6 accepted papers
Cooperative autonomy and data sharing can largely improve the mission performance of robotic networks in underwater surveillance applications. In this paper, we describe the cooperative autonomy used to control the Autonomous Underwater Vehicles (AUVs) acting as sonar receiver nodes in the CMRE Anti…
The necessity of long-range underwater surveillance has strongly increased in the last decades, and low-frequency active sonar (LFAS) systems seem to fulfill this need. However, in littoral environments with shallow water LFAS may suffer from an elevate number of false alarms. In this context, the c…
This paper describes a framework called MaestROBe It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a hierarchical structure by using the knowledge stored in the forms…
While deep reinforcement learning techniques have recently produced considerable achievements on many decision-making problems, their use in robotics has largely been limited to simulated worlds or restricted motions, since unconstrained trial-and-error interactions in the real world can have undesi…
The high precision assembly of mechanical parts requires precision that exceeds that of robots. Conventional part-mating methods used in the current manufacturing require numerous parameters to be tediously tuned before deployment. We show how a robot can successfully perform a peg-in-hole task with…
We study the effect of soft (i.e. compliant) soles in humanoid walking. Adding compliance at the foot sole is important for shock absorption during touchdown and to better cast the ground roughness. But, subsequent deformation needs to be considered in the attitude stabilization. We propose a sole d