Communication-based Swarming for Flying Robots

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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 ...

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 ...

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 ...

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

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 ...

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 ...

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

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 ...

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 ...

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

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 ...

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 ...

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 ...

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 ...

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 ...

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

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 ...

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 ...

Communication-based Swarming for Flying Robots

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Memento Mori: Reliable robustness in self-reconfigurable modular robots

Quantifying the biomimicry gap in biohybrid robot-fish pairs

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

Hitting with Different Joints of a Robotic Manipulator

Online Multicontact Receding Horizon Planning via Value Function Approximation

Robot Learning using Tensor Networks

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

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

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

Small-scale robotic devices for medical interventions in the brain

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Investigating neural resource allocation in the sensorimotor control of extra limbs

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

Avian-Inspired Claws Enable Robot Perching or Walking

Morphological flexibility in robotic systems through physical polygon meshing

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

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

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

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