasing volume of space objects in Earth's orbit presents a significant challenge for Space Situational Awareness (SSA). And in particular, accurate orbit prediction is crucial to anticipate the position and velocity of space…
This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…
Robotic hardware designs are becoming more complex as the variety and number of on-board sensors increase and as greater computational power is provided in ever-smaller packages on-board robots. These advances in hardware, however, do not…
Robotic manipulation and control has increased in importance in recent years. However, state of the art techniques still have limitations when required to operate in real world applications. This paper explores Hindsight Experience Replay…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
In this article, a floating robotic emulation platform for a virtual demonstration of satellite motion in space is presented. The robotic platform design is characterized by its friction-less, levitating, yet planar motion over a…
The article considers a simulation modelling problem related to the chess game process occurring between two three-tier manipulators. The objective of the game construction lies in developing the procedure of effective control of the…
Autonomous systems will play an essential role in many applications across diverse domains including space, marine, air, field, road, and service robotics. They will assist us in our daily routines and perform dangerous, dirty and dull…
Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…