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This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
We present an augmented reality human-swarm interface that combines two modalities of interaction: environment-oriented and robot-oriented. The environment-oriented modality allows the user to modify the environment (either virtual or…
Robotics research has been focusing on cooperative multi-agent problems, where agents must work together and communicate to achieve a shared objective. To tackle this challenge, we explore imitation learning algorithms. These methods learn…
Despite progress developing experimentally-consistent models of insect in-flight sensing and feedback for individual agents, a lack of systematic understanding of the multi-agent and group performance of the resulting bio-inspired sensing…
Navigating networked robot swarms often requires knowing where to go, sensing the environment, and path-planning based on the destination and barriers in the environment. Such a process is computationally intensive. Moreover, as the network…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
Semantic communications offer promising prospects for enhancing data transmission efficiency. However, existing schemes have predominantly concentrated on point-to-point transmissions. In this paper, we aim to investigate the validity of…
This paper presents an optimized Joint Radar-Communication (JRC) system utilizing multiple Unmanned Aerial Vehicles (UAVs) to simultaneously achieve sensing and communication objectives. By leveraging UAVs equipped with dual radar and…
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…
In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between…
This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous Localization and Mapping (SLAM) system, towards the goal of deployment in the real world. In particular, this paper has three main contributions. First, we describe…
This paper proposes a communication model for multiuser multiple-input multiple-output (MIMO) systems based on large intelligent surfaces (LIS), where the LIS is modeled as a collection of tightly packed antenna elements. The LIS system is…
The CISRU project has focused on the development of a software suite for planetary (and terrestrial) robotics, fully abstracted from the robotic platform and enabling interaction between rovers and astronauts in complex tasks and…
Robots can support humans in tedious tasks, as well as provide social support. However, the decision-making and behavior of robots is not always clear to the human interaction partner. In this work, we discuss the opportunity of using…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
Bacteria are perhaps the simplest living systems capable of complex behaviour involving sensing and coherent, collective behaviour an example of which is the phenomena of swarming on agar surfaces. Two fundamental questions in bacterial…
Integrated sensing and communication (ISAC) unifies radar sensing and communication, and improves the efficiency of the spectrum, energy and hardware. In this paper, we investigate the ISAC beamforming design in a downlink system with a…
Automatic design is a promising approach to realizing robot swarms. Given a mission to be performed by the swarm, an automatic method produces the required control software for the individual robots. Automatic design has concentrated on…
The importance of ground Mobile Robots (MRs) and Unmanned Aerial Vehicles (UAVs) within the research community, industry, and society is growing fast. Many of these agents are nowadays equipped with communication systems that are, in some…
In this paper, we investigate the potential of employing reconfigurable intelligent surface (RIS) in integrated sensing and communication (ISAC) systems. In particular, we consider an RIS-assisted ISAC system in which a multi-antenna base…