The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...
There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...
Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...
The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...
Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...
In construction robotics, a conventional design-to-fabrication work-flow starts with designing a structure, followed by task and robotic motion planning, and ultimately, fabrication. However, this approach can prove unsuccessful, as we may only discover th ...
Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot optimal control pol ...
One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...
