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Swarm robotic systems comprising members with limited onboard localization capabilities rely on employing collaborative motion-control strategies to successfully carry out multi-task missions. Such strategies impose constraints on the trajectories ...

Texture morphology perception is essential feedback for robots in tactile-related tasks (such as robot’s electrical palpation, manipulation, or recognition of objects in complex, wet, and dark work conditions). However, it is tough to quantify ...

In real-world environments, ranging from urban disastrous scenes to underground mining tunnels, autonomous mobile robots are being deployed in harsh and cluttered environments, having to deal with perception and communication issues that limit ...

Even with advances in Smart Grids and their cybersecurity recommendations, recent attacks on automation and protection systems of these structures show that it is still necessary to investigate this research problem. With that in mind, ...

A continuous-in-time rendezvous algorithm for memoryless agents with limited visibility on the Euclidean plane was proposed in [N. Gordon, I. A. Wagner, and A. M. Bruckstein in Ant Colony Optimization and Swarm Intelligence, Springer, Berlin, 2004, pp. ...

An affine formation tracking problem of multiple mobile agents is studied in this work. Each agent in the system is modeled as an underactuated kinematic rigid body with nonholonomic constraints, maneuvering on the special Euclidean group $(SE(3))$. A ...

This paper presents a system for online learning of human classifiers by mobile service robots using 3D LiDAR sensors, and its experimental evaluation in a large indoor public space. The learning framework requires a minimal set of labelled ...

The Generalized Voronoi Diagram (GVD) is a powerful environment representation, since, among other reasons, it defines a set of paths at maximal distance from the obstacles. Many works implicitly use this property to define safe navigation strategies ...

This paper presents a novel concurrent optimal trajectory planning method for a team of quadrotors to switch between various formation patterns in the confined indoor environment. Using static shape-based, dynamic trajectory-based approaches, different ...

Planetary exploration poses many challenges for a robot system: From weight and size constraints to extraterrestrial environment conditions, which constrain the suitable sensors and actuators. As the distance to other planets introduces a significant ...

The paper deals with monocular image-based sense and avoid assuming constant aircraft velocities and straight flight paths. From very limited two dimensional image information it finally characterizes the whole three dimensional collision situation by ...

We show in this paper that a small subset of agents of a formation of $n$ agents in Euclidean space can control the position and orientation of the entire formation. We consider here formations tasked with maintaining interagent distances at prescribed ...

Deploying fleets of mobile robots in real scenarios and environments raises several scientific challenges. One of them concerns the ability of the robots to adapt to the dynamics of their environment. We introduce DynFloR, a dynamic network flow ...

The aim of this paper is to provide a global overview of mobile robot control and navigation methodologies developed over the last decades. Mobile robots have been a substantial contributor to the welfare of modern society over the years, including the ...

In order to achieve higher adaptability, the control strategy based on walking sequence adjustment for accommodating unexpected slope terrains in bipedal walking is proposed in this paper, which consists of the Zero-Moment-Point (ZMP) tracking control, ...

With the development of robotics, there are growing needs for real time motion planning. However, due to obstacles in the environment, the planning problem is highly nonconvex, which makes it difficult to achieve real time computation using existing ...

Multirotors, among all aerial vehicles, are fundamental instruments in many situations, i.e. video recording of sport events, leisure, environmental monitoring before or after a disaster. In particular, in the context of environmental monitoring, the ...

Future robotic systems will be situated in highly networked environments where they communicate with industrial control systems, cloud services or other systems at remote locations. In this trend of strong digitization of industrial systems (also ...

This paper presents a study of analysis of minimum-time trajectories for a differential drive robot equipped with a fixed and limited field-of-view camera, which must keep a given landmark in view during maneuvers. Previous works have considered the ...

The inverted pendulum control problem is a classical benchmark in control theory. Amongst the approaches to developing control programs for an inverted pendulum, the evolution of Artificial Neural Network (ANN) based controllers has received some ...