Barry William Mulvey — accepted AI-conference papers

2024

PaTS-Wheel: A Passively-Transformable Single-Part Wheel for Mobile Robot Navigation on Unstructured Terrain

Thomas Godden, Barry William Mulvey, Ellen Redgrave, Thrishantha Nanayakkara

RA-L 2024

Most mobile robots use wheels that perform well on even and structured ground, like in factories and warehouses. However, they face challenges traversing unstructured terrain such as stepped obstacles. This paper presents the design and testing of the PaTS-Wheel: a Passively-Transformable Single-par

Cited by 9 Source ↗Scholar ↗

2023

DeforMoBot: A Bio-Inspired Deformable Mobile Robot for Navigation Among Obstacles

Barry William Mulvey, Thilina Dulantha Lalitharatne, Thrishantha Nanayakkara

RA-L 2023

Many animals can move in cluttered environments by conforming their body shape to geometric constraints in their surroundings such as narrow gaps. Most robots are rigid structures and do not possess these capabilities. Navigation around movable or compliant obstacles results in a loss of efficiency—

Cited by 10 Source ↗Scholar ↗