17 accepted papers
Size reconfigurable robots have been introduced for coverage applications to improve performance. The size reconfiguration ability allows a robot to access narrow areas in a smaller size while covering open spaces in a larger size, improving productivity. This paper proposes a novel CPP method consi
While agricultural robotics has made great strides in recent years, manipulation of plants for tasks such as staking and harvesting remains highly challenging due to the high variability in dynamics and deformable nature of plants. To address the challenges created by dynamics uncertainty, we develo
Achieving complete area coverage in robotics is an essential aspect for applications such as cleaning and patrolling. While multi-agent frameworks have been implemented to address the challenge of complete coverage, the area coverage performances are hindered by physical constraints and dynamic obst…
Path planning is crucial in numerous robotic applications. Reconfigurable robots possess the capability to alter their shape, enabling access to confined spaces, a task challenging for fixed-shape robots. However, existing path planners for reconfigurable robots are typically designed with predefine…
Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability problem (SAT) based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based optimization. We propose a theorem that allows op…
Floor cleaning robots have been developed to cater to building maintenance needs. Complete area coverage is crucial for a floor cleaning robot, and its morphology design plays a vital role in realizing complete area coverage. However, floor cleaning robots with fixed morphologies have difficulty in…
Coverage Path Planning (CPP) is an essential feature of robots deployed for applications such as lawn mowing, cleaning, painting, and exploration. However, most of the state-of-the-art CPP methods are proposed for fixed-morphology robots, and the coverage performance is limited by physical constrain…
In recent years, a rising trend of floor cleaning robots could be observed in the consumer electronic market. Area coverage performance is a crucial factor that determines the overall productivity of a floor cleaning robot. Nevertheless, the area coverage performance of commercially available floor…
Area coverage is demanded from the robots utilized in application domains such as floor cleaning. Even though many advanced coverage algorithms have been developed, the area coverage performance is limited due to the inaccessibility of narrow spaces caused by physical constraints. Reconfigurable rob…
Area coverage is crucial for robotics applications such as cleaning, painting, exploration, and inspections. Hinged reconfigurable robots have been introduced for these application domains to improve the area coverage performance. However, the existing coverage algorithms of hinged reconfigurable ro…
Autonomous vehicles are designed to elevate the efficiency of assigned tasks and ensure the safety of the environment in which they operate. This paper presents a research study focused on shared autonomy using a multi-layer fuzzy logic framework to build a relationship between an autonomous self-re…
Cleaning requirements of glass façades of high-rise buildings have been significantly increased in recent years due to the growth of the construction industry. The conventional cleaning methods for high-rise buildings require human labor where efficiency, cost, and safety are major concerns. Therefo…
Humans prefer to use voice commands to guide their peer companions in daily assistive tasks. In human perspective, they expect same behavior from assistive robot companions as well. The paper presents an approach towards using such voice instructions based on uncertain and qualitative information to…
Intelligent service robots are used at a significant level to uplift the living standards of domestic users. These robots are expected to possess human-friendly interactive features. Service robots should be able to provide a variety of tasks to support independent living of users in domestic enviro…
Service robots are being developed as a solution for the implications associated with the aging population. They are intended to be operated by non-expert users and hence human friendly interaction abilities are preferred. Humans prefer to use voice instructions that include uncertain information, l…
Assistive robots can support activities of elderly people to uplift the living standard. The assistive robots should possess the ability to interact with the human peers in a human friendly manner because those systems are intended to be used by non-experts. Humans prefer to use voice instructions t
Service robots are being developed as a supportive aid for elderly people. Those robots are operated by non-expert users in heterogeneous domestic environments. Hence, the ability of a robot to be operated in a more natural human friendly manner enhances the overall satisfaction of the user. Humans…