3D SLAM using Planar Segments

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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 ...

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 ...

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 ...

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 ...

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 collaboration and division of labor enhance survival of the whole colony, and are thus considered “superorganisms”. Historically, studying behaviors involving ...

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 ...

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Robotic technologies have shown the capability to interact with living organisms and even to form integrated mixed societies composed of living and artificial agents. Biocompatible robots, incorporating sensing and actuation capable of generating and respo ...

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 ...

Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

Owing to the remarkable properties of the somatosensory system, human skin compactly perceives myriad forms of physical stimuli with high precision. Machines, conversely, are often equipped with sensory suites constituted of dozens of unique sensors, each ...

3D SLAM using Planar Segments

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

Memento Mori: Reliable robustness in self-reconfigurable modular robots

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

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

Robot Learning using Tensor Networks

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

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

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Investigating neural resource allocation in the sensorimotor control of extra limbs

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

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

Self-Correcting Quadratic Programming-Based Robot Control

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

A robotic honeycomb for interaction with a honeybee colony

Morphological flexibility in robotic systems through physical polygon meshing

Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

Avian-Inspired Claws Enable Robot Perching or Walking

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