Search and Rescue (SaR) operations rely on civilian volunteers to provide mandatory manpower when covering large areas of land. These SaR operations are typically conduct[...]

Unlike conventional robotic manipulators, continuum manipulators are inspired by invertebrate structures found in nature, such as octopus arms and elephant trunks. The sh[...]

This work describes the integration of a rotary shaft encoder system through multiple layers of hardware and software abstraction for autonomous control of an All-Terrain[...]

Gathering information on robot motion is critical in determining how a mobile robothas interacted in its environment. The information about a robot’s motion, called odome[...]

Recent technological advances have facilitated the use of mobile robots for a wide range of coverage applications such as inspection and mapping of infrastructure, precis[...]

Intelligent robots have been increasingly used in unstructured and unknown environments rather than being limited in well-controlled settings. The key to successful auton[...]

This work investigates how agents can influence one another and their environment purely through physical interactions, without explicit communication channels, inspired [...]

Simultaneous Localization and Mapping (SLAM) is the conventional chicken and egg problem where a robot has to map the environment as well as localize itself in the newly [...]

Mobile robots can face risks when traversing populated environments, including collisions or operational interference from both civilian and adversarial vehicles. Somegro[...]

The dissertation introduces novel approaches for solving a fundamental problem: detecting a collision-free robot trajectory based on sensing in real-world environments th[...]