3 accepted papers
In this paper, we propose a novel cross-platform fault-tolerant surfacing controller for underwater robots, based on reinforcement learning (RL). Unlike conventional approaches, which require explicit identification of malfunctioning actuators, our method allows the robot to surface using only the r
This work explores the use of artificial whiskers as tactile sensors for enhancing the perception and navigation capabilities of mobile robots in challenging settings such as caves and underground mines. These environments exhibit inconsistent lighting conditions, locally self-similar textures, and…
In this research we show a characterization of mud behavior under vertical stepping. We showed that mud stiffness can vary 45-fold and the energy spent to generate equivalent impulse can vary 2-fold depending on the mud water content, but also that stepping faster on mud leads to lower peak forces a