Robotics and Autonomous Systems

This paper presents a new approach for multi-robot navigation in dynamic environments, called the shortest distance algorithm. This approach uses both the current position and orientation of other robots to compute the collision free trajectory. The ...

Autonomous mobile robots (AMRs) interacting with an a priori distributed wireless sensor network (WSN) in a region can address the three-tier challenge of navigating in unknown environments: (i) identifying target locations, (ii) planning paths to the ...

This paper proposes the application of an improved extended active observer (IEAOB) based teleoperation controller for both master and slave manipulators. The proposed approach successfully deals with all the major problems in teleoperation systems ...

Deformable slope is a type of terrain that wheeled mobile robots (WMRs) and ground unmanned vehicles (GUVs) may have to traverse to accomplish their mission tasks. However, the associated terramechanics for wheels with arbitrary posture is rarely ...

This paper addresses the problem of guiding a mobile robot towards a target using only range sensors. The bearing information is not available. The target can be stationary or moving. It can be the source of some gas leakage or nuclear radiation or it ...

This paper presents the implementation of a vision-based position control for planar cable-driven parallel robots. The main contribution of this paper contains three objectives. First, a method is used toward kinematic modeling of the robot using four-...

The very first application of active exoskeleton robot was to provide external power to a soldier so that he can carry additional weight than his strength. Since then this technology has focused on developing systems for assisting and augmenting human ...

While remotely operated unmanned vehicles are increasingly a part of everyday life, truly autonomous robots capable of independent operation in dynamic environments have yet to be realized - particularly in the case of ground robots required to interact ...

This work presents a novel approach to autonomous unfolding of garments by means of a dual arm robotic manipulator. The proposed approach is based on the observation that a garment can be brought to an approximately planar configuration if it is held by ...

This paper introduces an effective Foreign Object Debris (FOD) clearance system based on multi-robot coordination. The main objective of this study is to minimize the amount of time airports need to close for the execution of the FOD collection process. ...

An interactive loop between motion recognition and motion generation is a fundamental mechanism for humans and humanoid robots. We have been developing an intelligent framework for motion recognition and generation based on symbolizing motion ...

To mimic human behavior is an increasing trend for advanced robot control. In this paper, a novel biomimetic object impedance control strategy (BOI) is presented for dual-arm cooperative 7-DOF humanoid manipulators. A general impedance architecture ...

This paper proposes a novel approach to structuring behavioral knowledge based on symbolization of human whole body motions, hierarchical classification of the motions, and extraction of the causality among the motions. The motion patterns are encoded ...

To maintain human-like active balance for a humanoid robot, this paper proposes a novel adaptive non-parametric foot positioning compensation approach that can modify predefined step position and step duration online with sensor feedback. A constrained ...

Current strategies for lower-limb exoskeleton control include motion intent estimation, which is subject to inaccuracies in muscle torque estimation as well as modeling error. Approaches that rely on the phases of a uniform gait cycle have proven ...

A novel path-planning algorithm is proposed for a tracked mobile robot to traverse uneven terrains, which can efficiently search for stability sub-optimal paths. This algorithm consists of combining two RRT-like algorithms (the Transition-based RRT (T-...

In this paper we propose and evaluate a control system to (1) learn and (2) adapt robot motion for continuous non-rigid contact with the environment. We present the approach in the context of wiping surfaces with robots. Our approach is based on ...

An important challenge in robotics is to achieve robust performance in object grasping and manipulation, dealing with noise and uncertainty. This paper presents an approach for addressing the performance of dexterous grasping under shape uncertainty. In ...

Redundant and nonoperational buildings at nuclear sites go through the process of 'decommissioning', involving decontamination of nuclear waste material and demolition of physical infrastructure. One challenging problem currently faced by the nuclear ...

A path planning in the space of multinominals integrated into a model predictive control mechanism for driving formations of autonomous mobile robots is presented in this paper. The proposed approach is designed to stabilize the formations in desired ...

In this work we introduce a position control scheme which is targeted at the enhancement of the safety of compliant joint robots. In addition to the necessity for accuracy and robustness that both serve as prerequisites for the successful performance of ...

Face recognition is an integral part in robot partner's interaction with its human subject. With the task expected, open universe scenario face recognition needs to be performed under uncontrolled and uncooperative environment in real-time without ...

Target search and tracking is a classical but difficult problem in many research domains, including computer vision, wireless sensor networks and robotics. We review the seminal works that addressed this problem in the area of swarm robotics, which is ...

We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: (1) a monocular SLAM algorithm that exploits object rigidity constraints to improve the map and find its real ...

In this paper, we propose a new wireless hybrid control algorithm for visual servoing of mobile robots. In particular, the hybrid system is developed using the two autonomous control algorithms, i.e., position-based visual servoing (PBVS) and image-...

The paper presents a method for decentralized flocking and global formation building for a network of unicycle-like robots described by the standard kinematics equations with hard constraints on the robots linear and angular velocities. We propose ...

Nowadays, accurate maps from mostly anywhere in the world can be obtained for free, with the exception of indoor spaces. However, the evidence seems to suggest that in the next few years indoor maps will be more and more available for anyone. Thus, ...

With ever increasing global demand and depleting resources for fossil fuels, oil and gas industry is now positively looking for advanced robotic solutions to increase their productivity and safety. With time easy resources of the fossil fuels are ...

Demands for oil and gas are increasing with urbanization and industrialization of the world's increasing population. Giant oil fields are declining in their production worldwide and this situation is creating need for search of new conventional and non-...