Confined space applications require specialized 3D sensors to scan the environment, detect objects, and avoid obstacles. Compared to mainstream sensor...
This project seeks to design and develop specialized mobile robots for confined space inspection and manufacturing to replace humans to perform dang...
CMU in-pipe mapping and localization sensor payload in a 16-inch pipe (upper-left) 3D RGB-D point-cloud mapping result (upper-right), and the user i...
Developing a highly reliable and robust real-time control robotic system for confined space manufacturing application requires a cross-disciplinary kn...
Today the programming of a spray painting robot by a paint application specialist requires three to five months. This process requires so much time be...
Exact cellular decompositions are structures that globally encode the topology of a robot's free space, while locally describing the free space's geom...
The DARPA RACER program's goal is to develop and demonstrate autonomy technologies that enable unmanned ground vehicles (UGVs) to maneuver in unstruct...
We live in a world where most sensitive information is stored on our devices. Eventually, like many things, those devices are thrown away. Existing wa...
We live in a world where the most sensitive information is stored on our devices. Eventually, like many things, those devices are thrown away. Existin...
For high-volume industrial applications, manipulators need to have a dynamic range of motion as well as to safely interact with the environment. Most...
Choset’s goal to democratize the delivery of medical care to anyone, anywhere and at any time, One of the lessons that the general public learned is...
The Modular Mobile Robots for Automation projects are focused on developing modular hardware and software platforms that can be used in a variety of...
In multi-agent robotic systems, it is not often that we consider the different and rich ways in which agents interact in their environment, especially...
With the rapid development of affordable robots with embedded sensing and computation capabilities, we are quickly approaching a point at which real-l...
In order to overcome the limitations of currently available assistive technologies for minimally invasive cardiac surgery (MICS), we develop and teste...
This project seeks novel approaches to rapidly map, navigate, and search environments for situational awareness during time-sensitive combat operation...
Animals moving on and in fluids and solids move their bodies in diverse ways to generate propulsion and lift forces. In fluids, animals can wiggle, st...
Microrobots have the potential to impact many areas of medicine such as microsurgery, targeted drug delivery and minimally invasive sensing. Just like...
The small cross section and wide range of motion of our snake robots allow them to navigate many diverse environments, such as rough ground, channel...
Methods for state estimation that rely on visual information are challenging on dynamic
robots because of rapid changes in the viewing angle of onboa...
This project seeks novel approaches to rapidly map, navigate, and search environments for situational awareness during time-sensitive combat operation...
Decorative painting over large complex surfaces with highly detailed patterns is a challenging operation in aerospace manufacturing, which requires a...
Advanced manufacturing is vital for expeditionary manufacturing tasks with limited conventional industrial infrastructure and scarce resources. Among...
Modernized waste management technology is an important area that needs focus because of its impact on our environment, natural resources, and public h...
Modernized waste management technology is an important area that needs focus because of its impact on our environment, natural resources, and public h...
Modernized waste management technology is an important area that needs focus because of its impact on our environment, natural resources, and public h...
Exploring the solar system for liquid water is one of the largest goals of current space exploration. Enceladus, the sixth largest moon of Saturn and...
In the case of high-tempo, traumatic scenarios on the battlefield, real-time ultrasound (US) imaging serves as an enabler for countless possible robot...
In the case of high-tempo, traumatic scenarios on the battlefield, real-time ultrasound (US) imaging serves as an enabler for countless possible robot...
This project intends to facilitate the automatic recreation of surgical procedures practiced on bone phantoms from CT scans on real patients. This way...
40% of adults and 63% of children have a significant needle-phobia with 5 to 8% actively avoiding treatment due to the fear of pain. The avoidance of...
The most important component in case of high-tempo, traumatic scenarios on the battlefield is inserting a needle in the vessel of the patient autonomo...
This work will develop algorithms for a novel materials transport and manipulation system which will have applications ranging from flexible manufactu...
Modular components need to be developed for both hardware and software modularity. Over the past few years we have been developing systems made of mul...
The Biorobotics group has embraced and advanced modular robot systems, first starting with our snake robots and now virtually all of our hardware and...
Multi-robot systems can provide greater sensor coverage and reliability than single robot systems. Among multi-robot applications, significant researc...
With the rapid development of affordable robots with embedded sensing and computation capabilities, we are quickly approaching a point at which real-l...
With the rapid development of affordable robots with embedded sensing and computation capabilities, we are quickly approaching a point at which real-l...
Efficient inter-agent communication is an important requirement for both cooperative multi-agent robotics tasks, as well as distributed computing. In...
We consider the problem of determining paths for one or many robots to navigate in an unknown a priori environment, so that the robots can be directed...
One of the preeminent obstacles to scaling multi-agent reinforcement learning to large numbers of agents is assigning credit to individual agents' a...
Efficient inter-agent communication is an important requirement for both cooperative multi-agent robotics tasks. In this work, while multi-agent robot...
Recently machine learning techniques, specifically Reinforcement Learning, is being used rigorously to enable robots to perform in a desired manner. B...
Recent years have seen massive leaps forward in single-agent artificial intelligence, in particular in deep-reinforcement learning (deep-RL). A large...
A scalable multi-agent gantry system (Figure 1) will be used to demonstrate the performance of multi-agent planners (Figure 2) in the real environment...
Point Cloud registration is an important step for various applications such as robotic manipulation, Augmented Reality, etc. Recently developed deep l...
This work considers sensor based motion planning for rod-shaped robots in unknown environments. The motion planning scheme is based on the rod hierach...
The sense of touch plays an essential role in our daily life, such as grasping, typing, social interaction and even detecting dangerous conditions. Ho...
Despite advancements in sensing and control capabilities of modern ventilators, rural hospitals and overloaded healthcare centers can face difficulty...
Satellites are uniquely alone in their environment. They are launched with everything they need for their entire mission, from initial operational cap...
Urban Search and Rescue (USAR) workers have 48 hours to find trapped survivors in a collapsed structure, otherwise the likelihood of finding victims s...
The sensor-based coverage task is useful for many applications such as autonomous lawn mowing, floor scrubbing, and snow removal, where the environmen...
Snake robots are a new type of robots, known also as serpentine robots. As the name suggests, these robots possess multiple actuated joints thus mulit...
Satellites are uniquely alone in their environment. They are launched with everything they need for their entire mission, from initial operational cap...
Progression of medical technology has brought dramatic improvements in surgical outcomes and prognosis. Recently, minimally invasive surgery has been...
In the case of high-tempo, traumatic scenarios on the battlefield, real-time ultrasound (US) imaging serves as an enabler for countless possible robot...
Currently, no technology exists that can place robot end-effectors into any confined, awkwardly shaped, and hazardous space. The purpose of this proje...
Currently, no technology exists that can place robot end-effectors into any confined, awkwardly shaped, and hazardous space. The purpose of this proje...
We want to use a hyper-redundant snake-like robot arm to assist a human working in tight spaces on tasks like caulking or pipe assembly. For the safet...
Old natural gas pipelines are underground for decades without being taken a look and many issues may occur. Upon events like leakages, pipes were dug...
This work addresses path planning and control for space inspection applications. The robot is the first generation of a free-flying robotic camera tha...
Federal law mandates that each bridge, spanning more than $20$ feet in America, be inspected once every two years. Currently, rigging and traffic con...
Robotic spray painting of car bodies motivates our work in constrained controlled coverage. This task has three parts: complete coverage, uniform cove...
This work extends dynamic robotic legged locomotion from horizontal motions such as walking, hopping, and running, to vertical motions such as leaping...
The LSTAT (Life Support for Trauma and Transport) system incorporates many of the functions of an ICU, but is contained entirely within a stretcher. I...
Minimally invasive surgery (MIS) has been shown to reduce patient trauma and shorten hospitalization stays, but when operating through a small incisio...
This research seeks to develop a novel computer assisted and robotic tool that will enable less and minimally invasive surgical techniques for orthopa...
A challenging probem in Mechanical Engineering and robotics is the design of an outdoor mobile robot. The robot must successfully traverse through its...
Snake robots have many applications, but are hard to control. A person cannot simply operate each joint of a snake individually because there are too...
Probabilistic planner technology can significantly extend the capabilities of current sensors. In many situations time may not permit covering a targe...
One approach to sensor based planning employs a roadmap, a concise representation of a robot's work space or configuration space. This approach is ana...
Land mines are a real problem. In 1993 alone, 100,000 land mines were picked up and 2.5 million land mines were placed on the ground, mostly in areas...
Exploration is achieved by constructing a map called the generalized Voronoi graph (GVG). In the planar case, the GVG is the set of points equidistant...
We have developed a new method for improving the azimuth accuracy of range information using conventional (Polaroid) low resolution ultrasonic sensors...
It sucks. It is the dream robot application. Conventional robot vacuum cleaners move randomly about their floor space yielding inefficient solutions...
The goal of this project is to develop an accurate and reliable visual-based localization system for an outdoor mobile robot. For the UXO / hunting /...
