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We study the problem of feature-based map merging in robot networks. Along its operation, each robot observes the environment and builds and maintains a local map. Simultaneously, each robot communicates and computes the global map of the environment. The communication between the robots is...
Flying-walking locomotion is widely adopted by birds. It increases the agility and activities of birds, but has not been reported in the robotics research area. This paper is trying to address the problem of flying-walking locomotion with a multi-propeller multifunction aerial robot (MMAR). The...
In this paper, we present a contract-based, decentralized planning approach for a team of autonomous unmanned surface vehicles (USV) to patrol and guard an asset in an environment with hostile boats and civilian traffic. The USVs in the team have to cooperatively deal with the uncertainty about...
Taking inspiration from local leg feedback control loops present in animal legs, a force threshold-based position (FTP) controller is presented to aid with legged locomotion over irregular terrain. The algorithm uses pre-planned position trajectories and force feedback to either elevate or...
This article presents a novel docking system developed for miniature underwater robots. Recent years have seen an increased diffusion of robots for ocean monitoring, exploration and maintenance of underwater infrastructures. The versatility of those vehicles is extremely affected and limited by...
In a realistic mobile push-manipulation scenario, it becomes non-trivial and infeasible to build analytical models that will capture the complexity of the interactions between the environment, each of the objects, and the robot as the variety of objects to be manipulated increases. We present an...
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