Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots

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In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

The deployment of robots for Gas Source Lo- calization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersi ...

The ability to sense airborne pollutants with mobile robots provides a valuable asset for domains such as industrial safety and environmental monitoring. Oftentimes, this involves detecting how certain gases are spread out in the environment, commonly refe ...

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 ...

More specifically, a behavior-based controller for a multi-robot exploration scenario is automatically synthesized using a predefined set of basic behaviors and conditions. A key feature of the used synthesis approach is the tailored use of two modeling le ...

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' ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

Environmental monitoring and mapping operations are an essential tool to combat climate change. An important branch of this domain concerns the construction of reliable gas maps. Adaptive navigation strategies coupled with multi-robot systems improve the o ...

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 ...

Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots

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