Autonomous Robots

Swarm-robotic approaches to search and target localization, where target sources emit a spatially varying signal, promise unparalleled time efficiency and robustness. With most existing swarm search methods, it remains challenging to …

We present an algorithm that discovers grasp pose solutions for multiple grasp types for a multi-fingered mechanical gripper using partially-sensed point clouds of unknown objects. The algorithm introduces two key ideas: (1) a histogram of finger …

Due to the probabilistic completeness and asymptotic optimality, the RRT* algorithm can find sub-optimal solutions and solve path planning problems effectively compared with other strategies. The B-RRT* algorithm introduces the bidirectional …

Reliable and consistent tracking is essential to realize the dream of power-on-and-go autonomy in mobile robots. Our investigation with state-of-the-art visual navigation and mapping tools (e.g. ORB-SLAM) reveals that these tools suffer from …

We often specify tasks for a robot using temporal language that can include different levels of abstraction. For example, the command “go to the kitchen before going to the second floor” contains spatial abstraction, given that “floor” consists of …