Heterogeneous Target Assignment to Robotic Fiber Positioner Systems

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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 ...

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 ...

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 ...

Deep learning (DL) has recently been proposed as a novel approach for 21cm foreground removal. Before applying DL to real observations, it is essential to assess its consistency with established methods, its performance across various simulation models, an ...

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 ...

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 ...

An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations remains, at best, ...

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 ...

Graph neural networks (GNNs) have demonstrated promising performance across various chemistry-related tasks. However, conventional graphs only model the pairwise connectivity in molecules, failing to adequately represent higher order connections, such as m ...

Purpose: In this work, we present a new machine learning method based on the transformer neural network to detect eye rubbing using a smartwatch in a real-life setting. In ophthalmology, the accurate detection and prevention of eye rubbing could reduce inc ...

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 ...

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

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 ...

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

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 ...

The following data contain the information and files, which are required to recreate and build the experimental setup that is described in the Laboratory manual. Further details can be found in the associated publication “A graduate laboratory experiment t ...

Heterogeneous Target Assignment to Robotic Fiber Positioner Systems

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Reinforcement learning for scaffold-free construction of spanning-structures

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

Online active and dynamic object shape exploration with a multi-fingered robotic hand

The stability of deep learning for 21cm foreground removal across various sky models and frequency-dependent systematics

Self-Correcting Quadratic Programming-Based Robot Control

Morphological flexibility in robotic systems through physical polygon meshing

A lunar reconnaissance drone for cooperative exploration and high-resolution mapping of extreme locations

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

Molecular hypergraph neural networks

Eye-Rubbing Detection Using a Smartwatch: A Feasibility Study Demonstrated High Accuracy With Machine Learning

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

Geometric Learning: Leveraging differential geometry for learning and control

Exploration-based model learning with self-attention for risk-sensitive robot control

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

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

Online Multicontact Receding Horizon Planning via Value Function Approximation

Certification of Bottleneck Task Assignment With Shortest Path Criteria

Acoustic Levitation apparatus (Robotics Practicals)