Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

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Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

Edible robots and robotic food — edible systems that perceive, process and act upon stimulation — could open a new range of opportunities in health care, environmental management and the promotion of healthier eating habits. For example, they could enable ...

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

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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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

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 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 ...

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Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

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Memento Mori: Reliable robustness in self-reconfigurable modular robots

Towards edible robots and robotic food

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Robot Learning using Tensor Networks

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Acoustic Levitation apparatus (Robotics Practicals)

Training Efficient Controllers via Analytic Policy Gradient

Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge

Self-Correcting Quadratic Programming-Based Robot Control

Learning and optimization of anticipatory feedback controllers for robot manipulation

Multi-robot task allocation for safe planning against stochastic hazard dynamics

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

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

Morphological flexibility in robotic systems through physical polygon meshing

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

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

Multi-modal deformation and temperature sensing for context-sensitive machines

Advancing first principle-based molecular dynamics of biological systems with machine learning