11 accepted papers
The target defense problem (TDP) for unmanned surface vehicles (USVs) concerns intercepting an adversarial USV before it breaches a designated target region, using one or more defending USVs. A particularly challenging scenario arises when the attacker exhibits superior maneuverability compared to t
Multi-step motion prediction for continuum robots is difficult, especially under actuation distribution shift, where error accumulation can distort the predicted steady response and destabilize rollouts. This paper introduces a hybrid equilibrium-anchored plus residual-learning framework for a tendo…
Autonomous underwater vehicles (AUVs) play a pivotal role in the exploration of marine resources. With the increasing complexity of underwater tasks, conventional torpedo-shaped AUVs exhibit significant limitations, particularly in complex and dynamic environments, due to restricted lateral translat
Underwater robots play a crucial role in exploring aquatic environments. The ability to flexibly adjust their attitudes, especially the pitch, is essential for underwater robots to effectively accomplish tasks in confined spaces. However, the highly coupled six degrees of freedom dynamics resulting
Miniature robotic blimps, as one type of lighter-than-air aerial vehicles, have attracted increasing attention in the science and engineering community for their enhanced safety, extended endurance, and quieter operation compared to quadrotors. Accurately modeling the dynamics of these robotic blimp
The task of vision-and-language navigation in continuous environments (VLN-CE) aims at training an autonomous agent to perform low-level actions to navigate through 3D continuous surroundings using visual observations and language instructions. The significant potential of VLN-CE for mobile robots h
The generalization of the end-to-end deep reinforcement learning (DRL) for object-goal visual navigation is a long-standing challenge since object classes and placements vary in new test environments. Learning domain-independent visual representation is critical for enabling the trained DRL agent wi
The prevalence of ineffective corrective surgeries for ocular motor disorders calls for a robotic eye platform in aiding ophthalmologists to better understand the biomechanisms of human eye movement. This letter presents the first hardware design and implementation of a 2-DOF robotic eye driven by s
A miniature robotic blimp, as one type of lighter-than-air aerial vehicle, has attracted increasing attention in the science and engineering field for its long flight duration and safe aerial locomotion. While a variety of miniature robotic blimps have been developed over the past decade, most of th
This letter is concerned with real-time background flow field estimation using distributed pressure sensor measurements for autonomous underwater vehicles (AUVs). The goal of this study is to enhance environmental perception of AUVs especially in dynamic environments with changing flow patterns. Dyn
Gliding robotic fish, a hybrid of underwater gliders and robotic fish, are energy-efficient and highly maneuverable, and hold strong promise for long-duration sampling of underwater environments. In this paper a novel systematic autonomous water-column-based sampling scheme for gliding robotic fish…