3D Vision-based Navigation for Indoor Microflyers

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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 ...

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 ...

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

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 ...

We apply inverse reinforcement learning (IRL) with a novel cost feature to the problem of robot navigation in human crowds. Consistent with prior empirical work on pedestrian behavior, the feature anticipates collisions between agents. We efficiently learn ...

Biomimetic retinas with a wide field of view and high resolution are in demand for neuroprosthetics and robot vision. Conventional neural prostheses are manufactured outside the application area and implanted as a complete device using invasive surgery. He ...

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 ...

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality ...

Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation. This paper introdu ...

Advances in soft sensors coupled with machine learning are enabling increasingly capable wearable systems. Since hand motion in particular can convey useful information for developing intuitive interfaces, glove-based systems can have a significant impact ...

Automatic control design for robotic systems is becoming more and more popular. However, this usually involves a significant computational cost, due to the expensive and noisy evaluation of candidate solutions through highfidelity simulation or even real h ...

Loop closure detection helps simultaneous localization and mapping systems reduce map and state uncertainty via recognizing previously visited places along the path of a mobile robot. However, visual loop closure detection is susceptible to scenes with dyn ...

The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...

As the field of robotics continues to grow outside the manufacturing environment into our daily lives, the interactions between humans and robots are increasingly becoming close and dynamic. This type of environment requires robots to be less rigid, multi- ...

The rapid development of autonomous driving and mobile mapping calls for off-the-shelf LiDAR SLAM solutions that are adaptive to LiDARs of different specifications on various complex scenarios. To this end, we propose MULLS, an efficient, low-drift, and ve ...

3D Vision-based Navigation for Indoor Microflyers

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

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

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

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Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

Haptics based collaborative steering control in automated driving environments

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Inverse Reinforcement Learning of Pedestrian-Robot Coordination

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Self-Correcting Quadratic Programming-Based Robot Control

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VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems

A Wearable Smart Glove and Its Application of Pose and Gesture Detection to Sign Language Classification

Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers

PlaceNet: A multi-scale semantic-aware model for visual loop closure detection

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Comprehensive Interactive Soft Interfaces for Wearable Tactile Feedback

MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square