Iterative Closest Point (ICP) is a widely used method for performing scan-matching and registration. Being simple robust, this still computationally expensive may be challenging to use in real-time applications with limited resources on mobile platforms. In paper we propose novel effective acceleration of ICP which does not require substantial modifications the existing code. This based an idea Anderson iterative procedure finding fixed point contractive mapping. The latter often faster than...

We propose a new wearable haptic display LinkTouch which provides high fidelity force vector sensation at the fingerpad. The key feature of device is in inverted five-bar linkage. Two DC motors driving cranks linkage mechanism are mounted sides distal phalanx. Rotation same direction defines contact point coordinates while rotation opposite directions generates pressure. Therefore, 2-DoF feedback fingerpad available. Additionally, capable representing transitional state from noncontact to...

High risk of a collision between rotor blades and the obstacles in complex environment imposes restrictions on aerial manipulators. To solve this issue, novel system cable-Suspended Aerial Manipulator (SAM) is presented paper. Instead attaching robotic manipulator directly to an carrier, it mounted active platform which suspended carrier by means cable. As result, higher safety can be achieved because keep distance from obstacles. For self-stabilization, SAM equipped with two actuation...

This letter presents a heterogeneous Unmanned Aerial Vehicle (UAV)-based robotic system for real-time barcode detection and scanning using Convolutional Neural Networks (CNN). The proposed approach improves the UAV's localization scanned barcodes as landmarks in real warehouse with low-light conditions. Instead of standard overlapping snake-based grid (OSBG) trajectory, we implement novel flight-path optimization based on locations. reduces time stocktaking decreases number mistakes scanning.

This paper presents an autonomous system for apple orchard inspection and early stage disease detection. Various sensors including hyperspectral, multispectral visible range scanners are used For localization obstacle detection 2D LiDARs RTK GNSS receivers used. The proposed allows to minimize the use of pesticides increase harvests. approach is based on neural networks both plant segmentation

The paper focuses on the development of autonomous robot UltraBot to reduce COVID-19 transmission and other harmful bacteria viruses. motivation behind research is develop such a that capable performing disinfection tasks without use sprays chemicals can leave residues, require airing room afterward for long time, cause corrosion metal structures. technology has potential offer most optimal performance along with taking care people, keeping them from getting under UV-C radiation. highlights...

We present a novel high-precision UAV localization system for interconnection between two collaborative robots, i.e., unmanned ground robot (UGR) and aerial vehicle (UAV) capable of autonomous navigation precise in an indoor environment. Based on our we have achieved robust landing the moving using fusion 2D LIDAR sensors, camera, ultrasonic localization. In addition, is accurate high-altitude flights (up to 15 m) relative robot. Localization based developed adaptive active IR marker achieve...

The UAV-VLA (Visual-Language-Action) system is a tool designed to facilitate communication with aerial robots. By integrating satellite imagery processing the Visual Language Model (VLM) and powerful capabilities of GPT, enables users generate general flight paths-and-action plans through simple text requests. This leverages rich contextual information provided by images, allowing for enhanced decision-making mission planning. combination visual analysis VLM natural language GPT can provide...

We present GazeGrasp, a gaze-based manipulation system enabling individuals with motor impairments to control collaborative robots using eye-gaze. The employs an ESP32 CAM for eye tracking, MediaPipe gaze detection, and YOLOv8 object localization, integrated Universal Robot UR10 tasks. After user-specific calibration, the allows intuitive selection magnetic snapping effect robot via gestures. Experimental evaluation involving 13 participants demonstrated that significantly reduced alignment...

This paper introduces GestLLM, an advanced system for human-robot interaction that enables intuitive robot control through hand gestures. Unlike conventional systems, which rely on a limited set of predefined gestures, GestLLM leverages large language models and feature extraction via MediaPipe to interpret diverse range integration addresses key limitations in existing such as restricted gesture flexibility the inability recognize complex or unconventional gestures commonly used human...

This paper addresses the challenge of decentralized task allocation within heterogeneous multi-agent systems operating under communication constraints. We introduce a novel framework that integrates graph neural networks (GNNs) with centralized training and execution (CTDE) paradigm, further enhanced by tailored Proximal Policy Optimization (PPO) algorithm for deep reinforcement learning (MARL). Our approach enables unmanned aerial vehicles (UAVs) ground (UGVs) to dynamically allocate tasks...

With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided (AGVs). UAVs enhance efficiency by navigating dense environments operating at varying altitudes. However, their limited flight time, battery life, payload capacity necessitate supporting ground station. To address these challenges, we propose HetSwarm, heterogeneous multi-robot system that combines UAV mobile robot collaborative...

Autonomous drone navigation in dynamic environments remains a critical challenge, especially when dealing with unpredictable scenarios including fast-moving objects rapidly changing goal positions. While traditional planners and classical optimisation methods have been extensively used to address this problem, they often face real-time, changes that ultimately leads sub-optimal performance terms of adaptiveness real-time decision making. In work, we propose novel motion planner, AgilePilot,...

We developed novel haptic interfaces, FlexTorque and FlexTensor that enable realistic physical interaction with real Virtual Environments. The idea behind is to reproduce human muscle structure, which allows us perform dexterous manipulation safe environment in daily life. suggests new possibilities for highly realistic, very natural virtual environments. There are no restrictions on the arm movement, it not necessary hold a object during objects reality. Because system can generate strong...

One of the most serious disadvantages vertical takeoff and landing flying robots including multicopters is necessity flat stable area for safe landing. The ability to land from uneven surfaces moving basements would help rotorcrafts in many important applications. special gears are used provide this ability. This letter explores multicopter on using a novel adaptive platform DroneGear. DroneGear contains four compliant robotic legs two degrees freedom each. innovative optical torque sensor...

Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers emergencies, and e-commerce. Most of applications require teleoperation. The operator receives visual feedback from camera installed on a robot arm or drone. As requires delicate precise motion arm, data delay, narrow field view, blurred image caused by drone dynamics can lead UAV to crash. paper focuses development novel teleoperation system using Virtual Reality (VR)....

WareVR is a novel human-robot interface based on virtual reality (VR) application to interact with heterogeneous robotic system for automated inventory management. We have created an supervise autonomous robot remotely from secluded workstation in warehouse that could benefit during the current pandemic COVID-19 since stocktaking necessary and regular process warehouses, which involves group of people. The proposed allows workers without experience robotics control consisting unmanned ground...

This paper describes the recent development of new optical torque sensor in order to replace expensive strain gauge attached at tip anthropomorphic robot arm and realize local impedance control each joint

In the paper we are proposing a conceptually novel approach to reinforcing (intensifying) own feelings and reproducing (simulating) emotions felt by partner during online communication through specially designed system, iFeel_IM!. The core component, Affect Analysis Model, automatically recognizes nine from text. detected emotion is stimulated innovative haptic devices integrated into implemented system can considerably enhance emotionally immersive experience of real-time messaging.

The iFeel_IM! system employs six haptic devices and visual stimulation to augment the emotions experienced during online conversations. Web extra is a video that shows authors' system, iFeel_IM!, which convey

This paper suggests a novel method for customer behavior analytics and demand distribution based on Radio Frequency Identification (RFID) stocktaking. Existing solutions lack applicability to real-life situations in retailing, which may result unobservable loss of sales. The proposed solution provides new parameters the retailer using mobile robot autonomous stocktaking RFID-equipped shopping rooms. Built models depict location-related dependencies, most least purchasable areas store,...

The paper focuses on the development of an autonomous disinfection robot UltraBot to reduce COVID-19 transmission along with other harmful bacteria and viruses. motivation behind research is develop such a that capable performing tasks without use sprays chemicals can leave residues require airing room afterward for long time. technology has potential offer most optimal performance taking care people, keeping them from getting under UV-C radiation. highlights UltraBot's mechanical electrical...