3D SLAM using Planar Segments

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As the field of ethology advances, especially over the past two decades, the role of animal-robot interaction tools has increasingly become essential. This importance arises from the need for controlled, repetitive, repeatable, and long-duration experiment ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

Autonomous robots have the potential to fundamentally transform conventional farming methods, e.g. by enabling economically viable farming of sloped arable land. However, navigation on slopes in harsh conditions is challenging for robots as they must be pr ...

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 ...

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 ...

Eusocial life is characterized by division of labour, collective decision making and self organization, and regarded as the highest form of social organisation in groups. Ants are a model organism for research in collective behavior and the evolution of eu ...

Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in an environment wi ...

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 ...

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 ...

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

3D SLAM using Planar Segments

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Challenges and approaches in bridging the biomimicry gap in biohybrid systems of fish and robots

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

Automation in steep terrain agriculture: an optimal controller to prevent tipping and slipping of tethered robots on slopes

Learning and optimization of anticipatory feedback controllers for robot manipulation

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

An Autonomous Robotic Platform to Manipulate Collective Behavior in Ants

Certification of Bottleneck Task Assignment With Shortest Path Criteria

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Training Efficient Controllers via Analytic Policy Gradient