10 accepted papers
Controlled microrobots in fluidic environments hold promise for precise drug delivery and cell manipulation, opening new ways for personalized healthcare. However, coordinating magnetic microrobot swarms presents significant challenges due to the complexity of the associated actuation mechanisms. Wh
Oysters are a vital keystone species in coastal ecosystems, providing significant economic, environmental, and cultural benefits. As the importance of oysters grows, so does the relevance of autonomous systems for their detection and monitoring. However, current monitoring strategies often rely on d
Marine autonomous vehicles deployed to conduct marine geophysical surveys are becoming an increasingly used asset in the commercial, academic, and defense industries. However, the ability to collect high-quality data from applicable sensors is directly related to the robustness of vehicle motion cau…
This paper presents a synchronization controller for mobile sensors that are minimally actuated and can only communicate with each other over a very short range. This work is motivated by ocean monitoring applications where large-scale sensor networks consisting of drifters with minimal actuation ca…
The paper presents a receding horizon planning strategy for a quadrotor-type mav to navigate through an unknown cluttered environment at high speed. Utilizing a lightweight on-board short-range sensor that generates point-clouds within a narrow Field of View (FOV), the reported approach generates sa…
The letter investigates how the behavior of small-scale unmanned aerial vehicles (UAVs) is influenced by the system's close proximity to the ground/rigid surfaces both at hover and in forward flight. We perform an extensive experimental study where a quadrotor is tasked with flying in forward veloci
This paper suggests reflections can be practically useful if they are included in planning for collision capable robot platforms. By modifying a proven strategy for navigation with reflections we maintain global convergence results and reach the goal in less time. An algorithm for identifying reflec…
The paper reports on the design and preliminary experimental testing of a novel 3D-printed miniature legged robot. It is called Passively Sprawling Robot (PSR), and it features a mechanism that achieves passive adjustment of the sprawl angle of the robot's legs. Passive sprawling in this robot exhib…
This paper approaches from an optimal control perspective the problem of fixed-time detection of mobile radioactive sources in transit by means of a collection of mobile sensors. Under simplifying assumptions on the geometry of the source, sensors, and surrounding environment, and with knowledge of…
This paper addresses the problem of optimal control of a unicycle-type robot perturbed with stochastic noise in an environment with sparsely populated obstacles. The objective is that the robot pose converges to a neighborhood of a desired position and orientation. A feedback control law is construc…