Building a Casimir metrology platform with a commercial MEMS sensor

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Multi-robot systems envisioned for future factories will promote advancements and capabilities of handling complex tasks and realising optimal robotic operations. However, existing multi-robot systems face challenges such as integration complexity, difficu ...

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

Tightly-coupled sensor orientation, i.e. the simultaneous processing of temporal (GNSS and raw inertial) and spatial (image and lidar) constraints in a common adjustment, has demonstrated significant improvement in the quality of attitude determination wit ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where collaboration and division of labor enhance survival of the whole colony, and are thus considered “superorganisms”. Historically, studying behaviors involving ...

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

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 ...

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 ...

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 ...

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

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 ...

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 ...

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

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 ...

Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not genera ...

Humidity is a critical environmental factor in various applications, and its temperature dependence must be considered when developing thermo-hygrometer fiber sensors. The optical fibers that constitute the sensor must have a temperature reference, which s ...

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 ...

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

Building a Casimir metrology platform with a commercial MEMS sensor

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Multi-robot collaborative manufacturing driven by digital twins: Advancements, challenges, and future directions

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Airborne sensor fusion: Expected accuracy and behavior of a concurrent adjustment

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Biohybrid Superorganisms—On the Design of a Robotic System for Thermal Interactions With Honeybee Colonies

Investigating neural resource allocation in the sensorimotor control of extra limbs

Memento Mori: Reliable robustness in self-reconfigurable modular 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

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

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

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

Self-Correcting Quadratic Programming-Based Robot Control

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

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

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

Humidity-insensitive optical fibers for distributed sensing applications

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

A geometric optimal control approach for imitation and generalization of manipulation skills