6 accepted papers
We present SIPHON, a Salp-Inspired robot designed to utilize Passive Hydrodynamics, and equipped with soft robotic Origami bellows and soft Nozzles. We reveal the construction, including a novel use of an interlocking origami Kresling pattern, along with duckbill and mammal-heart-inspired valves. We…
Accounting for heterogeneity among robots and tasks adds additional complexity to multi-robot task allocation. While existing task allocation methods effectively handle heterogeneity among robots and tasks, they do not scale well in the number of different robots and tasks. To address this gap, we f…
Developing autonomous intervention capabilities for lightweight underwater vehicle manipulator systems (UVMS) has garnered significant attention within recent years because of the opportunity for these systems to reduce intervention operating costs. Developing autonomous UVMS capabilities is challen…
Real-time sequential decision making under uncertainty is a challenging task for autonomous robots. Such problems are even more challenging when making decisions involving heterogeneous teams of robots completing multiple tasks. Deploying autonomous taxi cabs and utilizing drones for package deliver…
This paper presents the Rapidly-exploring Adaptive Search and Classification (ReASC) algorithm, a sampling-based algorithm for planning the trajectories of mobile robots performing real-time target search and classification tasks in the field. The proposed algorithm incrementally builds up a tree of…
We propose a multi-robot exploration algorithm that uses adaptive coordination to provide heterogeneous behavior. The key idea is to maximize the efficiency of exploring and mapping an unknown environment when a team is faced with unreliable communication and limited battery life (e.g., with aerial…